WO2009060776A1 - Équipement embarqué pour détecter un itinéraire - Google Patents

Équipement embarqué pour détecter un itinéraire Download PDF

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Publication number
WO2009060776A1
WO2009060776A1 PCT/JP2008/069740 JP2008069740W WO2009060776A1 WO 2009060776 A1 WO2009060776 A1 WO 2009060776A1 JP 2008069740 W JP2008069740 W JP 2008069740W WO 2009060776 A1 WO2009060776 A1 WO 2009060776A1
Authority
WO
WIPO (PCT)
Prior art keywords
positions
map matching
section
traveling route
correction
Prior art date
Application number
PCT/JP2008/069740
Other languages
English (en)
Japanese (ja)
Inventor
Kai Zhang
Hideaki Murata
Original Assignee
Mitsubishi Heavy Industries, Ltd.
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 Mitsubishi Heavy Industries, Ltd. filed Critical Mitsubishi Heavy Industries, Ltd.
Priority to CN2008801032144A priority Critical patent/CN101784868B/zh
Priority to KR1020107003214A priority patent/KR101134270B1/ko
Publication of WO2009060776A1 publication Critical patent/WO2009060776A1/fr
Priority to HK10109763.4A priority patent/HK1143204A1/xx

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/02—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
    • 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
    • G01S19/42—Determining position

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Manufacturing & Machinery (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

Selon l'invention, une unité d'estimation de la position (115) produit des positions d'estimation (X, Y) permettant d'estimer la position dans laquelle se trouve un véhicule sur la base des informations fournies par un récepteur GPS (111), un capteur d'accélération (112), un capteur de vitesse (113) et un gyroscope (114). Une unité de correction (200) corrige la position de manière à réduire une erreur par rapport aux dernières positions (X, Y) d'estimation au moyen des positions d'estimation antérieures et des positions de corrélation de carte antérieures et fournit les positions de correction (cX, cY) comportant la position corrigée. Une unité de corrélation de carte (116) réalise un traitement de corrélation de carte, de manière à fournir des positions de corrélation de cartes (mX, mY) en fonction des informations d'itinéraire stockées dans une unité de stockage (117). Ainsi, les positions de correction (cX, cY), dans lesquelles l'erreur de position est réduite, sont informatisées, ce qui permet une détection correcte de l'itinéraire.
PCT/JP2008/069740 2007-11-06 2008-10-30 Équipement embarqué pour détecter un itinéraire WO2009060776A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN2008801032144A CN101784868B (zh) 2007-11-06 2008-10-30 用于检测行进路线的车载设备
KR1020107003214A KR101134270B1 (ko) 2007-11-06 2008-10-30 주행 경로 검출용 차량 탑재기
HK10109763.4A HK1143204A1 (en) 2007-11-06 2010-10-15 On-vehicle machine for travel route detection

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-288413 2007-11-06
JP2007288413A JP5249556B2 (ja) 2007-11-06 2007-11-06 走行経路検出用の車載器

Publications (1)

Publication Number Publication Date
WO2009060776A1 true WO2009060776A1 (fr) 2009-05-14

Family

ID=40625669

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/069740 WO2009060776A1 (fr) 2007-11-06 2008-10-30 Équipement embarqué pour détecter un itinéraire

Country Status (6)

Country Link
JP (1) JP5249556B2 (fr)
KR (1) KR101134270B1 (fr)
CN (1) CN101784868B (fr)
HK (1) HK1143204A1 (fr)
MY (1) MY153364A (fr)
WO (1) WO2009060776A1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102175253A (zh) * 2010-12-28 2011-09-07 清华大学 基于汽车状态转移的多假设地图匹配方法
US8589070B2 (en) 2011-05-20 2013-11-19 Samsung Electronics Co., Ltd. Apparatus and method for compensating position information in portable terminal
US20150066363A1 (en) * 2013-08-30 2015-03-05 The Boeing Company Method and system for estimating aircrft course
CN104683948A (zh) * 2015-02-04 2015-06-03 四川长虹电器股份有限公司 自我学习的异常位置轨迹点过滤方法
CN105987692A (zh) * 2015-03-02 2016-10-05 华为技术有限公司 一种导航方法及装置
GB2481275B (en) * 2010-04-16 2017-11-01 Csr Tech Holdings Inc Method and apparatus for geographically aiding navigation satellite system solution
KR20190072611A (ko) 2016-11-29 2019-06-25 미츠비시 쥬고 기카이 시스템 가부시키가이샤 맵 매칭 장치, 맵 매칭 시스템, 맵 매칭 방법 및 프로그램

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101067377B1 (ko) * 2009-07-10 2011-09-23 주식회사 한국스마트카드 노선 운행 차량의 위치 추정 장치 및 방법
KR101309291B1 (ko) * 2010-07-05 2013-09-16 아주대학교산학협력단 실내 측위 시스템 및 그 방법
CN102457807A (zh) * 2010-10-20 2012-05-16 大唐移动通信设备有限公司 一种确定位置信息的方法和终端
CN102901505B (zh) * 2011-07-29 2015-10-07 上海博泰悦臻电子设备制造有限公司 导航系统及道路匹配方法与装置
CN104427466A (zh) * 2013-08-28 2015-03-18 高德软件有限公司 终端设备定位方法及终端设备
WO2015029234A1 (fr) * 2013-08-30 2015-03-05 株式会社小松製作所 Système de gestion de machines pour exploitation minière et procédé de gestion de machines pour exploitation minière
CN104567884A (zh) * 2013-10-25 2015-04-29 上海博泰悦臻电子设备制造有限公司 位移推算方法、装置及车载设备
WO2015155292A1 (fr) * 2014-04-09 2015-10-15 Continental Teves Ag & Co. Ohg Correction de position d'un véhicule par référencement à des objets dans l'environnement
CN104266592A (zh) * 2014-09-29 2015-01-07 樊晓莉 基于枕木的隧道内移动装置的移位测量方法
CN105635958B (zh) * 2014-11-06 2019-08-20 高德软件有限公司 一种定位数据采集方法和装置
CN104390699B (zh) * 2014-11-20 2016-09-07 厦门元谷信息科技有限公司 一种用于道路照明动态测量距离和定位方法
CN106546247A (zh) * 2015-09-18 2017-03-29 厦门雅迅网络股份有限公司 一种提高定位精度的数据传输装置和方法
US10002109B2 (en) * 2016-06-24 2018-06-19 Freeport-Mcmoran Inc. Systems and methods of correlating satellite position data with terrestrial features
CN106802151B (zh) * 2016-11-21 2020-07-31 蔚来汽车有限公司 基于沿途参照物匹配的导航方法
CN117111049B (zh) * 2023-10-23 2024-01-30 成都瑞达物联科技有限公司 一种etc通道车辆存在检测方法及系统

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04326080A (ja) * 1991-04-26 1992-11-16 Hitachi Ltd 移動体の位置検出方法
JPH09229701A (ja) * 1996-02-23 1997-09-05 Japan Radio Co Ltd 位置検出方法
WO2000067207A1 (fr) * 1999-04-28 2000-11-09 Toyota Jidosha Kabushiki Kaisha Systeme comptable
JP2006266759A (ja) * 2005-03-22 2006-10-05 Clarion Co Ltd 車載ナビゲーション装置

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005227092A (ja) * 2004-02-12 2005-08-25 Denso Corp 車両の現在位置算出装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04326080A (ja) * 1991-04-26 1992-11-16 Hitachi Ltd 移動体の位置検出方法
JPH09229701A (ja) * 1996-02-23 1997-09-05 Japan Radio Co Ltd 位置検出方法
WO2000067207A1 (fr) * 1999-04-28 2000-11-09 Toyota Jidosha Kabushiki Kaisha Systeme comptable
JP2006266759A (ja) * 2005-03-22 2006-10-05 Clarion Co Ltd 車載ナビゲーション装置

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2481275B (en) * 2010-04-16 2017-11-01 Csr Tech Holdings Inc Method and apparatus for geographically aiding navigation satellite system solution
CN102175253A (zh) * 2010-12-28 2011-09-07 清华大学 基于汽车状态转移的多假设地图匹配方法
CN102175253B (zh) * 2010-12-28 2012-09-05 清华大学 基于汽车状态转移的多假设地图匹配方法
US8589070B2 (en) 2011-05-20 2013-11-19 Samsung Electronics Co., Ltd. Apparatus and method for compensating position information in portable terminal
US20150066363A1 (en) * 2013-08-30 2015-03-05 The Boeing Company Method and system for estimating aircrft course
US9366538B2 (en) * 2013-08-30 2016-06-14 The Boeing Company Method and system for estimating aircraft course
CN104683948A (zh) * 2015-02-04 2015-06-03 四川长虹电器股份有限公司 自我学习的异常位置轨迹点过滤方法
CN104683948B (zh) * 2015-02-04 2018-10-19 四川长虹电器股份有限公司 自我学习的异常位置轨迹点过滤方法
CN105987692A (zh) * 2015-03-02 2016-10-05 华为技术有限公司 一种导航方法及装置
KR20190072611A (ko) 2016-11-29 2019-06-25 미츠비시 쥬고 기카이 시스템 가부시키가이샤 맵 매칭 장치, 맵 매칭 시스템, 맵 매칭 방법 및 프로그램
US11421995B2 (en) 2016-11-29 2022-08-23 Mitsubishi Heavy Industries Machinery Systems, Ltd. Map matching device, map matching system, map matching method and program

Also Published As

Publication number Publication date
MY153364A (en) 2015-01-29
HK1143204A1 (en) 2010-12-24
JP2009115587A (ja) 2009-05-28
CN101784868B (zh) 2013-01-16
KR101134270B1 (ko) 2012-04-12
KR20100031647A (ko) 2010-03-23
JP5249556B2 (ja) 2013-07-31
CN101784868A (zh) 2010-07-21

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