WO2014020688A1 - Dispositif de navigation - Google Patents

Dispositif de navigation Download PDF

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Publication number
WO2014020688A1
WO2014020688A1 PCT/JP2012/069422 JP2012069422W WO2014020688A1 WO 2014020688 A1 WO2014020688 A1 WO 2014020688A1 JP 2012069422 W JP2012069422 W JP 2012069422W WO 2014020688 A1 WO2014020688 A1 WO 2014020688A1
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WO
WIPO (PCT)
Prior art keywords
map
ship
unit
information
navigation
Prior art date
Application number
PCT/JP2012/069422
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English (en)
Japanese (ja)
Inventor
山田　隆一
Original Assignee
プレミアムテック株式会社
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 プレミアムテック株式会社 filed Critical プレミアムテック株式会社
Priority to PCT/JP2012/069422 priority Critical patent/WO2014020688A1/fr
Priority to JP2014527861A priority patent/JP5758053B2/ja
Priority to JP2013527194A priority patent/JP5369268B1/ja
Priority to PCT/JP2013/057183 priority patent/WO2014020932A1/fr
Publication of WO2014020688A1 publication Critical patent/WO2014020688A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/024—Guidance services

Definitions

  • the present invention relates to a navigation device mounted on a moving body such as a ship. More specifically, the navigation device of the present invention displays the current position of a moving body on a contour map indicating the electric field strength of radio waves transmitted to and received from a communication satellite.
  • Patent Document 1 a system that connects a control earth station installed on land and a marine vessel so that they can communicate with each other via a communication satellite in the sky is known (for example, Patent Document 1).
  • This system is used for the purpose of, for example, navigating the route of a ship and notifying an emergency signal to the ship.
  • Patent Document 1 describes a marine navigation system for navigating a marine route.
  • a ship station device provided on a ship detects information relating to the sea area currently being navigated from its own optical disk or the like based on position information from a GPS satellite.
  • the ship station device transmits data indicating the version of the information relating to the sea area to the ground station device via the communication satellite, and detects whether the version is new or old. Then, when the information that the ship station device has is old as a result of the response from the ground station device, the ship station device requests the ground station device to transmit information regarding the sea area.
  • the ground station device stores the latest information such as map data, construction information, and regulatory information for each sea area.
  • the ground station apparatus can transmit the latest information to the ship side in response to a request from the ship station apparatus.
  • the ship station apparatus displays a chart and the like based on the latest information, and writes and saves it on the optical disk. As a result, it is said that the ship can always obtain the latest information and perform safe navigation.
  • a ship station apparatus mounted on a ship has a communication satellite transmission EIRP (effective isotropic radiated power) and a communication satellite reception G / T (gain-to-noise temperature ratio) of a certain value or more.
  • EIRP effective isotropic radiated power
  • G / T gain-to-noise temperature ratio
  • the conventional navigation system can grasp the current position of the ship.
  • communication with the ground station apparatus cannot be performed even if the shipboard station apparatus is disassembled and repaired. As described above, there are many cases in which the crew misunderstands that the shipboard station device has failed even though the ship cannot simply transmit and receive radio waves with the communication satellite. It was.
  • the inventor of the present invention synthesized a map including a nautical chart and a contour map related to transmission / reception performance of radio waves transmitted / received by a communication satellite.
  • a map including a nautical chart and a contour map related to transmission / reception performance of radio waves transmitted / received by a communication satellite By displaying the current position of the moving object on the composite map, it is possible to easily determine whether the current position of the ship is in an area where radio waves transmitted to and received from the communication satellite can be appropriately transmitted and received. I got the knowledge that I can do it.
  • the inventor has conceived that the problems of the prior art can be solved based on the above knowledge, and has completed the present invention. More specifically, the present invention has the following configuration.
  • the present invention relates to a navigation device mounted on a moving body.
  • the navigation device of the present invention includes: A map storage unit storing map data; A contour map storage unit storing contour map data related to the transmission and reception performance of radio waves transmitted and received by a communication satellite; A map synthesis unit that reads out the map data and the contour map data from the map storage unit and the contour map storage unit, and generates a composite map in which the map and the contour map are superimposed; A position information detection unit capable of detecting information on a current position of the mobile body; A display unit that displays a current position of the moving body detected by the position information detection unit on the composite map generated by the map synthesis unit;
  • the contour map preferably includes two types of contour maps: a transmission EIRP (effective isotropic radiated power) of the communication satellite and a reception G / T (gain-to-noise temperature ratio) of the communication satellite.
  • a transmission EIRP effective isotropic radiated power
  • G / T gain-to-noise temperature ratio
  • the navigation device of the present invention includes: A storage unit for accumulating and storing the position information detected by the position information detection unit; A route detection unit for detecting a route traveled by the mobile body based on the position information stored in the storage unit; Preferably, the display unit displays the route detected by the route detection unit on the composite map.
  • the mobile body is a ship, and the map preferably includes a chart.
  • the navigation apparatus further includes a transmission unit that transmits the information on the current position detected by the position information detection unit to a sea area information processing apparatus included in a land station on land via a communication satellite in the sky. It is preferable.
  • the navigation device is based on the contour map and the current position information of the mobile body, and in the contour map, in the area where the transmission / reception performance of radio waves transmitted and received by the communication satellite is below a predetermined value, It is preferable to have a ship information processing unit that includes an alarm device that displays or emits an alert when it is determined that there is a current position, and that automatically roams to a communication satellite or transponder having an optimal contour map.
  • the present invention can synthesize a contour map related to transmission / reception performance of radio waves transmitted / received between a map and a communication satellite, and display the current position of the moving object on the synthesized map. Therefore, according to the present invention, it is possible to easily determine whether or not the current position of the mobile body is within an area where radio waves transmitted to and received from the communication satellite can be appropriately transmitted and received.
  • the navigation device of the present invention selects a communication satellite or transponder so that an optimum radio wave can be transmitted and received automatically when a moving object exists within a range where a plurality of communication satellites or transponders can be used. Has a roaming function that can.
  • FIG. 1 shows an outline of a navigation support system including a navigation device of the present invention.
  • FIG. 2 shows a functional block diagram constituting the navigation support system.
  • FIG. 3 shows an example of a composite map of a map and a contour map.
  • FIG. 4 shows an example of a composite map of a map and a contour map.
  • FIG. 1 shows an example of a navigation support system 100 including a navigation device 20 according to the present invention.
  • the navigation support system 100 includes a sea area information processing apparatus 10 disposed on a land station 1 on land and a navigation apparatus 20 mounted on a ship 2.
  • the marine area information processing apparatus 10 and the navigation apparatus 20 are connected to each other via an information communication network so that wireless communication can be performed.
  • the marine information communication network includes a GPS network, a mobile communication network, and a VHF broadcast network.
  • the GPS network is represented by a dotted line A
  • the mobile communication network is represented by a solid line B
  • the VHF broadcast network is represented by a one-dot chain line C.
  • the GPS network A includes a GPS satellite 3 in the sky and a GPS differential reference station 4 disposed on land.
  • the GPS network establishes communication between the GPS satellite 3, the GPS differential reference station 4, and the navigation device 20 mounted on each ship 2.
  • the navigation device 20 includes a GPS receiver, as will be described later.
  • GPS Global Positioning System
  • GPS Global Positioning System
  • each ship 2 can obtain information such as the position, speed, and azimuth of the ship as an accurate value by GPS.
  • the GPS measures the time required to receive each radio wave based on the radio wave transmission time information included in the radio waves sent from the plurality of GPS satellites 3, and indicates the time indicating the time. Based on the information, information on the latitude and longitude of the current position of each ship 2 is calculated.
  • the mobile communication network B includes a communication satellite 5 in the sky, a sea area information processing device 10 disposed in the ground station 1, and a navigation device 20 mounted on each ship 2.
  • the mobile communication network B may include a transponder.
  • the transponder is mounted on an artificial satellite such as a communication satellite or a broadcasting satellite, and has a function as a repeater for receiving a weak radio wave transmitted from the ground and amplifying the power to send it back to the ground.
  • the mobile communication network can establish communication between the sea area information processing device 10 of the ground station 1 and the navigation device 20 of the ship 2 via the communication satellite 5.
  • the sea area information processing apparatus 10 includes a communication antenna 11 and the navigation apparatus 20 includes a communication device.
  • the VHF broadcast network C includes a sea area information processing apparatus 10 disposed on the ground station 1 and a navigation apparatus 20 mounted on the ship 2.
  • the sea area information processing apparatus 10 includes a VHF broadcast antenna 12.
  • the VHF broadcast broadcast by the VHF broadcast antenna 12 is configured to be received by the navigation device 20 of each ship 2.
  • the VHF broadcast antenna 12 is connected to the ship information processing unit 13 of the sea area information processing apparatus 10 by a cable.
  • the sea area information display device 10 includes a VHF broadcast receiver (not shown).
  • the navigation 20 of each ship 2 supplies its own ship information to the communication antenna 11 of the ground station 1 via the communication satellite 5.
  • the own ship information includes, for example, the identification name of the own ship, the position of the own ship, the heading and speed of the own ship, the size and type of the own ship, the set route, and the navigation state.
  • the identification name of the ship is used in the ground station 1 to identify each ship 2.
  • the sea area information processing apparatus 10 of the ground station 1 can individually transmit, for example, the following information to the ship 2 via the communication antenna 11. (1) Requesting a ship that sails in the vicinity to rescue a ship that has encountered a marine accident. (2) When a small ship that is not equipped to use the navigation support system is discovered by radar monitoring of the ground station, notify the ship that navigates around the small ship to that effect . (3) When a ship navigating a route deviating from the set route is discovered, the ship is informed that the vessel deviates from the set route. (4) Ask the ship that has stopped transmitting to the ground station to that effect, and if the ship's communication device is faulty, notify the ship that is sailing to that effect. (5) Notify ships that are obliged to evacuate but have not evacuated.
  • the sea area information processing apparatus 10 of the ground station 1 constantly monitors the reception status of each mobile unit (ship 2).
  • the EIRP transmission power
  • the sea area information processing apparatus 10 of the ground station 1 can also improve the reception margin of the mobile body by controlling the modulation parameter when the radio wave from the ground station 1 to each mobile body (out-band) is weak.
  • information on all ships collected by the communication antenna 11 of the ground station 1 can be supplied to the VHF broadcast transmission antenna 12 via a cable.
  • the VHF broadcast transmission antenna 12 can supply information of all ships to each ship 2.
  • Vessel information includes, for example, all vessel identification names, all vessel locations, all vessel heading and speed, all vessel dimensions and types, all vessel set routes, and all vessel The navigational state is included.
  • This ship information includes the own ship information. Accordingly, each ship can identify its own ship information from other ship information by the identification name.
  • the marine area information processing apparatus 10 is provided in the land station 10 on the land, and the navigation apparatus 20 is mounted on the marine vessel 2.
  • the sea area information processing apparatus 10 includes a ship information processing unit 13, a ship information receiving unit 14, and a ship information transmitting unit 15.
  • the ship information receiving unit 14 is configured to include the communication antenna 11 described above.
  • the ship information transmitting unit 15 is configured to include a communication antenna 11 and a VHF broadcast transmission antenna 12.
  • a signal instructing ship information supplied by each ship 2 is received by the ship information receiving unit 14 including the communication antenna 11.
  • the ship information includes identification names, positions, heading and speeds, dimensions and types, set routes, and navigation states of all ships including the own ship.
  • All ship information received by the ship information receiving unit 14 is transmitted to the ship information processing unit 13, and analysis processing and calculation processing are performed by the ship information processing unit 13.
  • the ship information processing unit 13 supplies all ship information to the ship information transmission unit 14.
  • All ship information is transmitted to each ship 2 by the VHF broadcast transmitting antenna 12 of the ship information transmitting unit 15.
  • the sea area information processing apparatus 10 can also call each ship 2 individually by the communication antenna 11 of the ship information transmission part 15 as mentioned above.
  • the navigation device 20 mounted on each ship 2 includes a ship information transmitting unit 21, an other ship information receiving unit 22, a position information detecting unit 23, a map information generating unit 24, A ship information processing unit 25 and a display unit 26 are provided.
  • the own ship information transmission unit 21 includes a communication antenna for transmission, and transmits, for example, own ship information detected by the position information detection unit 23 to the sea area information processing apparatus 10 of the ground station 1 via the communication satellite 5. be able to.
  • the other ship information receiving unit 22 includes a receiving communication antenna, and can receive ship information transmitted from the sea area information processing apparatus 10 of the ground station 1 via the mobile communication network or the VHF broadcast network. . That is, the other ship information receiving unit 22 includes a receiving communication antenna and a VHF broadcast receiving antenna.
  • the position information detection unit 23 includes a measurement unit 23a, a route detection unit 23b, and a storage unit 23c.
  • the measurement unit 23a includes a GPS receiver that can receive the radio waves from the GPS satellite 3 and the GPS differential reference station 4 and detect the position of the ship.
  • the measurement unit 23a further includes a gyrocompass that detects the heading of the ship and a log speedometer that measures the navigation speed of the ship.
  • the measurement unit 23a automatically performs measurement at predetermined time intervals (for example, 1 to 10 minutes) using a GPS receiver, a gyrocompass, and a log measurement meter.
  • the route detection unit 23b detects the navigation route of the ship based on the information measured by the GPS receiver, the gyro compass, and the log meter included in the measurement unit 23a.
  • the navigation route includes a route on which the ship 2 has traveled in the past and a route on which the ship 2 is expected to travel in the future.
  • the storage unit 23c appropriately accumulates and stores information measured by the GPS receiver, gyro compass, and log meter included in the measurement unit 23a.
  • the storage unit 23c stores information regarding the navigation route obtained by the route detection device 23b.
  • storage part 23c has memorize
  • information including position information detected by the position information detection unit 23 is referred to as “own ship information”.
  • the route detection unit 23b can confirm the point that the ship has passed in the past based on the past position information of the ship that is measured by the GPS receiver and accumulated in the storage unit 24c. And the route detection part 23b can detect the past navigation route of the own ship by calculating
  • the map information generation unit 24 includes a map storage unit 24a, a contour map storage unit 24b, and a map composition unit 24c.
  • the map storage unit 24a can store a plurality of types of map data including nautical charts and land charts.
  • the map may be a plan view that represents a certain range two-dimensionally, or may be a bird's-eye view that is three-dimensionally drawn using a perspective projection method.
  • the map storage unit 24a preferably stores map data having a plurality of types of scales. If the map storage unit 24a stores a plurality of types of scale maps for the same point, the map can be reduced or enlarged.
  • the map storage unit 24a stores a world map, a full map of Japan, a map of each country, and a nautical chart, and further stores map data having various scales such as 1/100000, 1/100000, and 1/3000. It is preferable.
  • the map storage unit 24a may store known map data provided on a website on the Internet.
  • the contour map storage unit 24b stores contour map data related to the transmission and reception performance of radio waves transmitted and received by the communication satellite 5.
  • a contour map is a contour map displaying contour lines connecting equal numerical values on the drawing.
  • the contour map storage unit 24b stores, for example, a contour map of transmission EIRP (effective isotropic radiated power) of a communication satellite. Further, the contour map storage unit 24b stores, for example, a contour map of the reception G / T (gain to noise temperature ratio) of the communication satellite. This means a contour map indicating the electric field strength of radio waves transmitted to and received from a communication satellite.
  • the reception level when receiving radio waves transmitted from a communication satellite in a normal reception state using an antenna correctly installed on the ship 2 is the transmission output (EIRP) of the communication satellite and the reception sensitivity of the ship 2. It is determined based on the performance (G / T ratio). For this reason, in order to confirm the reception level in the ship 2, the contour map of the transmission output (EIRP) of a communication satellite should just be confirmed. Further, in order to confirm the transmission power from the ship 2 to the communication satellite, it is only necessary to confirm the contour map of the reception G / T (gain to noise temperature ratio) of the communication satellite.
  • the contour map storage unit 24b preferably stores a contour map of transmission EIRP (effective isotropic radiated power) of the communication satellite and reception G / T (gain-to-noise temperature ratio) of the communication satellite.
  • the mobile communication network includes a plurality of communication satellites 5.
  • the contour map storage unit 24 b stores a transmission EIRP and reception G / T contour map for each communication satellite 5. Thereby, if the contour map of each communication satellite 5 is taken into consideration, it becomes possible to select a communication satellite that can perform optimal communication according to the current position of the ship 2.
  • the navigation information processing unit 25 performs an optimal communication satellite selection process.
  • the contour map storage unit 24b may store a known communication satellite contour map provided by a satellite operator.
  • the map composition unit 24c reads the map data from the map storage unit 24a, reads the contour map data from the contour map storage unit 24b, and performs a composition process for superimposing the two.
  • the map synthesis unit 24 synthesizes the map and the contour map so that the latitude, longitude, and scale of the map and the contour map match. As a result, a contour map of the electric field strength of radio waves transmitted and received with the communication satellite is shown on the map.
  • the composite map generated by the map composition unit 24c is temporarily stored in a storage unit (not shown).
  • the own ship information detected by the position information detecting unit 23 is transmitted to the own ship information transmitting unit 21 and the navigation information processing 25. Further, the other ship information received by the other ship information receiving unit is transmitted to the navigation information processing 25. Furthermore, the composite map data generated by the map composition unit 24 c of the map information generation unit 24 is transmitted to the navigation information processing 25.
  • the navigation information processing unit 25 acquires own ship information from the position information detection unit 23, acquires other ship information from the other ship information reception unit 22, and acquires composite map data from the nautical chart information generation 24. .
  • Information is transmitted and received by the inboard LAN.
  • the navigation information processing unit 25 has, for example, a known CPU.
  • the navigation information processing unit 25 generates the navigation status of the ship and other ships.
  • the navigation information processing unit 25 converts the composite map data generated by the chart information generation 24 into a displayable format.
  • the navigation information processing unit 25 can display the composite map on the display unit 26.
  • the display unit 26 is, for example, an LCD (Liquid It can be realized by hardware such as a crystal display (LCD) or OELD (Organic Electro Luminescence Display).
  • the navigation information processing unit 25 displays the composite map on the display unit 26
  • the navigation information processing unit 25 displays the current position of the ship on the composite map based on the information on the current position of the ship detected by the position information detection unit 23.
  • the current position of the ship may be indicated by an icon, may be displayed by blinking the icon, or may be displayed prominently surrounded by an icon frame. .
  • the navigation information processing unit 25 displays the current position of the ship on the composite map based on the information on the heading of the ship detected by the position information detection unit 23 on the display unit 26. It is preferable to display the heading. For example, the heading of the ship may be displayed by the direction of the ship icon, or may be displayed by an arrow.
  • the navigation information processing unit 25 displays the past navigation route detected by the route detection unit 23b of the position information detection unit 23 on the display unit 26 when displaying the current position of the ship on the composite map. Is preferred.
  • the navigation information processing unit 25 can also display the future navigation route of the ship on the display unit 26.
  • the ship's past navigation route can be displayed, for example, by connecting points that the ship has passed in the past with a line.
  • FIG. 3 and 4 show an example of the composite map displayed on the display unit 26.
  • FIG. 3 shows an example of a composite map in which a contour map of transmission EIRP (effective isotropic radiated power) of a communication satellite is superimposed on the map.
  • FIG. 4 shows an example of a composite map in which a contour map of the received G / T (gain to noise temperature ratio) of the communication satellite is superimposed on the map.
  • the current position P of the ship 2 is displayed on the composite map.
  • the ship's crew looks at the composite map displayed on the display unit 26 so that the current position of the ship is in an area where radio waves transmitted to and received from the communication satellite can be appropriately transmitted and received. It can be easily determined whether or not.
  • the ship's crew confirms the contour map so that the ship's current position is at a position where the reception level of radio waves transmitted from the communication satellite is low, or where the radio wave from the communication satellite cannot be received. Understand that the cause of the inability to communicate with the ground station is simply that the ship cannot receive radio waves from the communication satellite.
  • FIGS. 3 and 4 on the composite map, a point where the ship 2 passes from the navigation start point S to the current point P is displayed as a navigation route R. For this reason, the crew of a ship can confirm the navigation route R of own ship instantaneously by visually observing the display part 26.
  • a danger signal is supplied to the alarm device 27 when the navigation status of the ship 2 displays danger.
  • the navigation information processing unit 25 confirms the numerical value of the radio wave transmission / reception performance indicated in the contour map and the current position information of the ship.
  • a danger signal is supplied to the alarm device 27.
  • the predetermined value of the transmission / reception performance that generates the danger signal can be arbitrarily determined.
  • the alarm device 27 includes a display 27a and / or a speaker 27b. For this reason, when the danger signal is supplied from the navigation information processing unit 25, the alarm device 27 can display the alert as an image on the display 27a or emit the alert as a sound from the speaker 27b.
  • the navigation information processing unit 25 of the present invention collates the current position of the ship 2 detected by the position information detection unit 23 with the contour maps of the plurality of communication satellites 5 stored in the contour map storage unit 24b. , It may have a roaming function for automatically selecting one communication satellite 5 that can perform the best communication with the ship. That is, the navigation information processing unit 25 can automatically switch to communication with the communication satellite 5 or transponder having the optimum contour when the ship is located in a range where a plurality of communication satellites 5 or transponders can be used. it can.
  • the navigation information processing unit 25 notifies the warning device 27 when the own ship may collide with another ship based on the own ship information and the other ship information.
  • a danger signal can also be supplied.
  • the warning device 27 that has received the danger signal issues a warning to the crew of the ship by sound or image.
  • the marine vessel operator visually observes the navigation status displayed on the display unit 26 to determine the avoidance behavior, and manually operates the marine vessel maneuvering device 38.
  • the marine vessel maneuvering device 28 includes, for example, a marine vessel maneuvering controller 28a and a console 28b.
  • the marine vessel maneuvering controller 28a functions to receive own ship information and other ship information via a normal inboard LAN and to control the own ship to always navigate along the set route.
  • the ship maneuvering controller 28a changes the speed by changing the number of rotations of the screw propeller of the ship, and determines the distance deviation between the set route and the current position of the ship and the set route and the current heading of the ship. The azimuth deviation is detected and feedback control is performed to control the steering so that this deviation becomes zero.
  • the boat maneuvering controller 28a accepts a manual boat maneuvering signal from the marine vessel operator, thereby maneuvering the vessel.
  • a change in the set route and a change in the set speed are transmitted by the console 28b.
  • the present invention relates to a navigation device mounted on a moving body such as a ship. Therefore, the present invention can be suitably used not only in the device manufacturing industry but also in the logistics industry and the fishery industry.

Abstract

Le problème selon la présente invention est de rendre possible la détermination facile si la position actuelle d'un corps mobile est dans une région dans laquelle des ondes radio peuvent être correctement envoyées vers et reçues de satellites de communication. La solution selon l'invention consiste en un dispositif de navigation pourvu de : une unité de stockage de carte dans laquelle des données cartographiques sont stockées; une unité de stockage de carte de périmètre de rayonnement dans laquelle des données de carte de périmètre de rayonnement en rapport avec la performance de transmission et de réception pour les ondes radio envoyées vers et reçues des satellites de communication sont stockées; une unité de synthèse de carte qui lit les données de carte et les données de carte de périmètre de rayonnement à partir de l'unité de stockage de carte et de l'unité de stockage de carte de périmètre de rayonnement et génère une carte composite qui superpose la carte et la carte de périmètre de rayonnement; une unité de recherche et d'acquisition de position capable de trouver des informations sur la position actuelle du corps mobile; et une unité d'affichage qui affiche la position actuelle du corps mobile que l'unité de recherche et d'acquisition de position a trouvée sur la carte composite générée par l'unité de synthèse de carte.
PCT/JP2012/069422 2012-07-31 2012-07-31 Dispositif de navigation WO2014020688A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/JP2012/069422 WO2014020688A1 (fr) 2012-07-31 2012-07-31 Dispositif de navigation
JP2014527861A JP5758053B2 (ja) 2012-07-31 2012-07-31 ナビゲーション装置
JP2013527194A JP5369268B1 (ja) 2012-07-31 2013-03-14 ナビゲーション装置
PCT/JP2013/057183 WO2014020932A1 (fr) 2012-07-31 2013-03-14 Dispositif de navigation

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PCT/JP2012/069422 WO2014020688A1 (fr) 2012-07-31 2012-07-31 Dispositif de navigation

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WO2014020688A1 true WO2014020688A1 (fr) 2014-02-06

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PCT/JP2013/057183 WO2014020932A1 (fr) 2012-07-31 2013-03-14 Dispositif de navigation

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JP6601815B2 (ja) * 2015-05-15 2019-11-06 日本無線株式会社 衛星通信可否予測装置および衛星通信可否予測プログラム
GB201703968D0 (en) * 2017-03-13 2017-04-26 Computational Eng Sg System for building situation awareness
WO2019110064A2 (fr) * 2017-12-05 2019-06-13 Rotech Aps Système de navigation

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