JP2015146140A - Navigation computation device, theft notification device, theft notification system and theft detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To attain a navigation computation device that allows for a theft discrimination.SOLUTION: A navigation computation device 20 comprises: a control unit 21; a theft monitor unit 22; an RF processing unit 23; a storage unit 24; a switch unit 25; and a sensor unit 30. The theft monitor unit 22 and sensor unit 30 are configured to have power steadily supplied, and the theft monitor unit 22 is configured to detect a change in output of the sensor unit 30 when there is no trigger signal, and output a theft monitor signal. The switch unit 25 is configured to be electrified by the theft monitor signal, and supply power to the control unit 21. When started up by reception of the theft monitor signal, the control unit 21 is configured to execute a satellite navigation computation using a positioning signal received by the RF processing unit 23, and execute an inertia navigation computation using the output of the sensor unit 30. The control unit 21 outputs a theft detection signal on the basis of the result of the satellite navigation computation and the result of the inertia navigation computation.

Description

  The present invention relates to a navigation calculation device that performs positioning using a result of satellite navigation calculation based on a positioning signal and a result of inertial navigation calculation using inertial force, a theft notification device equipped with the navigation calculation device, and the theft notification. The present invention relates to a theft notification system including a device and a theft detection method.

  Conventionally, various devices for measuring the position of the own device have been devised. For example, Patent Document 1 describes a navigation calculation device that performs positioning using a result of satellite navigation calculation based on a GPS signal and a result of inertial navigation calculation based on an output of a sensor unit including an acceleration sensor and an angular velocity sensor. ing.

  The navigation calculation device described in Patent Document 1 estimates and corrects an error in the sensor unit using the result of the satellite navigation calculation. The navigation calculation device described in Patent Document 1 calculates an integrated estimated value such as a position and a velocity based on an estimated error, using a corrected sensor output value, that is, a result of inertial navigation calculation.

  Such a navigation calculation device is mounted on a movable object, mainly an automobile.

JP 2009-192495 A

  Currently, car theft is a social problem. Further, not only automobiles but also moving objects that can be easily moved, such as luggage, may similarly be stolen, and the problem of theft is unavoidable.

  However, although the navigation calculation device described above can detect the movement of the moving object, it cannot identify whether the movement is being performed by the owner or being stolen.

  An object of the present invention is to provide a navigation calculation device, a theft notification device, a theft notification system, and a theft detection method capable of determining theft.

  The present invention relates to a navigation calculation apparatus that performs integrated navigation calculation using a result of satellite navigation calculation and a result of inertial navigation calculation, and has the following characteristics. The navigation calculation device includes a sensor unit, a theft monitoring unit, and a control unit. The sensor unit is constantly supplied with power and outputs a sensor value used for inertial navigation calculation. The theft monitoring unit is constantly supplied with power and observes the output of the sensor unit. The control unit executes satellite navigation calculation and inertial navigation calculation.

  Then, the theft monitoring unit outputs a theft warning signal when it detects that the output of the sensor unit has changed. The control unit is activated by being powered by a theft warning signal, and outputs a theft detection signal based on at least one of the result of the satellite navigation calculation and the result of the inertial navigation calculation.

  In this configuration, even when power is not supplied to the control unit, the theft monitoring unit observes the output of the sensor unit, thereby detecting the movement of the object on which the navigation calculation device is mounted. Further, when the movement of the object is detected, the control unit is activated, and it is more accurately detected whether the object is theft.

  In the navigation calculation device of the present invention, the control unit detects a plurality of theft levels based on at least one of the satellite navigation calculation result and the inertial navigation calculation result, and the theft level is equal to or higher than a level threshold value. When it is, a theft detection signal is output.

  In this configuration, the theft level can be set in a plurality of stages, and a level threshold value for outputting a theft detection signal can be set. Therefore, in response to a user request, whether or not it is theft is detected more accurately. be able to.

  In addition, the navigation calculation device of the present invention further includes a switch unit that supplies power to the control unit in response to an input of a theft warning signal.

  With this configuration, it is possible to more reliably execute power supply to and shutoff from the control unit.

  In the navigation calculation device of the present invention, the theft monitoring unit can switch between a warning mode for executing a theft warning operation and a normal positioning mode for not performing the theft warning operation, and a trigger indicating the owner. When the signal is input, the mode is switched from the alert mode to the normal positioning mode. The switch unit cuts off power supply to the control unit when no trigger signal is input and no burglar alarm signal is input. The switch unit supplies power to the control unit when a trigger signal is input or when a theft warning signal is input.

  In this configuration, it is possible to more reliably detect theft by using the presence or absence of a trigger signal that depends on the navigation device and the proper owner of the moving object on which the navigation device is mounted.

  In addition, a theft notification device according to the present invention includes the navigation calculation device according to any one of the above and a notification unit that performs a theft notification based on a theft detection signal.

  In this configuration, the theft detected by the navigation calculation device can be notified to the outside.

  In the theft notification device of the present invention, the notification unit is an ETC device, and the ETC device is activated by being supplied with power by a theft warning signal.

  This structure has shown an example of the alerting | reporting part in case the moving target object in which a theft alerting | reporting apparatus is mounted is a motor vehicle. By using an ECT device for the notification unit, a theft notification can be performed without newly providing a notification unit.

  In addition, a theft notification system of the present invention includes the above-described theft notification device and a theft data external reception unit that receives theft notification data from the notification unit.

  With this configuration, the theft detected by the navigation calculation device can be easily grasped outside.

  The theft detection method of the present invention includes a sensor output observation process, a theft monitoring process, a navigation calculation process, and a theft detection process. In the sensor output observation step, the output of the sensor unit used for the inertial navigation calculation is observed. The theft monitoring process outputs a theft alert signal when it detects that the output of the sensor unit has changed. The navigation calculation step starts and continuously executes at least one of the satellite navigation calculation and the inertial navigation calculation based on the output of the theft warning signal. The theft detection step outputs a theft detection signal based on at least one of the result of the satellite navigation calculation and the result of the inertial navigation calculation.

  In this method, even when power is not supplied to the control unit, the movement of the target object is detected by observing the output of the sensor unit. Further, when the movement of the object is detected, the control unit is activated, and it is more accurately detected whether the object is theft.

  In the theft detection method of the present invention, the theft detection step detects a plurality of stages of theft based on at least one of the result of the satellite navigation calculation and the result of the inertial navigation calculation, and the theft level is a level threshold value. When this is the case, a theft detection signal is output.

  In this method, since the theft level can be set in a plurality of stages and a level threshold value for outputting the theft detection signal can be set, it is detected more accurately whether or not the theft is made in response to a user request. be able to.

  In the theft detection method of the present invention, the theft monitoring step performs theft monitoring when the trigger signal indicating the owner is not input, and performs the theft monitoring when the trigger signal is input. Absent.

  In this method, it is possible to more reliably detect theft by using the presence or absence of a trigger signal depending on the official owner of the moving object.

  According to the present invention, it is possible to reliably determine whether or not the mobile object to which the navigation calculation device is attached has been stolen.

1 is a block diagram of a navigation calculation device, a theft notification device, and a theft notification system according to a first embodiment of the present invention. It is a block diagram which shows the operation state at the time of the alert mode of the navigation calculating apparatus and theft notification apparatus which concern on the 1st Embodiment of this invention. It is a table | surface for showing the detection concept of the theft level of the navigation arithmetic unit which concerns on the 1st Embodiment of this invention. It is a flowchart of the theft detection method which concerns on the 1st Embodiment of this invention. It is a block diagram of a navigation calculation device, a burglar alarm device, and a burglar alarm system according to a second embodiment of the present invention.

  A navigation calculation device, a theft notification device, a theft notification system, and a theft notification method according to a first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, an automobile will be described as an example of a moving object (moving object) for theft monitoring and detection.

  FIG. 1 is a block diagram of a navigation calculation device, a theft notification device, and a theft notification system according to the first embodiment of the present invention. FIG. 2 is a block diagram illustrating an operation state of the navigation calculation device and the theft notification device according to the first embodiment of the present invention in the alert mode. In FIG. 1 and FIG. 2, a solid line connecting each functional unit indicates a data line, and a dotted line indicates a power supply line. In FIG. 2, power is supplied to the portion where hatching is performed among the functional units.

  The theft notification device 10 includes a navigation calculation device 20 and a notification unit 40. The navigation calculation device 20 includes a control unit 21, a theft monitoring unit 22, an RF processing unit 23, a storage unit 24, a switch unit 25, and a sensor unit 30.

  The control unit 21 and the notification unit 40 are connected to the power supply unit 60 via the switch unit 25. A navigation device 91, which is an external device to which the theft notification device 10 is connected, is also connected to the power supply unit 60 via the switch unit 25. Therefore, the power of the control unit 21, the notification unit 40, and the navigation device 91 is controlled by the switch unit 25.

  The switch unit 25 becomes conductive when a trigger signal from the trigger input unit 70 is input or when a theft warning signal is input from the theft monitoring unit 22. The switch unit 25 is in a non-conduction state (open state) at other times.

  The theft monitoring unit 22 and the sensor unit 30 are directly connected to the power supply unit 60. Therefore, power is constantly supplied to the theft monitoring unit 22 and the sensor unit 30.

  The control unit 21 is connected to the theft monitoring unit 22, the RF processing unit 23, the storage unit 24, the sensor unit 30, and the notification unit 40. The control unit 21 is connected to the navigation device 91. The theft monitoring unit 22 and the switch unit 25 are connected to the trigger input unit 70. For the trigger input unit 70, for example, an ignition key or a start button of an automobile can be used. The trigger input unit 70 generates a trigger signal indicating the owner of the vehicle when the vehicle on which the navigation calculation device 20 and the theft notification device 10 are mounted is activated by an ignition key or an activation button, and the theft monitoring unit 22. And output to the switch unit 25. The trigger signal is continuously output during normal operation of the automobile.

  The sensor unit 30 includes an angular velocity sensor 31 and an acceleration sensor 32. The angular velocity sensor 31 detects the angular velocity at every preset sampling timing and outputs the angular velocity to the control unit 21 and the theft monitoring unit 22. Similar to the angular velocity sensor 31, the acceleration sensor 32 detects acceleration at each preset sampling timing and outputs the acceleration to the control unit 21 and the theft monitoring unit 22.

  The theft monitoring unit 22 switches from the alert mode to the normal positioning mode when the trigger signal is input. Conversely, when the theft monitoring unit 22 detects that the trigger signal is no longer input, the theft monitoring unit 22 switches from the normal positioning mode to the alert mode. The alert mode is a mode in which a theft alert operation is executed, that is, a mode in which the theft monitoring unit 22 observes the output of the sensor unit 30. The normal positioning mode is a mode in which the operation of the theft alert mode is not performed, that is, a mode in which the theft monitoring unit 22 does not observe the output of the sensor unit 30 (does not output a theft alert signal). In the normal positioning mode, the control unit 21 is supplied with power, and enters an operation state in which integrated navigation calculation is executed and integrated positioning data is output.

  As described above, the theft monitoring unit 22 operates only in the alert mode and does not operate in the normal positioning mode (becomes a stop state where the output of the sensor unit 30 is not observed). When the theft monitoring unit 22 acquires the acceleration and angular velocity from the sensor unit 30 in the alert mode, the theft monitoring unit 22 stores the acceleration and angular velocity for a plurality of sampling timings in the storage unit 24, and detects the amount of change in the acceleration and angular velocity. The theft monitoring unit 22 outputs a theft warning signal to the control unit 21 and the switch unit 25 when detecting that the amount of change in acceleration and angular velocity is equal to or greater than the threshold for theft warning.

The RF processing unit 23 is connected to an antenna ANT _SAT for receiving positioning signals. The RF processing unit 23 outputs a baseband positioning signal, a code phase difference, and the like to the control unit 21 while capturing and tracking a positioning signal from a positioning satellite (for example, a GPS satellite) received by the antenna ANT _SAT . The RF processing unit 23 may be controlled by the switch unit 25 together with the control unit 21, or may operate constantly with the sensor unit 30. When the RF processing unit 23 is controlled by the power supply, it operates only when necessary, so that power saving can be achieved. On the other hand, when the RF processing unit 23 operates steadily, it is not necessary to perform capture and tracking again after entering the alert mode, so that highly accurate satellite navigation calculation can be continued. This makes it possible to accurately determine the theft level by the control unit 21.

  The control unit 21 is supplied with power when the switch unit 25 is turned on by a trigger signal, and in a state in which no theft warning signal is input from the theft monitoring unit 22, that is, in the normal positioning mode, the control unit 21 receives the base from the RF processing unit 23. Satellite navigation calculation is executed using band positioning signals, code phase difference, and the like. Specifically, for example, the control unit 21 demodulates a navigation message from a baseband positioning signal. The control unit 21 calculates a code pseudo distance from the code phase difference. The control unit 21 estimates and calculates the position, speed, posture angle, and the like of the navigation calculation device 20 using the navigation message and the code pseudo distance.

  The control unit 21 estimates the error included in the angular velocity (sensor angular velocity) detected by the angular velocity sensor 31 and the acceleration (sensor acceleration) detected by the acceleration sensor 32 using the result of the satellite navigation calculation, and calculates the angular velocity and acceleration. to correct. The control unit 21 performs inertial navigation calculation using the corrected angular velocity and acceleration, and calculates the position, velocity, and posture angle.

  The control unit 21 outputs the position, speed, and posture angle calculated in this way to the navigation device 91, for example.

  The control unit 21 is in a non-operating state in a state where no theft warning signal is input in the warning mode. Therefore, in this state, the control unit 21 does not consume power.

  The control unit 21 is activated when the switch unit 25 is turned on and power is supplied when a theft warning signal is input. When the control unit 21 detects that a theft warning signal has been input, the control unit 21 executes satellite navigation calculation and inertial navigation calculation. At this time, the initial position of the satellite navigation calculation and the inertial navigation calculation may be the final position in the prior normal positioning mode. The control unit 21 stores the result of the satellite navigation calculation and the result of the inertial navigation calculation at each of a plurality of sampling timings in the storage unit 24.

  The control unit 21 detects the theft level based on the result of the satellite navigation calculation and the result of the inertial navigation calculation. The control unit 21 generates a theft detection signal based on the theft level and outputs it to the notification unit 40.

  FIG. 3 is a table for illustrating the concept of detection of the theft level of the navigation calculation device according to the first embodiment of the present invention. The theft level has four stages from the first level to the fourth level, and the theft level is gradually set higher from the first level to the fourth level.

  The first level is when there is no change in the result of the satellite navigation calculation and there is a small change in the result of the inertial navigation calculation. Specifically, the first level corresponds to, for example, a state in which the automobile is touched by someone, and a state in which the automobile has not moved significantly yet.

  The second level is a case where there is no change in the result of the satellite navigation calculation and there is a large change in the result of the inertial navigation calculation. Specifically, the second level corresponds to, for example, a state in which the automobile is largely moved, but the position is not changed, for example, a state in which the vehicle is moved to a different floor of the multilevel parking lot.

The third level is when the result of the satellite navigation calculation is unknown and there is a large change in the result of the inertial navigation calculation. Specifically, the third level is, for example, a state in which a positioning signal cannot be received, more specifically, a state in which a positioning signal receiving antenna ANT _SAT is electromagnetically shielded or extracted, and Corresponds to a state in which is greatly moved.

  The fourth level is when there is a large change in the result of the satellite navigation calculation. Specifically, this corresponds to a state where the satellite navigation calculation is performed and the automobile is moved greatly.

  A level threshold value is set in advance in the control unit 21 by a user setting or the like, and this level threshold value is stored in the storage unit 24. If the detected theft level is equal to or higher than the level threshold, the control unit 21 generates a theft detection signal. For example, if the level threshold is set to the third level, the control unit 21 does not generate the theft detection signal when detecting the first and second levels, and detects the third level and the fourth level. In the case, a theft detection signal is generated.

  The control unit 21 may generate and output a different theft detection signal depending on the theft level. In this case, the level threshold value may or may not be provided. Further, in the present embodiment, an example in which the theft level is set in four stages has been described, but the number of stages can be set as appropriate. In the present embodiment, the third level is set as the level threshold, but the level threshold can also be set as appropriate.

  Thus, by using the configuration of the present embodiment, it is possible to detect that someone has moved the automobile. At this time, since a trigger signal that can be input only by the owner is not input, it is possible to detect that someone who is not the owner has moved the vehicle, that is, that the vehicle has been stolen.

  By using the configuration of the present embodiment, it is possible to detect theft with almost only the electric power of the control unit 21 of the navigation calculation device 20, which is much greater than providing a theft detection function in a multifunctional on-vehicle electronic device. Power saving can be achieved.

  Further, the control unit 21 is not unnecessarily supplied with power, and the theft can be detected with a minimum amount of power for the theft detection. Thereby, further power saving can be achieved.

  The notification unit 40 includes a warning output unit 41 and a communication unit 42. When the notification unit 40 acquires the theft detection signal, the notification unit 40 performs a theft notification process.

  Specifically, the alarm output unit 41 of the notification unit 40 includes, for example, a sound emitting device such as a speaker, and emits an alarm indicating theft when a theft detection signal is acquired. Thereby, it can be notified that the said car is stolen in the vicinity of the stolen car.

Specifically, the communication unit 42 of the notification unit 40 transmits a theft detection signal to the outside via the antenna ANT _INF . The transmitted theft detection signal is received by the antenna ANT ′ _INF of the external communication base station 92 and acquired by the communication base station 92 (corresponding to “theft data external reception unit” of the present invention). Thereby, it is possible to notify the car theft using an external data communication network. The communication base station 92 and the burglar alarm device 10 constitute the burglar alarm system 1.

  When performing theft notification through data communication in this way, the control unit 21 includes the calculated position, speed, and posture angle in the theft detection signal, and the communication unit 42 includes the position, speed, and posture angle. Should be sent. Thus, by transmitting the position, speed, and attitude angle to the outside, the position, moving speed, and direction of the stolen vehicle can be grasped outside. In particular, in the navigation calculation device 20 as shown in the present embodiment, the position, speed, and attitude angle can be calculated with high accuracy without being affected by the presence or absence of reception of a positioning signal. The moving speed and direction can be accurately known.

  In the above description, a mode in which the theft calculation is performed by disassembling the navigation calculation device 20 into a plurality of functional units and performing individual processing is shown. However, the functional unit excluding the sensor unit 30 may be realized by one arithmetic element, and theft detection may be performed using the following flow. In this case, it is preferable that the arithmetic element can be individually controlled by the theft monitoring function unit and the theft detection function unit. The theft monitoring function unit corresponds to the above-described theft monitoring unit 22, and the theft detection function unit corresponds to the above-described control unit 21. FIG. 4 is a flowchart of the theft detection method according to the first embodiment of the present invention.

  The theft monitoring function unit detects whether a trigger signal is input (S1). If a trigger signal is input (S1: YES), the theft monitoring function unit does not perform the theft monitoring, and more specifically, enters a stopped state (S10).

  If no trigger signal is input (S1: NO), the theft monitoring function unit performs theft monitoring, and more specifically, observes the output (sensor acceleration and sensor angular velocity) of the sensor unit 30 and outputs the output. (S101 (corresponding to the “sensor output observation step” of the present invention)). If there is a change in the output, that is, if the output change is equal to or greater than the threshold for theft monitoring (S102: YES), the theft monitoring function unit outputs a theft warning signal and activates the theft detection function unit (S103 ( This corresponds to the “theft monitoring step” of the present invention))). If there is no change in the output, that is, if the output change is smaller than the theft monitoring threshold (S102: NO), the theft monitoring function unit continues to detect the output change (S101).

  When the theft detection function unit is activated, the theft detection function unit starts and continuously executes satellite navigation calculation and inertial navigation calculation based on the output of the theft warning signal (S104 ("Navigation calculation step" of the present invention). Equivalent to))). The theft detection function unit detects the theft level using the results of satellite navigation calculations and inertial navigation calculations at a plurality of sampling timings (S105). The method of detecting the theft level is as described above, and the description thereof is omitted.

  The theft detection function unit generates and outputs a theft detection signal based on the theft level (S106 (corresponding to “theft detection step” of the present invention)). The method for generating the theft detection signal is as described above, and a description thereof will be omitted.

  Next, a navigation calculation device, a burglar alarm device, and a burglar alarm system according to a second embodiment of the present invention will be described with reference to the drawings. FIG. 5 is a block diagram of a navigation calculation device, a theft notification device, and a theft notification system according to the second embodiment of the present invention. In FIG. 5, output destinations such as the position, speed, and attitude angle output from the control unit 21 are omitted. However, for example, a navigation device may be used as the output destination as in the first embodiment. .

  In the burglar alarm device 10A and the burglar alarm system 1A of the present embodiment, the notification unit 40 is replaced with an ETC device 93 in contrast to the burglar alarm device 10 and the burglar alarm system 1 shown in the first embodiment, and the communication base station 92 Is replaced with an ETC infrastructure side communication device (not shown). Therefore, only different portions will be specifically described, and description of similar portions will be omitted.

  The ETC device 93 includes an ETC control unit 931, an activation unit 932, a card insertion unit 933, a transmission / reception unit 934, an audio output unit 935, and a simple display unit 936.

  The ETC control unit 931 performs overall control of the ETC device 93 related to general ETC processing, and also receives a theft detection signal from the control unit 21 of the navigation calculation device 20 and performs theft notification control.

  The activation unit 932 is connected to the power supply unit 60 through the switch unit 25 and performs power supply control on the ETC control unit 931.

  The card insertion portion 933 is a portion that is electrically connected to the ETC card.

  The transmission / reception unit 934 performs data communication related to the ETC processing with the infrastructure side communication device during general ETC processing. In addition, the transmission / reception unit 934 transmits a theft detection signal to the infrastructure side communication device.

  The voice output unit 935 outputs a voice related to the ETC process during a general ETC process. The audio output unit 935 can also emit a theft notification sound corresponding to the theft detection signal.

  The simple display unit 936 includes, for example, an LED, and performs display related to ETC processing during general ETC processing. Moreover, the simple display part 936 can also be made to light with an original pattern according to a theft detection signal.

  In this way, the theft notification can be performed even with the configuration of the present embodiment. Moreover, in this embodiment, if it is an ETC-equipped vehicle, it is not necessary to newly provide a notification unit for theft notification. Further, since the ETC device 93 is also driven with relatively low power, the theft notification device 10A can be configured to save power.

  In the above-described embodiment, an example in which the mobile object to be stolen is an automobile and the trigger signal is based on an ignition key has been described. However, the present invention is not limited to this. For example, the mobile object to be stolen may be movable by a person other than the owner of the luggage or the like. In this case, it is preferable that the trigger signal is generated based on an authentication card or the like that can recognize the owner.

  Moreover, in the above-mentioned embodiment, although the example which includes the sensor part 30 in the navigation calculation apparatus 20 was shown, the sensor part 30 may be integrated with the navigation calculation apparatus 20, and may be a different body. Alternatively, the sensor unit 30 may be provided separately from the navigation calculation device 20, and the navigation calculation device 20 and the sensor unit 30 may be connected.

  Moreover, in the above-mentioned embodiment, although the sensor part 30 was provided with the angular velocity sensor 31 and the acceleration sensor 32, it is not limited to this structure, You may provide the geomagnetic sensor. In this case, when the theft monitoring unit 22 acquires the geomagnetism from the sensor unit 30, the theft monitoring unit 22 stores the geomagnetism for a plurality of sampling timings in the storage unit 24, and detects that the amount of change in the geomagnetism is equal to or greater than a theft alarm threshold. Then, a theft alert signal is output.

  In the above-described embodiment, an example in which a plurality of stages of theft level is detected has been described. However, when the result of the satellite navigation calculation and the result of the inertial navigation calculation satisfy the theft conditions, a theft detection signal is output. May be. The theft condition may be, for example, a case where the amount of change in position by satellite navigation calculation or inertial navigation calculation is equal to or greater than a threshold value.

In the above-described embodiment, the control unit 21 executes both the satellite navigation calculation and the inertial navigation calculation when the power supply is activated by the theft warning signal, but is not limited to this. One of the navigation calculation and the inertial navigation calculation may be executed. In this case, the control unit 21 detects a plurality of theft levels based on one of the result of the satellite navigation calculation and the result of the inertial navigation calculation, and when the theft level is equal to or higher than the level threshold, It becomes the composition which outputs. According to this configuration, even when one navigation calculation by the control unit 21 cannot be executed (for example, when the antenna ANT _SAT is electromagnetically shielded or extracted and the satellite navigation calculation by the control unit 21 cannot be executed), It is possible to output a theft detection signal based only on the result of the other navigation calculation (for example, inertial navigation calculation). Further, in the case of this configuration, it is preferable that the control unit 21 is configured to estimate the current position of the moving object based on the result of the inertial navigation calculation.

1, 1A: Theft notification system 10, 10A: Theft notification device 20: Navigation calculation device 21: Control unit 22: Theft monitoring unit 23: RF processing unit 24: Storage unit 25: Switch unit 30: Sensor unit 31: Angular velocity sensor 32 : Acceleration sensor 40: Notification unit 41: Alarm output unit 42: Communication unit 60: Power supply unit 70: Trigger input unit 91: Navigation device 92: Communication base station 93: ETC device 931: ETC control unit 932: Activation unit 933: Card Insertion unit 934: Transmission / reception unit 935: Audio output unit 936: Simple display unit

Claims (10)

A navigation calculation device that performs integrated navigation calculation using the results of satellite navigation calculation and inertial navigation calculation,
A sensor unit which is constantly supplied with power and used for the inertial navigation calculation;
A theft monitoring unit that is constantly supplied with power and observes the output of the sensor unit;
A controller that executes the satellite navigation calculation and the inertial navigation calculation;
With
The theft monitoring unit outputs a theft warning signal upon detecting that the output of the sensor unit has changed,
The control unit is activated by being powered by the theft warning signal, and outputs a theft detection signal based on at least one of the result of the satellite navigation calculation and the result of the inertial navigation calculation.
Navigation calculation device. The navigation calculation device according to claim 1,
The control unit detects a plurality of theft levels based on at least one of the satellite navigation calculation result and the inertial navigation calculation result, and the theft detection is performed when the theft level is equal to or higher than a level threshold value. Output signal,
Navigation calculation device. The navigation calculation device according to claim 1 or 2, wherein
A switch unit for supplying power to the control unit by inputting the theft warning signal;
Navigation calculation device. The navigation calculation device according to claim 3,
The theft monitoring unit can be switched between a warning mode for performing a theft warning operation and a normal positioning mode for not performing the theft warning operation, and the trigger signal indicating the owner is input to thereby input the trigger signal. Switch from the warning mode to the normal positioning mode,
The switch part is
When the trigger signal is not input and the theft warning signal is not input, the power supply to the control unit is shut off,
When the trigger signal is input or when the theft warning signal is input, power is supplied to the control unit.
Navigation calculation device. The navigation calculation device according to any one of claims 1 to 4,
A notification unit for performing a theft notification based on the theft detection signal;
A burglar alarm device. The theft notification device according to claim 5,
The notification unit is an ETC device,
The ETC device is powered on and activated by the theft alert signal,
Theft alarm device. The theft alarm device according to claim 5 or 6,
Theft data external receiving unit for receiving theft notification data from the notification unit;
A theft notification system comprising: A sensor output observation process for observing the output of the sensor unit used for inertial navigation calculation;
A theft monitoring step of outputting a theft alert signal upon detecting that the output of the sensor unit has changed,
A navigation calculation step of starting and continuously executing at least one of a satellite navigation calculation and the inertial navigation calculation based on the output of the theft warning signal;
A theft detection step of outputting a theft detection signal based on at least one of the result of the satellite navigation calculation and the result of the inertial navigation calculation;
A theft detection method. The theft detection method according to claim 8,
The theft detection step detects a plurality of levels of theft based on at least one of the result of the satellite navigation calculation and the result of the inertial navigation calculation, and when the theft level is equal to or higher than a level threshold, Output detection signal,
Theft detection method. The theft detection method according to claim 8 or 9, wherein
The theft monitoring step performs theft monitoring when the trigger signal indicating the owner is not input, while not performing the theft monitoring when the trigger signal is input.
Theft detection method.

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