JP3514786B2 - Moving object positioning device and car navigation device - Google Patents

Description

Detailed Description of the Invention

[0001]

The present invention relates to GPS (Global).
The present invention relates to a mobile positioning device suitable for an on-vehicle car navigation device that detects a current position of an automobile or the like by a Positioning System (Global Positioning System) and displays the current position on a display device, and particularly, to improve the display accuracy of the current position of the vehicle. The present invention relates to a mobile positioning device and a car navigation device.

[0002]

2. Description of the Related Art Recently, in many car navigation systems, a GPS positioning system using GPS satellites is used as a means for detecting the current position of the own vehicle. This system uses four GPS satellites for three-dimensional positioning or three GPS satellites for two-dimensional positioning.
It is received by each S receiver and the position of the vehicle is measured from the arrival time difference of these radio waves by the principle of triangulation. Eventually, 24 earth orbiting satellites will be able to measure the position for 24 hours around the world.

From the GPS receiver which performs this GPS positioning calculation, in addition to the current position, traveling direction and running speed of the own vehicle,
Information such as the orbit and arrangement of GPS satellites, a reception state flag, and the like are output, for example, every one second, and the position of the vehicle is measured by calculating these data by the calculation control means.

Further, the arithmetic control means is based on, for example, the longitude, latitude and altitude of the present position of the GPS receiver output,
The CD-ROM containing the map data containing the longitude and latitude coordinates
It is read from a recording medium such as the above and drawn and displayed on the display. Further, GPS longitude / latitude data is displayed at the corresponding position on this map as the current position.

[0005]

However, in such a conventional car navigation device, when displaying the current position from the GPS receiver on the map, G is displayed every moment.
The PS receiver output (longitude / latitude data) will be displayed, but the GPS receiver output includes errors due to various disturbances. Further, there is a case where the position coordinates vary due to the time variation of the error. In this case, the current position displayed on the map also varies, and it becomes impossible to draw an accurate and smooth running trajectory.

This is the same even when the vehicle is at a standstill, and the disturbance and SA (Selectable Ava)
ilability: A certain range of position variation occurs due to the change of accuracy by US base stations.

Further, there are cases where position data that is considerably different from the position data immediately before that is suddenly output. When displaying a map, the display map is determined based on the position data that is always output from the GPS receiver. Therefore, even for this sudden data, a map that matches it is read, and Will display a map with a completely different range. At this time, if the map including the range of the sudden position data is not recorded in the map CD-ROM used, a warning of deviation of the map range is output.

Another problem is a delay time from reception of GPS radio waves by an antenna to calculation and output as position data, and processing time until map display based on the output position data. Therefore, the position displayed on the map is a position behind by the delay time, which is different from the actual current position.

Therefore, the present invention has been made in consideration of the above-mentioned circumstances, and an object thereof is to provide a mobile body positioning device capable of improving the current position display accuracy when displaying the current position of the mobile body on the display means. And to provide a car navigation device.

[0010]

The present invention is configured as follows in order to solve the above-mentioned problems.

The invention according to claim 1 of the present application (hereinafter, referred to as the first
Invention) is the map data and various guidance information data.
Data and the current position of the moving body.
The positioning information including the detected positioning information is detected.
The current location detection means that outputs in time series at regular time intervals
The positioning information output in time series from the location detecting means.
The first positioning information including the current position of the moving body and the first positioning information
No. 1 that was output before the above-mentioned predetermined time or more before the first positioning information.
Correct the current position based on the comparison with the positioning information in 2.
The traveling speed of the moving body is a predetermined reference speed.
When the number of times is equal to or higher than the
The direction between the first positioning information and the second positioning information, and
The difference from the traveling direction of the first positioning information is larger than a predetermined value
In this case, from the current position included in the second positioning information
Reached when traveling in the traveling direction of the first positioning information
The current position included in the first positioning information
Position is corrected and included in the corrected first positioning information.
Current position correction output
And a step and the corrected current position from the current position correction means.
The map data and information related to the map data are recorded on the recording medium.
Read out and draw on the display together with the corrected current position.
Drawing processing means, the corrected current position, and the map data.
And display means for displaying the related information .

The invention according to claim 2 of the present application (hereinafter referred to as the second
Invention) is the map data and various guidance information data.
Data and the current position of the moving body.
The positioning information including the detected positioning information is detected.
The current location detection means that outputs in time series at regular time intervals
The positioning information output in time series from the location detecting means.
The first positioning information including the current position of the moving body and the first positioning information
No. 1 that was output before the above-mentioned predetermined time or more before the first positioning information.
Correcting the current position based on the comparison with the positioning information of 2
A than when the running speed of the moving body is equal to or less than a predetermined reference speed, said first positioning information is fixed to the first current position including the current position obtained by multiple times consecutively from said current position detection means said second positioning information then obtained, calculates the average value of the first positioning information including the current position of the plurality of points so far, further, the distance between the average value and the first current position When it is larger than the predetermined value, the average value is set as the correction position, and this correction position is output as the correction current position.
Current location correction means and the correction from this current location correction means
In front of the map data including the current location and related information
Read from the recording medium and display with the corrected current location
Drawing processing means for drawing in the means, the corrected current position, the
Display means for displaying map data and related information
And are included .

The invention according to claim 3 of the present application (hereinafter, referred to as the third
) That invention, the current position correction means, the average value of the first positioning information including the current position from the current position detection means, when the difference between the average value of the corrected current position is larger than a predetermined value Has a calculation unit that takes the latest position that has not been corrected and that, when the difference is smaller than the predetermined value, takes a correction value that is corrected by the calculation unit for the latest position.

The invention according to claim 4 of the present application (hereinafter, referred to as the fourth
) That invention, the when the current position detection means reaches the detection state of the current position of the movable body, the first positioning information including the current position for the first time obtained by the reference position correction operation, the display characterized by comprising a manual movement control means for moving the manual scrolling the displayed the reference position and current position means further.

The invention according to claim 5 of the present application (hereinafter referred to as the fifth
) That invention, the current position correction means, the first including the current position obtained in time series from the current position detection means
And positioning information, the second measuring including the current position and the preceding
If the difference from the position information exceeds a predetermined value , the first measurement
The position information is used in the calculation to obtain the corrected current position.
It is not used .

The invention according to claim 6 of the present application (hereinafter referred to as the sixth
) That invention is the correction <br/> current position from the current position detecting means when displaying on the display means superimposed on the map, current position detection calculation processing in the current position detection means
Processing time and position correction calculation processing in the current position correction means
It adds the rendering processing time in the time and the drawing processing means
Before only product of the delay time and the travel speed of the movable body
It is characterized by further comprising display control means for controlling so as to correct and display the corrected current position in the forward direction.

The invention according to claim 7 of the present application (hereinafter referred to as the seventh
The invention of claim 1 ) is characterized in that the mobile positioning device according to any one of claims 1 to 6 is mounted on a vehicle.
And

[0018]

When the deviation between the corrected position of the moving body from the current position detecting means and the positioning information including the current position from the current position detecting means exceeds a predetermined value and becomes large, the current position positioning information is used as the second positioning information. In addition to being able to automatically correct in the direction along the traveling direction, the initial position of the current position and the like can be corrected by manual operation.

Further, when the current position measurement information from the current position detection means is suddenly deviated, the position measurement information can be ignored in the correction calculation of the current position, so that the variation in the display position can be further reduced. You can

Furthermore, since the time delay in the current position detection means and the time delay in the display processing are apparently corrected and displayed, the position display accuracy of the moving body can be further improved.

[0021]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram of an embodiment in which the present invention is applied to a car navigation system. In the figure, an on-vehicle car navigation system 1 is a mobile body positioning device mounted on a vehicle such as a mobile body. In addition, the GPS receiver 2 which is an example of the present location detecting means, and the CD-RO which is a map information recording medium for recording map data and various guidance information.
M (read-only compact disk memory) 3, a CD-ROM driver 4 for driving the same to read map data and various guidance information related thereto, a starting point and a destination, and cursor keys Input device such as a keyboard equipped with 5, CRT (cathode ray tube) and LC
The entire system is provided with a display 6 having a display screen such as D (liquid crystal display device), a speaker (not shown) which is an audio output means for outputting audio information, a CPU and a ROM, a RAM and the like as a storage and working area thereof. And an information processing device 7 including a microprocessor for controlling the.

The GPS receiver 2 is a GPS (Global).
(Positioning System: Global Positioning System)
This is for detecting the mobile body positioning information such as the traveling direction and traveling speed of the own vehicle as well as the altitude, and for example, the GPS wirelessly transmitted from the four GPS satellites 9a, 9b, 9c, 9d to the ground. Radio waves are respectively received via the GPS antenna 2a, and the current position of the vehicle is three-dimensionally determined by the principle of triangulation from the arrival time difference between these radio waves. For two-dimensional positioning, three GPS satellites 9
GPS radio waves from a to 9c are received.

The information processing device 7 controls the entire system according to the processing programs and data stored in the ROM and RAM, and includes a map drawing processing section 8 and a manual movement control section 9.
And a position correction unit 10.

The map drawing processing unit 8 reads the corrected current position of the vehicle from the position correction unit 10 and, based on the position of the vehicle, the CD-ROM 3 via the CD-ROM driver 4.
Thus, the map including the position of the own vehicle and the guidance information related thereto are read out, and these are overlaid on the map and drawn on the display 6. In addition, a map 6 and the current position of the vehicle, intersection information, guidance route information, etc. are displayed.
Has a display control means for controlling the display when displaying on the display screen.

Further, the map drawing processing section 8 draws on the display 6 the own vehicle position mark on the read map. The displayed map is automatically scrolled as the current position moves, and the current position is constantly updated and displayed. Also, before reaching a portion that has not been drawn, the map data of the traveling direction of the vehicle is read from the CD-ROM 3 and the map is drawn.

The manual movement control unit 9 forcibly moves the current position of the vehicle displayed on the display 6 by manual operation of the cursor keys 5, and the movement from the manual movement control unit 9 is performed. The control means is the map drawing processing unit 8
And the position correction unit 10 is given, the state where the own vehicle position is manually moved by the cursor key 5 is displayed on the display 6, and the position data from the position correction unit 10 is forcibly corrected to the manually operated position. It is a thing.

By the way, the traveling direction data and the ground traveling speed data of the own vehicle, which are obtained by the GPS receiver 2 every moment, are generally calculated by applying a weighting index based on the position data. In this calculation, the effective position data of 4 to 5 points is updated, and the current position data, the traveling direction data, and the ground traveling speed data are time-series, for example, every one second.
Give to 0.

Therefore, the azimuth data and the velocity data can be regarded as a kind of averaged data.

Therefore, the position correction unit 10 uses these data to obtain position data (longitude / latitude) from the GPS receiver 2.
Is corrected by the following method.

First, the coordinates of the previous current position 21 shown in FIG. 2 (either the actual longitude or the latitude or the normalized longitude or latitude) may be (x0,
y0), the traveling direction is θ0 (for example, a clockwise angle with reference to north N), the traveling speed is v0, the coordinates of the next obtained current position 22 are (x1, y1), the direction is θ1, and the speed is v1.
And Let T be the interval between the acquisition times of these data.

When the speed V is equal to or higher than the predetermined reference speed A, that is, when V ≧ Akm / h, as shown in FIG.

[Equation 1] When | θ1-φ | ≧ B °,

[Equation 2] Assuming that the coordinates of the corrected position 23 are (x1 ′, y1 ′) and the azimuth is θ1.

However, when | θ1-φ | <B °, the current position 22 is not corrected, the coordinates are (x1, y1), and the traveling direction is θ1. Here, for example, the reference speed A is 1 ≦ A ≦ 2
0, and the angle B is a value in the range of 5 ≦ B ≦ 20.

When V <Akm / h, as shown in FIG. 3, from the current position 24 at the first point to the current position 28 at the fifth point, the first value is fixed and the current position The coordinates are (x0, y0) and the azimuth is θ0.

Regarding the sixth point 29,

[Equation 3] As | X−x0 | ≧ C (m) or | Y−y0 | ≧
When C (m), the coordinates are (X, Y) and the azimuth is ψ.

However, │X-x0│ <C (m) or │
When Y−y0 | <C (m), the coordinates of the current position are (x
0, y0), and the azimuth is θ.

Here, the distance comparison is

[Equation 4] It is also possible to

Here, the value of C is, for example, 5 ≦ C ≦ 30.
The value is in the range of (m).

Then, for the current positions after the sixth point current position 29, the above process is repeated with the sixth point current position 29 as the first position coordinate (x0, y0).
As a result, it is possible to reduce the variation from the previous current position.

However, with the above correction method alone, the difference between the corrected position and the position output from the GPS receiver 2 may be integrated over time and the corrected position may gradually shift. The following method can be added as a correction in that case.

That is, when the speed v is v ≧ Akm / h, | θ1
When −φ | ≧ B °, the correction value coordinates (x1 ′, y1 ′) and the traveling azimuth θ1 are displayed on the display 6 up to the fifth current position 28.

When the fifth point 28 is reached, the difference in distance between the 5-point average value (X, Y) and the 5-point correction value average (X ', Y') up to that point is as follows. When the condition is

[Equation 5] Or

[Equation 6] In the case of, the uncorrected coordinate values (x5, y5) are taken and the traveling direction is set to θ5.

[0043]

[Equation 7] Or

[Equation 8] In this case, the correction value (x5 ', y5') of the fifth point 28 is taken, and the azimuth is set to θ5.

Here, for example, D is 50 ≦ D ≦ 300.
The value is in the range of (m). The number of comparisons in such five-point comparison may be another value.

FIG. 4 shows a flowchart of the correction processing routine described above. In this routine, after the five-point average comparison display and before the fifth point 28, if any of the branches exit from the above routine, all are cleared and the process returns to the first step.

Further, when the data communication of the GPS receiver 2 is started and when the GPS receiver 2 is in a position where positioning cannot be performed, the screen display of the display 6 remains as the reference position (reference position). (Point) is cleared, and the position data when the next positioning can be performed is set as (x0, y
0) and the direction is θ0.

When the GPS receiver 2 is started up or when positioning is possible from a state where positioning is not possible, the initial azimuth data and speed data are unreliable, so the reference position (x
Only 0, y0) is displayed, and the azimuth θ0 is not displayed. The position and direction are displayed from the current position obtained next.

In this processing routine, the position data obtained from the GPS receiver 2 is displayed as it is on the display 6 as the first reference position, but this first position is deviated from the original correct position. In that case, the subsequent display position remains displaced.

To correct this, the first reference point is scrolled on the map displayed on the display 6 as shown in the reference position manual correction routine of FIG. A manual movement control unit 9 that matches the location is provided.

That is, when the map is scrolled to correct the initial position in this way, the manual movement control unit 9 continuously changes the position data input to the map drawing processing unit 8 at fixed values. By doing. The map can be scrolled by repeating the map display and the current position display based on the changed position data. After returning to the current position display after scrolling the current position map, the last point data moved by scrolling is set as the first reference position.

By the way, the position data calculated and output by the GPS receiver 2 includes an error generated in the positioning process. This may be caused by, for example, an error in the clock, an error in the start-up data, an error due to the arrangement of satellites used, a delay in the arrival time of GPS radio waves in the ionosphere, noise of the GPS receiver 2, multipath, and the like. Moreover, since these errors may suddenly increase over time, at this time, the position data may become a data value that deviates significantly from the previous value before the positioning becomes impossible. Conceivable. As an example of a method for correcting such data, there is a method shown in the correction routine of FIG.

First, the actual longitude / latitude of the first position data is set to (x0, y0), and the next position data is set to (xn, yn).
And

Further, both these positions (x0, y0) and (x
n, yn) is smaller than a predetermined value E, that is,

[Equation 9] Or

[Equation 10] In this case, (xn, yn) is used as the correct position data for the display data. Next, the next data is fetched with (xn, yn) as new initial data, and the above processing is repeated.

However, (x0, y0) and (xn, yn)
When the distance between and is larger than the set value E, that is,

[Equation 11] Or

[Equation 12] In the case of, (xn, yn) is ignored and not displayed on the display 6, and is compared with the next data. In FIG. 6, m is a counter for counting the number of comparisons, and the next data comparison is repeated until m reaches 5, for example.

When the number of times reaches five times, the last obtained (xn, yn) is regarded as new position data and displayed on the display 6. This is used as initial data to return to the beginning.

Here, the predetermined value E of the distance is, for example, 5 ≦ E
Take a value in the range of ≤40 (unit: minutes). If this is converted into a distance, it will be about 6.5 km ≦ E ≦ 52 km in Japan. This correction routine can be added to the part before entering the correction routine shown in FIG.

Next, an example of a method of displaying the time delay of each data display from the GPS receiver 2 will be described with reference to FIG.

Each GPS satellite 9 with the GPS antenna 2a
GPS receiver 2 from the moment when the radio waves from a to 9d are received
Since there is a calculation processing time t1 until the data of is output and a time t2 required for position correction calculation and map drawing in the information processing device 7, when the map is displayed on the display 6, the display current position and the actual current at that moment are displayed. The position is apparently misaligned. The following method is used to eliminate this.

First, the position / latitude / latitude 31 of the GPS data is (x0, y0), the azimuth is θ0, and the speed is v0. The conversion coefficients k1 and k2 between the longitude difference δx and the latitude difference δy in the map display system and the actual distance δ1 are

[Equation 13] And

During the time delay (t1 + t2), the velocity v0
The corrected longitude / latitude 32 (x0 ', y0'), which displays the distance moved by, is the position extrapolated forward of the traveling direction of (x0, y0).

[Equation 14] To The azimuth is displayed as 0 on the display 6.

However, the speed v is v <Akm / h (for example, 1
When ≦ A ≦ 20), the azimuth and speed output from the GPS receiver 2 becomes inaccurate, so the above correction is not performed. Further, when the velocity v is small, the second term on the right side of both equations of Equation 14 becomes small, so that there is almost no influence of the displacement of the display position.

According to this method, when turning right or left at an intersection, the position is displayed forward in the direction of travel up to now, that is, before the intersection. Since it usually becomes, the deviation is small and the influence is small.

[0063]

As described above, according to the present invention, the first positioning information including the current position of the moving body from the current position detecting means is set to the second position before the first positioning information by the current position correcting means. Since it is corrected and displayed on the display means based on the speed data and the azimuth data of the positioning information, it is possible to reduce the dispersion of the positioning information, improve the accuracy of the traveling locus of the moving body displayed on the display means, and You can slip.

Further, when the deviation between the corrected position of the moving body and the positioning information including the current position from the current position detecting means exceeds a predetermined value and becomes large, the current position positioning information is set in the traveling direction of the second positioning information. In addition to being able to automatically correct along the direction, the initial position of the current position and the like can be corrected manually.

Further, when the current position measurement information from the current position detection means is suddenly deviated, the position measurement information can be ignored in the correction calculation of the current position, so that the variation in the display position can be further reduced. You can

Furthermore, since the time delay in the current position detecting means and the time delay in the display processing are apparently corrected and displayed, the position display accuracy of the moving body can be further improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing the overall configuration of an embodiment of the present invention.

FIG. 2 is a diagram for explaining an example of a method of correcting current position data by a position correction unit shown in FIG.

FIG. 3 is a diagram for explaining another example of the current position correction method by the position correction unit shown in FIG.

4 is a flowchart of a current position correction processing routine by the position correction unit shown in FIG.

5 is a flowchart of a reference position manual correction routine of the manual movement control unit shown in FIG.

6 is a flowchart of another correction processing routine by the position correction unit shown in FIG.

FIG. 7 is a diagram for explaining an example of a method of correcting the time delay of GPS reception data display by the position correction unit in FIG.

[Explanation of symbols]

1 Car navigation system 2 GPS receiver 2a GPS antenna 3 CD-ROM 4 CD-ROM driver 5 cursor keys 6 display 7 Information processing equipment 8 Map drawing processor 9 Manual movement controller 10 Position correction unit 21 previous current position 22 next current position 23 Corrected position 24 to 29 1st to 6th current position 30 corrected position

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01C 21/00 G01C 23/00 G01S 5/14 G09B 29/10

Claims (7)

(57) [Claims] [Claim 1] Map data and various guidance information data
Detects the recording medium that contains the recorded information and the positioning information including the current position of the moving body, and
The detected positioning information detected by is output in time series at predetermined time intervals.
The present location detecting means and the positioning information output in time series from the present location detecting means.
The first positioning information including the current position of the mobile body in the report;
It is output more than the predetermined time before the first positioning information.
The current position based on the comparison with the second positioning information
Compensation is performed, and the traveling speed of the moving body is set to a predetermined value.
Obtained from the current location detection means when the speed is higher than the reference speed
Direction between the first positioning information and the second positioning information
And the difference between the traveling direction of the first positioning information is greater than a predetermined value.
If it is larger, the current position included in the second positioning information.
From the location in the traveling direction of the first positioning information
Included in the first positioning information so as to be a position to reach
Correct the current position, and use the corrected first positioning information
Current position to output the included current position as the corrected current position
Correction means and the location including the corrected current location from the current location correction means
Read diagram data and related information from the recording medium.
Drawing out and drawing on the display means together with the corrected current position
Processing means, the corrected current location, the map data and related information
And a display means for displaying the mobile positioning device. 2. Map data and various guidance information data
Detects the recording medium that contains the recorded information and the positioning information including the current position of the moving body, and
The detected positioning information detected by is output in time series at predetermined time intervals.
The present location detecting means and the positioning information output in time series from the present location detecting means.
The first positioning information including the current position of the mobile body in the report;
It is output more than the predetermined time before the first positioning information.
Correct the current position based on the comparison with the second positioning information
It is one that, when the running speed of the moving body is equal to or less than a predetermined reference speed, said first positioning information including the current position obtained a plurality of times in succession from the current position detection means to the first current position fixed, then the second positioning information obtained calculates the average value of the first positioning information including the current position of the plurality of points so far, further, the average value and the initial current position When the distance is larger than the predetermined value, the average value is set as the correction position, and this correction position is set as the correction current position.
A current location correction unit for outputting, the ground containing the correction current position from the current position correction means
Read diagram data and related information from the recording medium.
Drawing out and drawing on the display means together with the corrected current position
Processing means, the corrected current location, the map data and related information
Mobile positioning device and having a display means for displaying the. Wherein the current position correction means, the average value of the first positioning information including the current position from the current position detection means
If the difference from the corrected average value of the current position is larger than a predetermined value, the latest uncorrected position is taken, and if the difference is smaller than the predetermined value, the latest position is corrected by the calculation means. The mobile body positioning device according to claim 1 or 2, further comprising a computing unit that takes the corrected value. When wherein said current position detection means reaches the detection state of the current position of the movable body, the first positioning information including the first resulting current position as a reference position correction operation, the display means the reference position and the current position is displayed and further comprising a manual movement control means for moving manually scroll to claim 1 or 2
The mobile positioning device described. Wherein said current position correction means, said first measuring including the current position obtained in time series from the current position detection means
It said second positioning information that includes the position information, the current position of the immediately preceding
If the difference from the report exceeds a predetermined value , the first positioning information
Used in the calculation to obtain the corrected current position.
The mobile body positioning device according to claim 1 , wherein the mobile body positioning device is absent . Wherein the correction current position from the current position detecting means when displaying on the display means superimposed on the map, when the current position detection processing in the current position detection means
And the position correction calculation processing time in the current position correction means
And the drawing processing time in the drawing processing means are added.
The delay time only product of the running speed of the moving object complement
A contractor further comprising display control means for controlling so as to correct and display the correct current position forward in the traveling direction.
The mobile positioning device according to claim 1 or 2 . 7. A car navigation system comprising the mobile positioning device according to claim 1 mounted in a vehicle.