JPH02302615A - Running-distance/bearing sampling apparatus for navigation of moving body - Google Patents

Abstract

PURPOSE:To omit unnecessary operation processing by sampling the running distances of a moving body with a distance sampling means at an approximately every constant distance at the time of the low-speed running and at an approximately every constant time at the time of the high-speed running. CONSTITUTION:In a distance sampling means 1, a running distance sample DELTAL and a control signal (j) indicating the timing of the running are outputted when a vehicle runs by a specified distanc. Then, in a bearing sampling means 2, the output of a geomagnetism sensor which is fixed to the vehicle is obtained, receives the timing of the signal (j) and receives the sample DELTAL as required. Those values are used, and the operation of the data of arbitrary geomagnetism such as the correction of the geomagnetism sensor which is affected by the magnetization of the moving body is performed. A bearing theta of the moving body is sampled in synchronization with the timing of the signal (j). The results are outputted on a moving-body-position operat ing and displaying means 3. Then, in the means 3, the sample DELTAL, the bearing THETAand the timing of the signal (j) when it is required are received, the relative position where the moving body is present is operated and the result is displayed on the display device in conjunction with a road map.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a navigation system for a mobile body, which supports comfortable driving by displaying the position of a mobile body such as a vehicle on a display together with a map. By applying autonomous navigation, which is a basic technology, and especially dead reckoning, the current position of a moving object can be more accurately determined by acquiring more accurate heading and travel distance of the moving object and more accurate automatic correction of each detection means. The present invention relates to a traveling distance/azimuth sampling processing device for mobile navigation for accurately estimating, calculating, and displaying.

[Prior Art] Attempts to determine the travel trajectory of a moving object such as a vehicle have been made for a long time. A method of autonomously detecting one's own position using only sensors is called autonomous navigation.

The principle of self-contained navigation is to determine the current position by determining the travel trajectory from the measurements of distance and direction sensors installed on the vehicle and adding this trajectory to the starting point.

Navigation using only this sensor is particularly called dead reckoning. Dead reckoning involves repeating the calculation of detecting the minute distance ΔL traveled by the car and the moving body orientation θ at that time, and adding a vector to the original position Pi-1 to obtain a new position Pi.

The relationship between the original position and the new position can be approximately determined, for example, by the following equation.

X1=Xi-1+ΔL-CO3θ Yi=Yi 1+ΔL-SINθ There are two methods for measuring the azimuth: one is to measure the absolute azimuth, and the other is to integrate the angular velocity. A geomagnetic sensor is most often used as an absolute azimuth meter, but the geomagnetic azimuth obtained can have an error of several tens of percent due to the effects of surrounding structures, interference waves, nearby vehicles, geomagnetic declination/inclination, etc. There are many.

In addition, a strong interfering magnetic field, such as a magnetic field caused by an inrush current in an electric track, may cause the vehicle body to become magnetized.

Angular velocity sensors include a so-called rate gyro and a differential odometer that measures the rotation difference between left and right wheels.

Angular velocity sensors (rotation angle sensors) have good accuracy when driving short distances, but have the property of accumulating absolute azimuth errors during medium and long distance driving.

The angular velocity sensor (rotation angle sensor) using a differential odometer is affected by tire wear and air pressure, load weight and balance, road bank, etc.

In this way, the detection data from the sensor is
Since properties change due to vehicle conditions and changes over time, it is necessary to automatically perform some kind of correction in order to maintain good usability, that is, to continue continuous operation.

For this reason, there are various methods such as processing (processing) sensor data, providing multiple types of sensors and using data from both types, modifying the driving conditions of the geomagnetic sensor to compensate for the influence of magnetization, or correcting the detected data. Many have been proposed.

Examples of sensor data processing methods include Japanese Patent Publication No. 63-52683 (averaging processing of geomagnetic direction data) and Japanese Patent Application Laid-Open No. 62-85815 (disturbance detection of geomagnetic direction).

An example of a system that uses a combination of an absolute direction meter and an angular velocity sensor to use data from both to estimate direction with higher accuracy is
Publication No. 4 (appropriate use) and the aforementioned Special Publication No. 62-85815
There is a publication (the coefficient of use of the geomagnetic direction and wheel rotation angle changes depending on the degree of disturbance of the geomagnetic direction).

An example of a method for correcting the geomagnetic sensor data (or modifying the sensor driving conditions) to compensate for the effects of magnetization is to use the vehicle rotation angle obtained by the angular velocity sensor and the azimuth vector obtained by the geomagnetic sensor. A recent example of a method for calculating the azimuth vector fulcrum (center of the azimuth circle) after magnetizing the vehicle body from the tip coordinates of the vehicle body is proposed in Japanese Patent Application Laid-Open No. 61-269014 (center estimation).

Examples of devices that correct the geomagnetic azimuth vector fulcrum based on the difference between the change in the geomagnetic sensor azimuth and the azimuth change of the rotation angle sensor, or correct the angular error of the rotation angle sensor, are disclosed in Japanese Patent Application Laid-Open No. 104510/1983 (error correction). If the value is above a certain value, the magnetic variation is added to the previous direction, and if it is below, the rotational angle variation is added or subtracted.

An example of a method for calibrating a mileage sensor focusing on the fact that the amount of reset in map matching is largely due to sensor error is given in Technical Presentation I 5ANE87-47 (
Sumitomo Electric Industries, Ltd., wheel mileage error correction).

[Problem to be solved by the invention]

However, in all of these conventionally proposed methods, geomagnetic data is either sampled at fixed distances and processed through calculations, or sampled at fixed intervals and processed through calculations. Ta.

For this reason, in the former case, the number of calculation processes increases in proportion to the traveling speed of the moving object, and when traveling at high speeds, it exceeds the processing capacity of a normal computer that can be mounted on a vehicle, and the desired processing can be completed when necessary. It had a fatal problem in terms of industrial utility value, such as falling into a situation where it could not be done.

In addition, the latter requires arithmetic processing that is completely useless for navigation when driving at low speeds, including when stopped, and when performing history processing such as averaging of geomagnetic data, it is necessary to There was a problem in that the dependence had to be ignored, and as a result, it was impossible to expect accurate orientation.

This invention was made in order to solve the above-mentioned problems, and it eliminates the occurrence of overload symptoms in calculation processing when driving at high speeds, as well as statistical handling of geomagnetic direction data when driving at low speeds. without sacrificing
Eliminate unnecessary arithmetic processing and use the arithmetic processing means for other processing,
For example, the operation input reception frees up the calculation processing means as much as possible for calculation processing for processing and display, improves the response speed of the processing, and improves the responsiveness of the entire device. Travel distance for mobile navigation. - The purpose is to obtain an orientation sampling processing device.

[Means to solve the problem]

The traveling distance/azimuth sampling processing device for mobile object navigation according to the present invention at least measures the traveling distance at approximately constant distance intervals when traveling at low speed and approximately at regular intervals when traveling at high speed, depending on the traveling state of the mobile object. a distance sampling means for calculating and sampling, and at least detecting the direction of the moving body using geomagnetism in synchronization with the timing of distance sampling;
At least an azimuth sampling means that calculates and samples the orientation of the moving object in synchronization with the distance sampling, and performs desired calculations and processing such as correction for the magnetization of the moving object and filtering for magnetic disturbances, etc., as necessary; A moving object position calculation/display means is provided to calculate the position of the moving object by performing other arithmetic processing related to the moving object direction based on the travel distance and the moving object direction, and to display the result on a display in addition to a road map, etc. It is something that

[For production]

The distance sampling means in this invention samples a predetermined travel distance at approximately constant distance intervals when traveling at low speed and approximately at regular intervals when traveling at high speed, depending on the traveling state of the moving body. Instructing the azimuth sampling means to execute a predetermined calculation process based on the geomagnetic data sampled in synchronization with the sampling timing and output a sample of the mobile object azimuth synchronized with this distance sample, and
At least the traveling distance samples are notified to the mobile object calculation/display means, and if necessary, the timing is notified to the mobile object calculation/display means so as to execute other calculation processes related to these samples.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the traveling distance/azimuth sampling processing device for mobile navigation according to the present invention will be described below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of one embodiment.

In this invention, when performing historical processing such as averaging processing of geomagnetic data, most of the geomagnetic disturbances are located at different locations.

This was done based on the fact that the frequency spectrum of geomagnetic disturbances depends on topography and has a peak in a relatively narrow range when travel distance is considered as time, so there is no need to make the sampling period very small. be.

In this FIG. 1, 1 is a distance sampling means which is a characteristic means of the present invention, and the details of the configuration of the first embodiment are shown in FIG. 2, and 2 is an azimuth sampling means. ,
3 is a moving object position calculation/display means.

The distance sampling means 1 calculates and samples the traveling distance according to the running state of the moving object (not shown) at approximately constant distance intervals when traveling at low speeds, and approximately at regular intervals when traveling at high speeds. Yes, the traveling distance sample ΔL is used to calculate the moving body position.
The signal is outputted to the display means 3 and, if necessary, the azimuth sampling means 2, and a control signal j indicating timing is output to the azimuth sampling means 2.

The azimuth sampling means 2 uses earth's magnetism to detect the azimuth of the moving body in synchronization with the timing of distance sampling, and calculates and displays the azimuth θ of the moving body in synchronization with the distance sampling. 3.

Next, the specific configuration of the distance jal sampling means 1 will be explained with reference to FIG.

In FIG. 2, a counter 11 counts the output from a distance sensor 12 and outputs it to an adder 13.

The adder 13 adds the output of the counter 11 and the addition result -1 of the adder 13, and sends the addition result i to the comparator 14.
and output to lunch 16.

The comparator 14 compares the addition result mi with a value nD corresponding to a predetermined distance traveled, and outputs the result to the differentiating circuit 15 when mi>nD.

The differentiating circuit 15 differentiates the output (pulse) of the comparator 14 and outputs the signal '+n@j'.

This control signal j resets the adder 13 and causes the latch 16 to latch the addition result 1.

The output of the latch 16 is a sample of the distance traveled by the moving object.

Further, a clock pulse i of a constant period is supplied from the clock source 17.
is the counter 11. jJIILHl 3. The signal is output to a comparator 14.

The counter 11 is reset at the falling edge of clock i, the adder 13 is informed of the addition timing at the rising edge of clock i, and the comparator 14 is informed of the timing to compare by clock i. It looks like this.

Next, the operation will be explained. When the vehicle travels a predetermined distance, the distance sampling means l outputs a travel distance sample ΔL and a control signal j indicating its timing.

The orientation sampling means 2 acquires at least the output of the geomagnetic sensor fixed to the vehicle, receives the timing of the control signal j, and receives the travel distance sample ΔL as necessary, and uses them to determine the distance of the mobile object. Executes arbitrary geomagnetic data calculation processing such as correction of the geomagnetic sensor by magnetization, samples the mobile body orientation θ in synchronization with the timing of the control signal j, and outputs it to the mobile body position calculation/display means 3. .

The moving body position calculation/display means 3 receives at least the travel distance sample ΔL, the moving body direction θ, and, if necessary, the timing of the control signal j, and calculates the relative position of the moving body, for example, as described above. It is calculated according to the formula and displayed on the display according to the road map.

Next, the distance sampling means l will be explained with reference to FIG.

In FIG. 2, a counter 11 receives a pulse from a distance sensor 12 which generates a pulse every time a moving body travels a certain distance, counts the pulses sequentially, and outputs a count (count).

The adder 13 receives the output of the counter 11 and its own addition result -
5 is a constant cycle clock pulse l from the clock source 17.
The addition is performed at the addition timing of the rising edge of , and the addition result mi is output.

The comparator 14 compares the addition result mi and a value nD corresponding to a predetermined running distance at the timing of the clock pulse i,
That is, if mi≧nD, a pulse is output.

Differentiator circuit 15 differentiates the pulse and outputs the result of the differentiation as control signal j.

On the other hand, the latch 16 receives the control signal j, launches the addition result si at the rising edge, and outputs the contents as a sample of the traveling distance of the moving object. The adder 13 is reset at the falling edge of the control signal j.

Note that the counter 11 is reset at the falling edge of the clock pulse i.

As a result of the above operation, the contents of the counter 11 change as shown in a schematic diagram in FIG. 3 when the moving body travels from low speed to high speed.

In Fig. 3, the horizontal axis shows time, the vertical axis shows the contents of the counter 11, the horizontal axis shows the sampling timing of the traveling distance, and the vertical axis shows the size of the traveling distance sample ΔL of the moving object. shows.

If the period of checking the contents of the counter 11, that is, the period of the clock pulse i generated by the clock source 17, is made relatively small, when traveling at low speed, the high speed When traveling, the distance traveled by the moving object is sampled at regular intervals.

FIG. 4 shows the configuration of another embodiment of the distance sampling means. In this FIG. 4, in the same way as in FIG. This pulse is counted by a counter 11, and the count output is outputted to a comparator 14.

A comparator 14 is connected to the output of the counter 11 and the traveling route.
The value nD corresponding to 1D is compared with the value nD, and the output is outputted to the differentiating circuit 15 in the same manner as in FIG. 2, and the differentiating circuit 15 differentiates the output.

The output of the differentiating circuit 15 is connected to the cent input terminal of the RS flip-flop 18 (hereinafter referred to as R3FF) and the AND gate 1.
It is designed to be added to the first input terminal of 05.

Also, the clock pulse i output from the clock source 17
is counted by a counter 101, and its output is output to a comparator 102.

The comparator 102 compares the output of the counter 101 with a value nT corresponding to the sampling timing of the traveling distance of the moving body during high-speed running, and when the two match, the differentiating circuit 102
It is designed to output to 3.

The differentiation circuit 103 differentiates the output of the comparator 102 and sends a differential output T to the cent input terminal S of the R3FF I O4 and the second input terminal of the AND gate 19.

(logical product game) 19 is the output of the output terminal Q of R3FF18,
The logical product with the differential output T is taken and the result is output to the logical sum gate 106.

Further, the output of the output terminal Q of the R3FF 104 is applied to the second input terminal of the AND gate 105.

This AND gate 105 connects the output of the differentiating circuit 15 and R3F.
The logical product with the output of F104 is taken, and the logical sum gate 10
6.

A control signal j is output from this OR gate 106, and at the rising edge of this control signal j, the launch 16 starts the counter 1.
The output of 1 is latched.

Also, counter 11.101. Each of the R3FFs 18° and 104 is reset at the falling edge of the control signal j.

Next, the operation shown in FIG. 4 will be explained. counter 1
1 is similar to the counter 11 in FIG. 2, and counts and outputs pulses from the distance sensor 12.

The comparator 14 compares the count value and the value nD corresponding to a constant running speed one by one, and outputs a pulse to the differentiating circuit 15 at the coincident timing.

The differentiation circuit 15 calculates the differentiation result of the pulse as l? 5FF1B
It is output to the cent input terminal S of the AND gate 105 and the first input terminal of the AND gate 105. As a result, R3FF18 is cented based on the differential result.

On the other hand, the counter 101 counts clock pulses i of a constant period from the clock source 17, and the comparator 102
Output to.

A comparator 102 outputs a predetermined value nT and a counter 1 corresponding to the sampling timing of the distance traveled by the moving body when traveling at high speed.
01, and when they match, a pulse is output to the differentiating circuit 103.

The differentiation circuit 103 differentiates the pulse output from the comparator 102 and outputs a differential output T to the set input terminal S of the R3FF 104 and the second input terminal of the AND gate 19.

R3FF 104 is set with this differential output T.

Further, the AND gate 19 receives the output of R3FF1B and the differential output TI and obtains the AND of them.

AND gate 105 receives the output of R3FF 104 and the output of differentiation circuit 15, and obtains their AND.

OR gate 106 receives the two output signals from AND gates 19 and 105, obtains a logical sum of both, and outputs the result as control signal j.

Launch 16 starts counter 1 at the rising edge of control signal j.
Launch the output of 1 and output it as a sample of the distance traveled.

In addition, counters 11, 101 . R3FF18°104 is reset at the falling edge of control signal j.

In other words, when the traveling distance of the moving object reaches a certain value, R3
Allow FF18 cents to have lunch at certain times,
Conversely, when the running time reaches a certain value, R3FF 104
is set to permit lunch every certain distance, to achieve and output sampling of travel distance, and to output control signal j.

In the above, the distance sampling means 1 and the azimuth sampling means 2 are composed of circuit elements such as counters and latches, and the moving body position calculation/display means 3 is composed of a computer system equipped with an operation input device and a display. Although some explanations have been omitted, the present invention can be concretely and easily implemented even with an apparatus having a configuration as shown in FIG. 5, for example.

Hereinafter, regarding this embodiment, an example will be described in which of the above-mentioned embodiments, one corresponding to the latter embodiment is realized by computer software.

In the diagram of FIG. 5, 300 is a CPU, 310 is a read-only memory (hereinafter referred to as ROM), 320 is a readable/writable memory (hereinafter referred to as RAM), and 330 and 331 are Ferial Interface Adapters (hereinafter referred to as PIA; for example, Motorola Corporation). MC6821), 340 and 350 are programmable timer modules (PTM)
;For example, Motorer's MC6840), 360 is a display controller (hereinafter referred to as CRTC), 361
362 is a display memory (hereinafter referred to as DRAM), 362 is a parallel/serial converter (hereinafter referred to as PSC), and 363 is a display memory (hereinafter referred to as DRAM).
is a display device (hereinafter referred to as CRT), 370 and 380 are A/
390 is a geomagnetic direction sensor, 400 is a vehicle speed sensor, and 332 is an operator key.

CPU300, ROM310, RAM320, PIA3
30, PTMs 340, 350, and CRTC 360 are connected by a bus.

Between the two PTM340.350 and CPU300,
An interrupt request line is connected to request interrupt processing to the CPU 300 under certain conditions.

The CPU 300 sequentially reads out codes from the ROM 310 storing programs, PIA 330, PTM 340.
Various calculations are executed according to the input from 350 or the detection result.

Note that the RAM 320 stores calculation results and values in the middle of calculation. Their operation and usage are similar to normal board computers.

When the set time has elapsed, the PTM 340 used as a timer requests the CPU 300 to execute timer interrupt processing through the interrupt request line.

PTM350 used as a counter is vehicle speed sensor 400
(distance sensor) A pulse generated each time a moving object moves a certain distance, that is, a value corresponding to the traveling distance of the moving object, is cumulatively added (counted).

CPU 300 can clear the count value at any time.

In addition, when the count value of this counter reaches a certain value corresponding to a predetermined mileage set in the initialization process,
The CPU 300 executes the counter interrupt process through the interrupt request line, and the CPU 300 executes the process.

The outputs of the two magnetic sensors arranged perpendicularly to each other in the geomagnetic direction sensor 390 are sent to the A/D converter 37.
0 input, and the A/D conversion output is connected to PIA330.

Therefore, the CPU 300 converts the A/D conversion result to P(A3
DRAM361 and psc362 can be read (detected) at any time through CRTC36
0 local bus.

The serial conversion output of PSC362 is connected to CRT363 = The display processing of this CRT363 is performed by CRTC36
This is achieved by writing commands and drawing parameters to 0.

The display pattern to be displayed on the CRT 363 is once written into the DRAM 361 by the CRTC 360 and read out repeatedly, converted into serial and parallel data by the PSC 362, and supplied as a display signal to the CRT 363 for display.

Operator Kaki-332 is connected to PIA331,
The CPU 300 is operated by the operator Kaki-332 and its PIA3.
Operation input can be detected at any time through 30.

In the ROM 310, for example, a program whose outline flowchart or operation is shown in FIGS. 6 and 7 is coded and written.

When this system is started, in the main routine shown in FIG. 6, initialization processing is executed in step S1, execution processing of the initialization processing routine shown in FIG. The completion flag F is cleared, the counter interrupt completion flag Ft is cleared in step S3, the timer interrupt completion flag F is cleared in step S4, and the maximum value of the distance counter contents is set in step S5.

Next, in step S6, the distance counter is cleared, and in step S7, the maximum value of the timer contents is set, and step S
At 8, the timer reaches its maximum value and the counter begins counting pulses from the distance sensor. Also, the timer is set and the time begins to count.

Thereafter, in the main routine shown in FIG. 6, it is checked in step S9 whether the distance data detection completion flag F is set.

If the distance data detection completion flag F1 is not set in step S9, an operation input reception process is performed in step 310, an arbitrary process such as map matching process is performed in step Sll, and a position display process is performed in step 312. Then, the process returns to step S9. In this way,
The processes from step 39 to step 312 are performed periodically.

Further, if the distance data detection completion flag F is set in step S9, the process of the path marked with * is executed. That is, the distance data detection completion flag F1 is cleared in step 313, geomagnetic data is detected in the next step 314, and other processes executed in synchronization with the distance data detection and the geomagnetic data detection are performed in step S15. The process is executed, and the direction is calculated in the next step 317, and the position is calculated in step S17.

Eventually, when a request for interrupt processing is received from the timer or counter, the counter interrupt processing routine shown in FIG. 7 (al's timer interrupt processing routine or in FIG. 7) is executed.

On the other hand, in timer interrupt processing and counter interrupt processing, each other's interrupt processing is executed, so that
Set the flag F□ or F to permit the detection of distance data of the other party, detect the distance counter data, and
cent.

In other words, when there is a request for timer interrupt processing, the process shown in FIG. 7 (
The execution of the timer interrupt processing routine shown in a) is processed,
At step 31B, the counter interrupt completion flag F! If not set, the timer interrupt completion flag F3 is set in step 319, and the process returns to the main routine.

Further, if the counter interrupt completion flag F8 is set in step 318, the counter interrupt completion flag F is cleared in step S20, distance data is detected in step S21, and the distance counter is cleared in step 322.
At step 323, the distance data detection completion flag F1 is set, and the process returns to the main routine.

Also, if there is a request for counter interrupt processing (in Figure 7)
The counter interrupt processing routine is executed, and if the timer interrupt completion flag F is not set in step 324, the counter interrupt completion flag F8 is set in step 325, and the process returns to the main routine.

Furthermore, if the timer interrupt completion flag F is set in step 324, the timer interrupt completion flag F is cleared in step S26, distance data is detected in step 327, and the distance counter is cleared in step 32B. death,
In step S29, a distance data detection completion flag F is set.

Then, in step 330, a timer is set and the process returns to the main routine.

As a result of the processing of such a timer interrupt processing routine or counter interrupt processing routine, the traveling distance data and geomagnetic data of the moving object are
If the traveling speed is small, sampling is performed at regular intervals and at regular distances.

In addition, in Fig. 6 ial, the timing at which the processing of the path indicated by the * symbol is executed corresponds to the timing at which the aforementioned control signal becomes active. (synchronously), storage and reading of geomagnetic data in the RAM 320, history processing of geomagnetic data based on arithmetic operations, correction processing of the geomagnetic sensor, and other arbitrary processes can be executed.

In this way, many parts of the distance/azimuth sampling method for mobile navigation based on the present invention can be realized by a computer.

〔Effect of the invention〕

As described above, according to the present invention, the distance sampling means is configured to sample the traveling distance of a moving object at approximately constant distance intervals when traveling at low speeds, and at approximately constant time intervals when traveling at high speeds. Therefore, even when driving at high speeds, there is no problem of processing overload, and when driving at low speeds, there is no need to sacrifice statistical handling such as averaging processing of geomagnetic direction data (no need for unnecessary calculation processing). This has the effect of providing a traveling distance/azimuth sampling processing device for mobile navigation, which can omit the calculation processing means and free up its calculation processing means for other processing more frequently.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the configuration of a traveling distance/azimuth sampling processing device for mobile navigation according to an embodiment of the present invention, and FIG.
The figure is a block diagram showing the detailed configuration of the first embodiment of the distance sampling means according to the present invention, and FIG. 3 shows changes in the contents of the counter in the distance sampling means shown in FIG. 2, and the sampling timing of the traveling distance. FIG. 4 is a block diagram showing the detailed configuration of the second embodiment of the distance sampling means in this invention, and FIG. 5 is a diagram showing the size of the distance sampling means in this invention. Figure 6 (4) is a block diagram showing an example of a specific system configuration for realizing many parts using computer software, and the system shown in Figure 5 realizes the traveling distance/azimuth sampling process for mobile navigation. FIG. 6 is a flowchart of the main routine that executes the program for executing the above program (BL is a flowchart of the initialization process that executes the above program; FIG. Flowchart, FIG. 7(g)) is a flowchart of the counter interrupt processing routine in the execution process of the above program. 1...Distance sampling means, 2...Azimuth sampling means, 3.
...Moving object position calculation/display means. In addition, in the figures, the same reference numerals indicate the same or equivalent parts.

Claims (1)

[Claims] At least distance sampling means for calculating and sampling the traveling distance at approximately constant distance intervals when traveling at low speed and approximately at regular intervals when traveling at high speed according to the traveling state of the moving body; Detect geomagnetic data in synchronization, perform arbitrary processing such as history processing on this geomagnetic data, and based on the processing results, determine and calculate the direction of the mobile object in synchronization with the detection of the distance data. A traveling vehicle for navigation of a mobile object, comprising an azimuth sampling means for sampling, and a mobile object position calculation/display means for calculating and displaying the current position of the mobile object based on at least information on the travel distance and the direction of the mobile object. Distance/azimuth sampling processing device.