JPH02501856A - Navigation methods for vehicles with electronic compasses - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] Electronic: navigation method prior art for yy pass fm vehicles The invention relates to a vehicle-mounted magnetometer of a more general type than that specified in the main claim. The present invention relates to a method for determining the circle diagram of a magnetic field in a magnetic field. such a person The law is known from the Federal Republic of Germany Special Publication No. 3 m509,548. Ru.

When measuring the vehicle's geomagnetic vector for navigation purposes, the vehicle's complete The circle diagram that occurs around the origin of the coordinates of the measuring device during one rotation is the one that exists in the vehicle. Due to the interference magnetic field, the shape becomes oval instead of circular, and there is no interference inside the vehicle. Due to the magnetic hard magnetic element (component), the circle diagram is independent of the direction of the measuring device. Displaced from the origin of the coordinates by a fixed disturbance magnetic field vector, and additionally, The soft magnetic component of the vehicle's disturbance field gives the circle diagram an elliptical shape, and the direction calibration In the correct method h, the parameters related to the elliptical diagram of the magnetic field in the magnetometer are Compare when moving in a circle or making a complete rotation of the vehicle to calibrate Therefore, fewer h measurement points are used. However, interference in vehicles due to this calibration method The results of magnetic field determination are simply relatively crude65. It is also sometimes inaccurate.

The solution of the invention provides an electronic compass display for subsequent navigation periods. The vehicle may move in a circular motion or in a circular motion to improve upward direction determination. is the effect of the magnetic field in the magnetometer or magnetic field meter during electronic humpath calibration during rotation. The purpose is to determine the circle diagram more accurately (with increased precision).

Advantages of the invention The method according to the invention having the features of the main claim provides that, in the ellipse diagram, t Measurement tolerances are taken into account by averaging a few consecutively acquired measurements. and compensated, the average value thus obtained is used as an ellipse diagram and its parameters. It has a part 55 that allows you to calibrate the data more accurately. After the calibration operation, This method allows for remarkable and more accurate electronic compass direction indication. This can be considered as yet another advantage.

Further improvements or refinements of the features defined in A of the main claim are disclosed in the subclaims. This is possible using the measurement method pointed out in the paper. In this regard, first Determine the first center point of the circle diagram from the mean value found on the elliptic circle diagram, and then The circle diagram is divided into a special number of equal-sized angle segments by moving the position of It is also advantageous to improve the accuracy of the display by dividing it into segments. De The average value stored in the data buffer is then applied to those corner segments. and the value called the true value of the circle diagram is calculated from the average value of all the corner segments. formed and temporarily accumulated. Then another center point is added to the circle line thus obtained Determined from the true value of the diagram, this also divides the circle diagram into angular segments of equal size. used to do. Next, the new true value of the circle diagram is added to that in data buffer 7. is formed from the average values assigned to the angle segments, and is further temporally accumulated. Ru. In this context, the determination of the new hJic value for another center point and the circle diagram can be done in two ways. Repeat until the center point (center point) matches the result of the consecutive total X. The change is also a turning point.

drawing A complete illustrative embodiment of the invention is illustrated in the drawings and is described in detail in the following description. It will be revealed.

Figure 1 is a block diagram showing a navigation system for automobiles; The figure is a schematic diagram of the data buffer for forming the average value, and the wLS diagram is a diagram of the corner section. Fig. 4 is a diagram showing an ellipse diagram divided into segments, and Fig. It is an ellipse diagram for calculating meters.

Description of the illustrated embodiments Figure 1 shows an integrated navigation system for automobiles. Even when driving into unfamiliar territory, the driver can determine the direction and straight-line distance of the destination. Therefore, it is possible to reach the desired destination A.

(Automatic guidance!! fit) This setup includes input and output units 10, data meter A microcomputer with a moly 12 and a position transmitter 13 and a movement direction transmitter 14 Includes processor-11. Microprocessor-11 is typically a data processor. It is housed inside the input/output port 10 together with the memory 12.

The tachogenerator attached to the wheels, which should already be included in the vehicle, or A corresponding pulse transmitter can be used as a position transmitter 13. .

A heavy magnetometer is to be used as a moving direction transmitter. Around that time Along with the peripheral device and data memory 12, the microprocessor also has a position transmitter 16. , magnetometer 14, and any of the operation keys and liquid crystal display 15 of unit 10. It's been a long time since I've been continued.

This navigation device is operated through five operating modes. Toggle switch Switch 16 changes the value in the direction of increasing or decreasing the number on LCD 15. It can be used to displayed on the lower part of the LCD 15 on the display 18. The current value displayed on the LCD 15 can be checked by pressing the confirmation key. It is accumulated by operating 17. Function selection key 19 selects the requested menu. If used to switch the navigation device to the The information items displayed on the LCD i5 are listed at level 250. The arrow 20 on the LCD 15 allows you to identify even if there is only one animal. . A further key 21 is for switching on and off the mixed navigation system. It is used to Upper range of LCD! ! Another indication 22 in l is used to identify the targeted destination. 16 different arrow segments The compass surface 23 of the TJCD 15 is used for the same information and is controlled. ^ruman^ Arrow 24 indicates either the north direction, the direction of movement, the direction of the cabinet or the direction of movement destination. express.

The navigation device is designed to be installed in any vehicle. Na In order to calibrate the vidation system flt, first the car is It must be driven in a circular manner to determine its shape and position. Continued napide During the motion drive, the readings on the magnetic force meter 14 are processed by the microprocessor 11. In each case, by the circle diagram that is VC transmitted and then claimed and stored. A point on the circle diagram is mapped to the north direction or the direction the vehicle is moving. calculated and displayed.

FIG. 2 shows a fixed storage length that forms part of the data memory 12 of the first factor. Indicate the waiting data button 7a 12a. Calibration of navigation equipment is data In the buffer 12a, from a large number of measurements generated by the magnetometer 14, formed, and constantly cycled by the evaluation circuit during the circular drive. Periodically and continuously: &l! By averaging several measured gL An average value thus obtained is formed, and this average value is stored in the data buffer 12a at one time. is accumulated. This data buffer 12a has a fixed length. Therefore, it is only possible to temporarily store a certain number of average values in it. Ru.

Measurements occur at a fixed cycle time of approximately 100 mg, and The total number is the moving speed of the vehicle during one rotation of the vehicle during the tomoe-shaped drive, or of the magnetometer obtained during a circular drive of the vehicle, as it depends on the The number of measurements cannot be determined in advance. Measured values used for averaging The display of (aic) Fi, therefore all the measured values obtained during the circular drive From the ratio of the total number of storage spaces to the number of storage spaces in the data buffer 12a, the evaluation circuit Therefore, it can be determined. For this purpose, successive enclosures or flat surfaces formed in several previous The average values are read into the data buffer 12a, and then they are paired and averaged. and this new average value is stored in data buffer 712a instead of the previous value. is temporarily accumulated in .

Please join this relationship, a! Processing using the graphical representation shown in Figure 2 can be adopted as an improvement. Probably. In this diagram, the averaging operation is performed using a data buffer during the calibration drive. If 12a becomes full first, it must be executed as many times as possible. child In the process, the measurement value P obtained as the first part after the calibration drive starts is 1, P2O is stored in the data buffer until data buffer 7 is full. It is read and temporarily stored. This condition is shown in the left column of the diagrammatic representation in Figure 2. Therefore, you can know. For a long time, even a single case can be determined from the accumulated measured values. From two consecutive measurements, e.g. pl, p2, a first averaging is carried out and one An average value m1 is formed. The average values m1 to m25 obtained in this way are the data - Temporarily stored in the buffer 12a in place of the previous measured values P1 to P2O. However, the data buffer is now only half full. Further The successively obtained measurement values are stored in the data buffer 12a as a pair in the first flat. After normalization, these average values, e.g. P51/2 + P52/2, are input into the data buffer 12a until the buffer becomes full (filled) again. Ru. This first averaging can be seen in the second column of the graphical representation in Figure 2. can. Then, yet another average value is calculated for the two consecutive totals in the data buffer 12a. are formed again by a second averaging operation, and those average values are then is stored in the data buffer 12a instead of the average value of . For example, m It is obtained from 1/2+m2/2. data bag The filter 12a thus returns to the half-full (filled) state again, and then again. , another measured value P100/4 to P104/4, and so on from the corresponding number. filled again by the mean value. At this point, the circular drive has also been completed. If not, the new value is again divided into two consecutive average values by the sixth averaging operation. formed from. This average value is calculated from the first eight measurements @ [Pl...P8 and corresponds to the respective average values of the first four averages [ml·-N4.

The data buffer 12a, which is only half full, then again receives yet another data buffer. is filled with further average values from the corresponding number of measured values.

This averaging and data buffer 12 element is the first circular drive of the vehicle. Continued until the end, all obtained measurements tp are stored in the data buffer 12a. h is averaged and temporarily accumulated as a final average value m. For a long time, that The average value forms a point for the ellipse diagram of the working (effective) magnetic field in the magnetometer 14. to be accomplished. From these average values in the data buffer 12a, the major and minor axes, The rotation and displacement of the ellipse diagram with respect to the origin of the mark are then determined as parameters in the evaluation circuit. determined as the target.

N3 diagram and Figure 4 have the parameter I-$ checked regarding the ellipse diagram, and also and the end of the circular drive to increase the measurement accuracy of the navigation device if necessary It is used to explain how it is corrected several times.

In the M1 stage animal, the maximum and minimum values on the X and Y axes in the coordinate system are In the data buffer 12a, according to the method according to Publication No. 3.509.548, are obtained from among the average gjLm accumulated in , and from them, the circle diagram 0 A first center point M is calculated. The displacement of 7 from the origin of the coordinates is a hard magnetic field whose focus is related to the direction. A magnetic disturbance field vector HH is formed. After this preliminary determination of the center point M, the ellipse The circle diagram 0 has a segment angle rt and an angular segment W of equal size b. It is divided into a special number, for example 24. accumulated in the data buffer 12a The mean [m is then added to those corner segments W by &l19. Then each Some averages for the corner segment W [m, called the true value of the elliptic diagram O is formed by further averaging those values, and the truth of C The values are temporarily stored in data memory 12. Further steps on this method In step ^, the truth of the circle diagram 0 obtained in this way for each corner segment) V & c From the value , the central point Mo of the new theory can be found. After this, the circle diagram 0 is again divided into corner segments. The new wrinkle true value e of the circle diagram 0 is stored in the data buffer 12a. is formed from the average am assigned to those angular segments in and temporally accumulates be done. The determination of the new falsity of another center point and of the circle diagram is then performed by the evaluation circuit. is repeated, but this means that the center point Mo is no longer used in two consecutive calculation processes. It can be continued with 1, which will not be displaced. In this regard, in the data buffer 12a The individual mean values of mIfi are first assigned to one corner segment, and then is an ellipse with respect to the origin of another adjacent corner corner coordinate according to the position of corner segment W. In order to calculate the major and minor axes of the circle diagram O and the rotation ψ, it is necessary in each case to The four points Pa, Pb, Pc and pa offset by 90° , are first provided on the circle diagram O. During this process, the first point Pa is transferred to the evaluation circuit. Therefore, it is selected arbitrarily. Next, the semi-axes a1 . of those points relative to the center point. a2. b1 and b2 are calculated in each case. Next, the half axes of those points? , a pair of difference values cai-a2e bl-b2) is determined, and this difference t is temporarily stored in the data memory 12. Another step The circle diagrams 00 and 00, which in each case are offset by 90° with respect to each other, are false. Four points are determined, and here again the difference values of their half axes are calculated in the same way. is calculated and compared with the stored difference value.

Subsequently, these method steps are carried out by the deforestation evaluation circuit until the minimum difference value is obtained. continues and the difference values are compared with each other. This is the major axis of the ellipse diagram 0 and This occurs when 2.R5 and z4 coincide with point 11. on the short axis Ic4”:). In relation to the difference between the major and minor axes from the four points of the circle diagram, we get the total difference value. Although it is not simple, in each case this difference [from the four points on the circle diagram] This can be easily done by following the algorithm (mutual division method) K.

In this regard, x12 and x2 are divided by the weight factor of 1. Value a1-a2* b1. b2 is in each case the built-in diagram 00 center point MoK, mutual v-VCM Me @ g t Offset by 9υ0 to form a semi-axis of four points b It is.

The center points M and Mo of the circle diagram 0 are the maximum and minimum X and! Mastered by measurements Calibration 7 to determine the center point of the ellipse. initially averages all the average values placed in the data buffer 12a. Thus, in a further calculation step, the true value et obtained in advance - determined in each case It is shortened by specifying Divide the total by the number of measurements and then create a circle To form the first X and Y values for the center point MGC of the diagram O, a circular dryer is It is also possible to add together all the X and Y measurements taken during the test.

Point with minimum difference [D, K1.12. After obtaining 3 and 84, the ellipse 0 The major and minor axes a and bl and their rotation ψ in the coordinate system are determined by the evaluation circuit. can be determined in a similar way according to the following equation.

ψ−14 [ψ(El　)−1−f(32)−90°−F9(33)−180°→ (J4)-270°] These calculated parameter values for the axillary diagram are also data - stored in memory 12. If necessary, these can be used for later navigation It is also possible to correct by methods known in the art.

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Claims (10)

[Claims] 1. at least two probes whose longitudinal axes are rotated by 90° with respect to each other; and the component or component of the working magnetic field at the probe, as measured by the probe. Magnetic force mounted on a vehicle with an evaluation circuit that periodically obtains the minute as an electrical measurement value A method for determining the circular diagram of the magnetic field in a geomagnetic field meter, in which the measured values are direction, north direction, and direction of movement of the vehicle, using a circular diagram of the magnetic field. magnetometer during the first cycle or circular drive of the vehicle to determine the parameters of such that multiple measurements of the acting magnetic field vector at are obtained and processed. In this method, multiple measured values (P1...PX) obtained during the circular drive are Averaging a plurality of measured values (P) that are periodically and continuously read each time. The mean value (m) is formed by , temporarily stored in a data buffer (12a) having a fixed length. A method characterized by: 2. The multiple measurements (P) used for the final averaging are The total number of all measured values (P) obtained during the period and the accumulation in the data buffer (12a) Claim 1, as determined by the ratio of the number of locations or spaces. Method described. 3. The measured value (P) or the previously formed average value (m) is transferred to the data buffer ( 12a) are read several times in succession and then their values are averaged as pairs, Next, a new average value (m ) is temporarily stored. 4. (a) The first part of the measurements taken during the circular drive is when the buffer is full. is temporarily stored in a data buffer (12a) having a fixed length until , (b) each mean value (m1) is formed from two consecutive measurements (P1, P2) and their average value (m) is simply half-filled data. is temporarily stored in the buffer (12a) instead of the measured value (P), (c) Further measurements (P51, P52) are first averaged over the same number of values. and those average values are then re-entered during the data buffer (12a). is input continuously until it is full. (d) Next, another average value (m) is calculated for the two in the data buffer (12a). is again formed from successive values (m) of Instead, it is stored in the data buffer (12a) and (e) the data buffer (12a) is stored in the data buffer (12a). 12a) is further filled again by the average value from a corresponding number of further measurements (P). filled with (f) Averaging and filling continues until the end of the first circular drive of the vehicle, resulting in All measured values (P) are equally averaged into the data buffer (12a). are temporarily stored as a final average value (m) with the magnetometer (14) represents a point on the ellipse diagram (o) of the effective magnetic field at , and (g) Ellipse diagram regarding the origin of coordinates (o) major and minor axes (a, b), rotation (φ ) and displacement (HH) are the average of the data buffer (12a) in the evaluation circuit. from the value as defined in one of the preceding claims, as determined as a parameter. Method. 5. The first center point (M) of the circle diagram (o) and its displacement from the origin of the coordinates (HH) is determined from the average value (m), and then the circle diagram (o) is a predetermined number of equal sizes. into corner segments (w) and stored in the data buffer (12a). The average value (m) being multiplied is assigned to the corner segment (w) and then the circle diagram ( The true value (e) of o) is formed by averaging from the average value (m) of each corner segment (w) A method according to one of the preceding claims, such that the information is stored temporarily. 6. Another center point (Mo) is found from the true value (e) of the circle diagram (o), and Afterwards, the circle diagram (o) is again divided into its corner segments (w), and the circle diagram The new true values (e) in diagram (o) are the values of those angle segments in the data buffer (12a). is formed from the average value (m) assigned to the component and is temporarily accumulated. Yes, the method according to claim 5. 7. Determination of yet another center point (Mo) of the circle diagram (o) and the new true value (e) The calculation is repeated until the center point (Mo) is not displaced between two consecutive calculation runs. 7. The method of claim 6, wherein the method is: 8. The center point (M) of the circle diagram (o) and its displacement (HH) from the origin of the coordinates are: In each case, the measured value (P), the temporarily accumulated average value (m), or the true value The method according to one of the preceding claims, wherein (e) is determined by averaging. 9. The major and minor axes (a, b) of the ellipse diagram (o) and the rotation of the coordinate origin (sic) for calculating the angle (φ), in each case 90° relative to each other. The four offset points (P1, P2, P3, P4) are set on the circle diagram (o). , and the semi-axes (a1, a2, b1, b2) of those points with respect to the center point (M) are The difference value (D) is calculated from the semi-axis of those points, and this difference value is In the case, there are four further points offset by 90° from each other in the circle diagram (o). The smallest difference value (D) is compared with the half-axis difference value of the point of the major axis of the ellipse diagram (o). and assigned to four points (E1, E2, E3, E4) on the short axis (a, b). A method according to one of the preceding claims, wherein the method is continued until the appearance of 10. In each case, the difference value (P) (si c) is formed by the following operation, D=x1・|b1+b2|/|a1+a2|+x2・|a1−a2|/|a1+ a2|+x2・|b1-b2|/|b1+b2|Here, x1 and x2 are weights and a1, a2, b1, b2 are the center points (M) of the circle diagram (o) 10. The method of claim 9, representing a semi-axis of four points with respect to .