WO1997000424A1

WO1997000424A1 - Device for detecting position of moving object

Info

Publication number: WO1997000424A1
Application number: PCT/JP1996/001659
Authority: WO
Inventors: Jun Uemura; Toshiyuki Ozawa
Original assignee: Masprodenkoh Kabushikikaisha
Priority date: 1995-06-16
Filing date: 1996-06-17
Publication date: 1997-01-03
Also published as: JPH095092A

Abstract

A device for detecting the position of a moving object with an improved detection accuracy. The device has two position measuring means, a GPS receiver and a sensor device. The sensor device is used to detect the position of the moving object when the output data of the GPS receiver are not correct. An autonomous navigation unit which detects the present location based on the output signal of the sensor is detachably installed on the main body of the device. When the unit is attached to the main body, the operation of a Kalman filter which is used for stabilizing position measuring data on the GPS receiving unit side is stopped. The GPS receiving unit outputs GPS data including the position measuring data and a DOP value. When the DOP value is smaller than a prescribed value and the speed of the vehicle mounted with the device is higher than a prescribed value, the GPS data are judged to be correct. When the GPS data are judged to be correct, a controller selects the GPS data as the position measuring data to be used for indicating the present location; when not correct, the position measuring data from the autonomous navigation unit are used.

Description

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In the following, an embodiment of the present invention will be described together with the drawings. First, FIG. 2 is a block diagram showing the configuration of the entire navigation device of the embodiment to which the present invention is applied. It should be noted that the navigation device of the present embodiment is configured separately and independently from the mobile unit to be mounted, and the user mounts the mobile unit on the mobile unit. This is for the convenience of the user by displaying the current position of the mobile unit on which it is mounted.

As shown in Fig. 2, the navigation device is G

It is equipped with an antenna 2a that receives the transmission power of artificial satellites and power for PS, converts the frequency of the received signal, demodulates the signal, and receives the signal. The position data (latitude, longitude, altitude) of the ground point, the moving speed, etc. The positioning data that can be used as the moving position, etc. is calculated, and the positioning data is further calculated. The DOP value indicating the degree of deterioration of the positioning accuracy (corresponding to the accuracy data of the present invention), the number of received satellites, and the positioning data from the received signal. Act Receiving 0K / NG signal indicating whether or not calculation was possible.Data including operation data including date and time when positioning data was calculated is added. Output GPS receiving unit as GPS receiving device 2 GPS receiving unit

2 Switching device installed on the signal line that guides the output signals of the power to control device 10 4 Connector unit installed in switching device 4 4 a, which is attached to and detached from the switching device 4, that is, the main body of the switching device 4, and is attached to and detached from the switching device 4. Based on the sensor power and the detected signals, the current position g (lat. * Longitude) The moving speed. The moving direction and each of these dams are calculated earlier. Autonomous navigation function as a sensor device that calculates and outputs positioning data consisting of the distance traveled by the vehicle after driving

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Move to 0. Further, in S140, it is determined whether or not a command to change the elevation mask value is input from the control device 10 side, and whether or not the elevation mask value is determined. If a change command has been input, control the elevation mask value in step S150.

After changing the order according to the instruction from the chisaw 10 side pupils and memorizing the effect, the process proceeds to S160, and conversely, the instruction to change the elevation angle mask value is issued. If it has not been entered, leave it as it is.

6 Move to 0. Further, in S160, it is determined whether or not a change instruction of other data such as a DOP mask value has been input from the control device 10 side. If a change command for other data has been input, the control device 10 side power is set at S10, and the change rate of the data is changed according to these commands. After that, the process moves to S180 and conversely, if no other evening change command has been input, the process proceeds to S180. In other words, as described above, in the present embodiment, the positioning data such as the GPS reception unit speed, the movement speed, and the movement direction are moved. The various data used to calculate the data are stored in the control device.

Since the setting can be changed from the 0 side, In S120 to S10, it is determined whether or not a command for changing the setting has been input from the control device 10 side. If a change instruction has been entered, the data corresponding to the instruction is changed, and the data after the change is changed for further processing. Data is stored.

Next, in S180, the demodulation signal input from the GPS receiving unit 22 is read, and in S190, the demodulation signal is input from the demodulation signal to the man-made signal. The information transmitted from the satellite is decoded (decoded), and the control of the elevation angle mask, D0P mask value, etc. is performed in S200. Data [Based on this, select the satellite to be used for calculating the positioning data. That is, the satellite that can be received by the current GPS receiver 22 is selected. Elevation angle mask value from among the stars. D0P Set the combination of satellites that match the mask value, and set the combination of the set satellites. Among them, the combination of the satellites with the smallest D0P value (in other words, the highest positioning accuracy) is selected. Then, in S 210, the selected According to the result of the transmission signal from each satellite in the combination, the position of the mobile unit (latitude and longitude) Y Y,; PI ¾] 2 · = τ: 靥 SS d £>, ¾

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Go to 480. The processing of S450 is equivalent to the filter processing prohibition means of the present invention (especially described in claim 2), and the processing of S460 is equivalent to the processing of S460. Equivalent to the method of changing the minimum elevation angle of the present invention

Then, in S480, when it is determined in S430 that the autonomous navigation unit 6 is not mounted on the switching device 4, the switching device 4 is not mounted. In this case, the GPS receiver unit 2 input via the switching device 4 is read as it is, and the GPS overnight is read as it is, and the switching device is switched in S430. If it is determined that the autonomous navigation unit 6 is mounted on the autonomous navigation unit 4, the autonomous navigation unit input via the switching device 4 is used. (6) From the positioning data from the power sensor, read the sensor data attached after the GPS data overnight, and then turn off. The positioning data input via the switching device 4 is read, and then in S490, the read GPS data or sensor data is read. Included in Υ ¾ α Μ C -1 ^-^ ¾ t¾ ¾ § § q> ¾ ¾ _Πίί α? _{Yutomi 凝} 31 31 times '簦 ¾¾:' ^ <Q>: ,, 、ェ

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In addition, the judgment of normal or abnormal of GPS data is performed in accordance with the judgment conditions (1) to (4) above, and in particular, the judgment is conventionally made by a conventional device. Since the D0P value is used because it is not used, it is necessary to determine whether the GPS data is normal or abnormal to a positive value of 51. it can. Therefore, according to the present embodiment, the mobile unit position is detected with extremely high precision as compared with the conventional device, and is displayed on the display device 8. And become possible.

As described above, one embodiment of the present invention has been described. However, the present invention is not limited to such a xi embodiment, but may be implemented in various modes. You can take power. For example, in the present embodiment, the self-contained navigation unit 6 is configured as a separate body from the navigation body and the allocation main body, and the switching unit 4 is provided. This is a device that integrates the self-contained navigation unit 6 into the navigation device itself, which allows the user to wear it later. It can be applied in the same way. In this case, the switching device 4 is not required, and the device configuration is not required. ¾ S d D?)) 3 fi * ¾ w CZ) 4;-^ S d 9 (I)

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Claims

The scope of the claims

Receiving unit that receives and demodulates transmission signals from a plurality of satellites. The positioning accuracy is the highest from the reception signal that is demodulated by the receiving unit. Select a combination of satellites

G

Based on the received signal corresponding to the selected satellite.

S

Receive positioning data indicating at least the position of the moving object

A position calculation means to be output, and a filter means for filtering the position calculation data calculated by the position calculation means to stabilize the position. Provided by the filter B means.

Positioning data after filter processing

The precision data and power that indicate the degree of positioning precision by the combination of the satellites selected by the gods are generated and the GPS data is generated. At least the position of the mobile unit is determined based on the output GPS receiver and the detection signal from the sensor that detects the running state of the mobile unit. Positioning data to be displayed-Calculates data, outputs sensor data as sensor data, and outputs the data. GPS data and sensor data described above Based on ? One ^ ^ ^ iii One ^ 4 Doo cz? ¾ 3i Post: f: i

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