JP2647538B2 - Moving object position detection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial applications]

The present invention compares a position of a moving object traveling at an arbitrary point in a road traffic network by using a plurality of navigations having different principles, and detects a position of the moving object from a mutual positional relationship. The present invention relates to a body position detecting device.

[Prior art]

Conventionally, as a method of detecting the position of a moving body traveling at an arbitrary point in a road traffic network, a processing device which performs necessary processing on both output signals of a distance sensor and a direction sensor is provided. Dead Reckoning has been proposed in which the current position data of a moving object is obtained while integrating the distance change amount and azimuth change amount caused by the above. The disadvantage of dead reckoning is that the errors of the distance sensor and the azimuth sensor are accumulated as the vehicle travels, and as a result, accumulated errors appear in the current position data. Considering such a problem, and assuming that the moving body travels on the road, the current position data obtained by the dead reckoning navigation,
Comparing with the road traffic network data stored in the memory in advance, calculating the amount of deviation of the current position data of the moving body from the road as a cumulative error, performing correction of the cumulative error on the current position data, As a method of matching the current position data with the road data, for example, a data processing method of hybrid satellite navigation described in Japanese Patent Application Laid-Open No. 63-6414 has been proposed. For example, the method described in Japanese Patent Application Laid-Open No. 63-6414 uses satellite navigation with parameters such as a distance difference for each measurement by satellite navigation, a geometric accuracy divergence value from a moving object to a receiving satellite, and a signal level of the receiving satellite. A weighted average is used for the measured value and the measured value by dead reckoning. For example, let the maximum value of the geometric precision divergence be 20,
Divide into ten equal parts. In this order with a weighting value V _1, also up to minimum 10 equally divided from the highest value of the signal level of the received satellite, providing sequentially a weighting value V ₂ 10,9,8 ...... 1 from a high value. Weighting value V ₂ is determined from the reception level of the satellite being received at the lowest level among the satellites being received. Weighting value W _G of the measurement position at this time GPS (Global Positioning System) navigation is given as _{W G = V 1 × V 2} /100. Also, the weighting value W _D of the measurement position of dead reckoning navigation
It is given as W _D = 1-W _G. Here, the axis positions of the X and Y coordinates of the GPS navigation measurement position are X _G and Y
X measuring position by dead reckoning and _G, and Y coordinate position X _D, Y _D
Then, X, of the positioning output data by the positioning data calibration unit
Y coordinate position is determined as _{X = W G · X G +} (1-W G) · X D Y = W G · Y G + (1-W G) · Y D. By the way, in an environment where the satellite navigation means is always operating, there is no problem in that the position accuracy is kept almost accurate, but if the satellite is hidden behind a mountain or building, it will be impossible to rank and estimate The navigation means alone determines the position.
If the vehicle travels a long distance only with dead reckoning navigation, errors may accumulate and a position far from the actual position may be determined. In a normal system, a position correcting means is provided, and when the position is greatly shifted, the operator corrects the position by intuition. If the corrected position has a large error due to the operator's misunderstanding, even if the satellite navigation means subsequently outputs a relatively correct position, the weighting method corrects in a stepwise manner and converges to the correct position. There is a disadvantage that it takes time. This will be described with reference to FIG. This figure shows a road map of the vicinity where the moving object is currently traveling, and the triangles indicate the position of the moving object for each processing unit. Road 1,
2 and 3 show cases where roads 4, 5, and 6 intersect each other while running in parallel. Now when the mobile actually reaches point B,
It is assumed that the moving object position output from the position detecting device is displayed at the point A due to some error factors up to that time. Here, it is assumed that the operator notices an error in the position, and since the road 2 and the road 3 are similar, the operator corrects the position of the point C by misunderstanding the correction position. The output position of the position detecting device progresses C _1, C _2, C ₃ along the road 3 starting from the subsequent point C. The satellite navigation device starts outputting the position data at the point of C _6. If the superimposition value W is a small value other than 1, the value gradually approaches the true value, such as C _6A and C _7A , and eventually becomes a correct position at the point D.

[Problems to be solved by the invention]

Since the conventional position detecting device for a moving body is configured as described above, even if the satellite navigation means outputs a correct position in the middle, the correct position is not instantaneously corrected to the correct position, and converges to the correct position. However, there is a problem that the processing time is considerably long. SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. In consideration of the fact that errors are likely to occur when the position of a moving object is corrected by a human operation, the satellite navigation means immediately after the position correction is used. It is an object of the present invention to obtain a moving object position detecting device that improves the position accuracy of a moving object position by using position data with a weight of “1”.

[Means for Solving the Problems]

A position detection device for a moving object according to the present invention includes a dead reckoning means for obtaining a position of the moving object from information of an azimuth sensor for detecting a moving position of the moving object and a traveling distance sensor for detecting a traveling distance; The satellite navigation means that receives a signal from an artificial satellite and obtains it by a predetermined arithmetic expression, and the weighting value depending on the value of the observation value used for calculating the position of the moving object by the satellite navigation means, obtained by dead reckoning navigation means Combined navigation means for determining the position of the moving object by weighting and averaging the position of the moving object and the position of the moving object obtained by the satellite navigation means,
A position correcting means for correcting the position of the moving body by an artificial operation; and a position of the moving body determined by the satellite navigation means obtained first after correction by the position correcting means and a position of the moving body determined by the combined navigation means at that time. A moving body position output means for outputting, as the position of the moving body, a position of the moving body obtained by the satellite navigation means obtained first after the correction when the vehicle is separated by a predetermined distance or more;

[Action]

The position detection device for a moving object according to the present invention performs position detection of the moving object by combined navigation means,
When the movement is continued by performing an artificial operation from the position correction means, if it is found that the position of the moving body is largely wrong, then the position data obtained from the satellite navigation means and the position data obtained by the combined navigation means When the difference is greater than or equal to a predetermined value, the position data obtained by satellite navigation is used as the mobile position. Correct to the correct position and display the output. Further, since the position of the moving object is detected by the combined navigation means, the accuracy of the position detection is improved due to the effect of the hybrid.

【Example】

An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 denotes an azimuth sensor for detecting the traveling azimuth of a mobile object, 2 denotes a mileage sensor for detecting the mileage of the mobile object, and 3 denotes a position of the mobile object calculated from the azimuth and the mileage by known means. Dead reckoning means to be found, 4 is an artificial satellite that transmits navigational radio waves, 5 is a satellite navigation means that receives navigational radio waves from the artificial satellite 4 and determines the receiving position by a known means, and 8 is at least the dead reckoning navigation means 3 and the satellite navigation means 5 is a combined navigation means for determining the position of the moving body using the position data by both means, 10 is a position correcting means for manually correcting the position X, Y of the moving body, and the coordinates from the position correcting means 10 are Calculate the moving object position at the starting point. Reference numeral 9 denotes position output means such as a CRT as display means for outputting and displaying the position of the moving object to the outside. Next, the operation of the present invention will be described with reference to the flowchart of FIG. 2 and the position output example of FIG. Now, suppose that the mobile unit is actually traveling on the road 2, a position output along the road 3 is obtained due to some error factor, and the operator notices a position error at the point A. Further, a case where the position is corrected by mistake at the point C is considered. The position output by the satellite navigation unit 5 after position correction, it is assumed that the first time output at the position of G _1. First, when the position detecting device is turned on, step ST10
Initialization processing is performed in 1. For example, the last position (X _i−1 , Y _i−1 ) of the moving object immediately before the last power-off is read. Further, the flag F indicating that the position is set is cleared. Step relative movement amount of the moving object from the sensor signals in ST 102 [Delta] x, the position of the current determined by guessing Δy navigation unit 3 (x _i, y _i) obtained. x _i = X _i-1 + Δx _{i i} = Y _i-1 + Δy Thereafter, every time the process returns to step ST102, i is incremented by one. Step position correction input from the position correcting means 10 in ST103 (X _c, Y _c) determines whether there is. If no, the process proceeds to step ST106. If yes, the position is corrected in step ST104 as follows. The flag F is set. x _i = Xc y _i = Yc Next, in step ST106, it is determined whether or not there is a satellite navigation output (Xg _i , Yg _i ) from the satellite navigation means 5. If no
If so, the process proceeds to step ST112 without performing the position correction by the satellite navigation means 5. That is, X _i = x _i Y _i = y _i If yes in step ST106, step ST107
To determine the flag F. If F = 0, step
The process proceeds to ST113, and Wg = α (α ≠ 0, 1) is set as Wg = α (α ≠ 0, 1) in order to perform a predetermined amount of position correction at the position by the satellite navigation, and the process proceeds to step ST114. In step ST114, the current position of the moving object is obtained by the following calculation. X _i = Wg · Xg _i + (1−Wg) · x _i Y _i = Wg · Yg _i + (1−Wg) · y _i If the flag F = 1, clear F in step ST108 and go to step ST109. move on. In step ST109, the current position of the moving object (x _i , y _i ) and the position of the moving object obtained by the satellite navigation means 5 this time (Xg _i , Yg _i )
Request divergence distance D ₀ between. Divergence distance D ₀ at step ST110, it is determined whether the difference is less than a predetermined value K, if smaller proceeds to step ST113. If it is larger, the process proceeds to step ST111. Here, in the case of FIG. 3, the separation distance D ₀ is the distance between the position of the dead reckoning navigation means 3 of C _{6 and} the position of the satellite navigation means 5 of G ₁ . In step ST11, the following calculation is performed to preferentially use the newly obtained coordinates by the satellite navigation means 5. X _i = Xg _i Y _i = Yg _{i In} this way, it is determined whether or not the position of the satellite navigation means 5 is preferentially used in accordance with the magnitude of the separation distance D ₀ . The basis for the decision is as follows. That is, the satellite navigation means 5 usually manages the position accuracy in consideration of the satellite arrangement state and the signal reception level in order to guarantee the accuracy of the output position data. Therefore, the position coordinates output by the satellite navigation means 5 fall within a certain error range. If the coordinate values output by the dead reckoning means 3 are out of the above-mentioned error range and are apart from each other, it is considered that the dead reckoning means 3 has made an erroneous measurement for some reason. In the present invention, since the position correction operation often causes an error, the separation distance is determined after the position correction operation. In the above description, an example in which the map match navigation shown in FIG. 1 is not used has been described. However, the map navigation may be used in combination with the combined navigation means 8, and the same effect as in the above embodiment can be obtained. Further, alienation distance D ₀ may be calculated by the following simplified calculation. D ₀ = | x _i −Wg _i | + | y _i −Yg _i |

【The invention's effect】

As described above, according to the present invention, the position of the moving object is detected by the complex navigation means, and when the position is significantly incorrect when the position is corrected by manual operation, if the position is greatly incorrect, the new position obtained by the satellite navigation means and the new position Compare the position with the combined navigation means, and if the value is more than a predetermined value, the position by the satellite navigation means will be the position of the moving object, so even if the position is largely incorrect due to human operation, If the satellite navigation restarts, it is possible to return to the correct position at a high speed at once. Further, since the position of the moving body is detected by the hybrid using the hybrid navigation means, the accuracy of the position detection is improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a configuration of a moving object position detecting device according to an embodiment of the present invention, FIG. 2 is a flowchart showing the operation of the present invention, and FIG. FIG. 4 is an explanatory diagram of an example of traveling by a position detecting device, and FIG. 4 is an explanatory diagram of an example of traveling by conventional navigation. In the figure, 1 is an azimuth sensor, 2 is a traveling distance sensor, 3
Is dead reckoning means, 4 is artificial satellite, 5 is satellite navigation means, 8
Is a combined navigation means, 9 is a moving body position output means, and 10 is a position correcting means. In the drawings, the same reference numerals indicate the same or corresponding parts.

Continuation of front page (56) References JP-A-63-247612 (JP, A) JP-A-62-163987 (JP, A) JP-A-61-155879 (JP, A) JP-A-63-6414 (JP) JP-A-57-173714 (JP, A) JP-A-62-285016 (JP, A) JP-A-63-233314 (JP, A) JP-A-63-277921 (JP, A) 1-110212 (JP, A)

Claims (1)

(57) [Claims] 1. Dead reckoning means for obtaining a position of a moving object from information of a direction sensor for detecting a moving direction of the moving object and a traveling distance sensor for detecting a traveling distance, and a signal from an artificial satellite for indicating the position of the moving object. And a weighting value depending on the value of an observation value used for calculating the position of the moving object by the satellite navigation means, and the position of the moving object obtained by the dead reckoning means. Combined navigation means for determining the position of the moving object by weighting and averaging the position of the moving object obtained by the satellite navigation means, position correcting means for correcting the position of the moving object by an artificial operation, and position correcting means In the case where the position of the moving object determined by the satellite navigation means obtained first after the correction in the above and the position of the moving object determined by the combined navigation means at that time are more than a predetermined distance, the first obtained after the correction Said Device for detecting a position of a moving body and a position output unit of the mobile to employ the position of the moving body obtained by star navigation means as the position of the latest mobile body.