JP2926155B2 - Navigation system for moving objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention compares the integrated error generated during self-contained navigation with the error range generated during radio navigation, estimates a plurality of position data, and displays the current position of a moving object such as an automobile. The present invention relates to a navigation device for a moving object.

[0002]

2. Description of the Related Art A conventional apparatus of this kind is disclosed in
This will be described with reference to FIG. In FIG. 10, first, P ₀ is set as the previous position of the moving object on the road, and the moving distance and the azimuth change amount are measured with reference to the position on the road P ₀ , and the measurement data is integrated. determine the data position P _1.

Next, the integrated data position P ₁ is collated with road data stored in advance, and is within a predetermined error range a by an x error and a y error in which a measurement error is added to a distance and an azimuth. The road data r _{1 to} r ₃ are obtained.

[0004] Then, the integrated data position P ₁ so as to correspond to on road data r ₁ ~r ₃ obtains the road on position P ₁₁ to P ₁₃ as the current own candidacy position, this on each road position P ₁₁ to P
_{13. The} evaluation function is calculated for ₁₃ , the road position P ₁₂ having the highest value among them is displayed by the display means, and the next integrated data position and the next integrated data position are determined based on each road position P _{11 to} P _13. I was looking for a location on the road. B indicates the locus of the integrated data position, and C indicates the actual traveling route.

[0005]

In the conventional mobile navigation apparatus, when there are a plurality of road data within a predetermined error range from the integrated data position, a plurality of road positions are generated. Since the position is stored as the current position of the moving object, the measurement errors of the distance and the azimuth are accumulated one after another, so it is difficult to set a predetermined error range A, and the number of the current positions of the moving object to be stored gradually increases. There was an inconvenience of doing so.

Further, the integrated data position obtained from the moving distance and the azimuth change amount has a relatively large error, and the position on the road obtained based on the integrated data position is not always accurate.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and it is possible to weight arithmetic operations and the like up to map matching, and to increase the accuracy of each arithmetic means and detection unit more than necessary. Without, the object of the present invention is to obtain a navigation apparatus for a mobile body in which the configuration of the apparatus is simplified, and to obtain a navigation apparatus for a mobile body in which candidate positions can be confirmed in order of evaluation value, Another object of the present invention is to obtain a navigation device for a mobile object that can escape from a position on a road that has been mistaken during map matching with a reset signal, and a navigation device for a mobile object that can display the latest radio navigation position. To obtain a navigation device for a mobile object without wasteful waiting time and misunderstanding Aims, in addition, to view all the estimated position, and its object is to discriminate other road Similar provide mobile navigation device is facilitated.

[0008]

According to the present invention, there is provided a navigation apparatus for a moving body, comprising: a distance detecting section for detecting a moving distance of the moving body; an azimuth detecting section for detecting a traveling azimuth of the moving body; And a self-contained navigation position calculating section for calculating the position of the moving object from the change amount data obtained by integrating based on the traveling direction, and a satellite navigation position for calculating the position of the moving object by receiving a signal from a satellite. A detection unit, a road data storage unit that stores road data forming a map, an evaluation function value calculation unit that calculates a candidate position of a moving object on the road and calculates an evaluation function value, A road position calculation unit having means for calculating, extracting and controlling the entire position on the road up to a predetermined rank from the best to the lowest one; and Up Includes a storage unit of road on a position for receiving the location, and a display unit for displaying a road on position, the input from the signal generating unit detects waiting a new satellite candidate position,
It notifies that a new satellite candidate position is waiting to be detected .

In addition, the evaluation function is displayed in order from the best evaluation function in accordance with the input from the signal generation unit.

[0010] Further, evaluation is made based on an input from a signal generation unit.
Road position selected from road positions displayed in order of function
Is displayed as the current position on the map of the display unit .

Further, the order of the evaluation function values can be distinguished.
Is displayed with a symbol or sign attached to it .

Further, the satellite navigation position is always the latest data.
And displays it on the display according to the input from the signal generator.
It is shown .

[0013] Also, receiving signals from satellites and
Equipped with a satellite navigation position detector that calculates the position, a signal generator
Waits for a new satellite candidate position to be detected,
This is displayed on the display unit when it is detected .

[0014]

The navigation device for a mobile unit configured as described above waits for the detection of a new satellite candidate position,
This is to notify that the star candidate position is waiting to be detected .

Further, the evaluation functions are displayed in order from the best one in accordance with the input from the signal generation unit.

Further, the evaluation is made based on the input from the signal generator.
Road position selected from road positions displayed in order of function
Is displayed as the current position on the map of the display unit .

Also, the order of the evaluation function values can be distinguished.
With a symbol or sign .

Furthermore, the satellite navigation position is always the latest data.
And displays it on the display according to the input from the signal generator.
Show .

Also, a signal from a satellite is received to
Equipped with a satellite navigation position detector that calculates the position, a signal generator
Waits for a new satellite candidate position to be detected,
When detected, it is displayed on the display .

[0020]

【Example】

Embodiment 1 FIG. FIG. 1 is a block diagram showing an embodiment of the present invention, and corresponds to the invention of claim 1. In the figure, reference numeral 1 denotes a distance detecting unit for detecting a traveling distance of a vehicle as a moving body. The detection signal is sent to the self-contained navigation position calculation unit 4. Reference numeral 2 denotes an azimuth detecting unit for detecting the traveling azimuth of the vehicle, and a detection signal thereof is also sent to the self-contained navigation position calculating unit 4.

Reference numeral 3 denotes a satellite candidate position detecting unit which receives a distance data signal and a position data signal of each satellite from a plurality of satellites and measures the satellite navigation position of the vehicle. Output to the unit 5.

The self-contained navigation position calculating section 4 receives the moving distance of the vehicle from the distance detecting section 1 and the azimuth from the azimuth detecting section 2 and accumulates the running distance of the vehicle and the running azimuth (the amount of change in azimuth). Then, a new integrated data position of the vehicle is calculated. The calculated data position is sent to the road position calculation unit 5.

The road position calculation unit 5 finds an error range based on the satellite navigation position of the vehicle measured at the satellite navigation position 3, extracts road data within the error range, and extracts an integrated data position. The position on the road is determined in association with the road data, and an evaluation function value described later is calculated as an example of the position on the road corresponding to the integrated data position to specify the position on the road.

Reference numeral 6 denotes a road data storage unit for storing road data of a map, 7 a display unit for displaying a selected position on the road, and 8 a warning unit comprising a buzzer or a display. Reference numeral 11 denotes a signal generation unit for selecting a road position candidate or resetting to a satellite navigation position, and 12 denotes a storage unit of road positions extracted according to a predetermined order.

FIG. 2 shows a calculation example of the evaluation function value which is a function of the azimuth and the position. First, the azimuth evaluation function is expressed as f
_{If d} (0 ≦ f _d ≦ 1), f _d (α, β) = 1− | α−β | / θ (1) (If f _d <0, f _d = 0) Becomes Here, θ (> 0) is a constant, α is the vehicle direction at the integrated data position (x, y), and β is the satellite navigation position (x
_g , y _g ), road data r within a predetermined error range A
₄ illustrates the azimuth beta ₁ and beta ₂ of r _5.

Next, the position evaluation function is expressed as f _p (0 ≦ f _p ≦
Assuming 1), f _p (x, y) = 1−1 / L (2) (If _{p p} <0, f _p = 0). Here, L (> 0) is a constant, and l indicates the lengths l ₁ and l ₂ of the perpendiculars from the integrated data position (X, Y) to the road data r ₄ and r ₅ .

[0027] Then, when a comprehensive evaluation function and f (0 ≦ f ≦ 1) , the _{f = ω 3 f p + ω} 4 f d ...... (3). Where ω ₃ and ω ₄ are weighting factors (ω ₃ + ω ₄ =
1). This f is used as an evaluation function value.

Next, the main function units will be described first. The road position calculation unit 5 includes an error range data calculation unit 5a, an evaluation function value calculation unit 5b, and a candidate position switching unit 5c, and these will be sequentially described.

The error range data calculating means 5a calculates a predetermined probability based on the satellite navigation position, the satellite arrangement, the number of satellites, and the like.
An error range (a in FIG. 2) where the vehicle is estimated to be located is calculated, and road data (B and C in FIG. 2) included in the range is extracted from the road data storage unit 6.

The evaluation function value calculating means 5b calculates the position (x, y) shown in FIG. 2 obtained by changing the self-contained navigation position data with respect to the previous on-road display data A and the road extracted as a new estimated position. An evaluation function value calculation is performed between the positions (D, E) applied to the positions on the road in the data, and the evaluation function values are stored. Next, until the extracted road data is exhausted,
The calculation is performed, and the positions from the highest rank to the predetermined rank are left, and the others are discarded.

The candidate position switching means 5c stores the candidate positions such as road position data, satellite navigation position, integrated data position, etc. in which a predetermined order can be determined (for example, sorting according to the order). A part is arbitrarily selected, stored, called, and used.

The road position calculating section 5 has the error range data calculating means 5a, the evaluation function value calculating means 5b and the candidate position switching means 5c as main constituent elements, and controls the interconnection of these to display contents required. The information is output to the display unit 7 or the alarm unit 8.

Next, the operation will be described with reference to the flowcharts of FIGS. First, in step S1 in FIG. 3, the travel distance from the distance detection unit 1 and the travel azimuth or azimuth change detected by the azimuth detection unit 2 are determined with reference to a preset departure position or a previously calculated on-road position A. The amount is integrated to determine the integrated data position of the vehicle. If there are a plurality of integrated data positions in accordance with the upper rank of the road obtained last time and a predetermined order, the plurality of integrated data positions are also a plurality.

In the next step S2, the road data within the error range A of the satellite navigation position detected by the satellite navigation position detection unit 3 is extracted. In this case, no other road data is used. An evaluation function value, which will be described later, of each position on the road (B, C) is calculated from the integrated data position and the direction in correspondence with the extracted road data.

In the next step S3, the positions on the road are ranked from a higher rank of the evaluation function value (in this example, a position close to "1") to a predetermined rank. Anything below the rank is deleted. Next, the related data is set as a set, and stored in the storage unit 12 on the road position as a road candidate. Among the evaluation function values, the position on the road with the highest evaluation (for example, point B) is displayed on the display unit 7 in step S4.

This display example will be described with reference to FIGS. 9 and 2. FIG. The "selection" of the signal generator 11 switches and displays the self-contained navigation position "4" and the road candidate position "1", and gives the user of the mobile navigation device the second information. The "reset" of the signal generator 11 switches between the displayed position "4" or "1" and the satellite navigation position "5". Of the road candidate positions "1,""2," and "3,"
The road candidate position “1” indicates the best candidate, the next is the road candidate position “2”, and the last is the road candidate position “3”. Switch to display of ranking.

When the display is switched to the satellite candidate display, or when the candidate display is switched during the self-contained navigation,
If the satellite is not received when "select", "1" to "3", and "reset" are selected by the signal generator 11, the position cannot be determined. For this reason, one newest data is always stored in advance for the satellite navigation position, and it is called as a detected satellite candidate position so that it can be used.

Embodiment 2 FIG. Next, the operation of the second embodiment corresponding to the second aspect of the present invention will be described with reference to the flowchart of FIG. Step S30 of performing the on-road position processing is the same as the processing of steps S1 to S3 described in FIG.

In step S4, the position candidate B extracted from the error range A of the satellite candidate position is stored in the storage unit 12 of the on-road position in which the candidate has the highest rank (the evaluation function value is closest to "1"). Take out and display.

In the next step S5, the presence or absence of a signal from the signal generator 11 is checked.
If there is an input of "3", the process proceeds to step S6.
In step S6, a road candidate position having the next highest rank is extracted, and the position C on the road is displayed on the display unit 7.

Although not shown, if there is further input of "selection", the next road candidate position is further taken out and displayed to the required order on the display unit 7, and if there are no more candidates, the best road candidate position is displayed again. Repeat the operation. If there is no input of "selection" in step S5, the process ends and the process of FIG. 4 ends.

Third Embodiment Next, the operation of a third embodiment corresponding to the third aspect of the present invention will be described with reference to the flowchart of FIG. In FIG. 5, the processing in step S30 for performing the on-road position processing is the same as that in FIGS. Also, step S4 is the same as in FIGS. 3 and 4, and when the process proceeds to step S7, the presence or absence of the input of “reset” from the signal generation unit 11 is inspected.
If there is no "Reset" input, proceed to the end,
When a series of processing in FIG. 5 is completed and “reset” is input, the process proceeds to step S8. In this step S8, the satellite navigation position (X _g , Y _g ) based on the latest data received in the past from the satellite is displayed at that position regardless of whether it is on a road or not.

Fourth Embodiment Next, the operation of a fourth embodiment according to the fourth aspect of the present invention will be described with reference to the flowchart of FIG. In FIG. 6, the process of step S30 for performing the on-road position process is the same as that in FIGS. Also, step S4 is the same as in FIGS. 3 to 5, and when proceeding to step S9, the presence or absence of the input of “reset” from the signal generation unit 11 is checked.
If there is no input of "reset", the process proceeds to the end, and the series of processes in FIG. 6 ends. If there is a "reset" input,
Proceed to step S10. In this step S10, it is checked whether or not the satellite navigation position detector 3 has output satellite navigation position data.

If the result of this inspection is that satellite navigation position data has been output, the flow advances to step S11 to display the satellite navigation position on a map. If there is no satellite navigation position, the process returns to step S10. That is, the process of step S10 is repeated until satellite navigation position data is output. At this time,
The position on the road is fixed, the previous position is displayed,
Wait until satellite navigation position data is detected.

Fifth Embodiment Next, the operation of a fifth embodiment according to the fifth aspect of the present invention will be described with reference to the flowchart of FIG. In FIG. 7, the processing in step S30 for performing the on-road position processing is the same as in FIGS. 3 to 6, and the processing in steps S4 and S9 to S11 is the same as in FIG. When satellite navigation position data is detected in step S10, the process proceeds to step S12, and the detected satellite navigation position is displayed on the display unit 7.
May be displayed.

Next, the process proceeds to step S13, in which the alarm section 8 is informed that the satellite is waiting for reception, and the process returns to step S10. The notification means in this case may be an alarm by sounding a buzzer of the alarm unit 8 in FIG. 1, or a blinking lamp or a display on the screen of the display unit 7. In the case of the display on this screen, for example, a display such as “Please wait” shown in FIG. 9 may be used.

Embodiment 6 Next, the operation of Embodiment 6 corresponding to the invention of claim 6 will be described with reference to the flowchart of FIG. This FIG.
In step S30 and step S4 for performing on-road position processing, the processing in step S14 is the same as in FIGS. 4 to 7. In step S14, it is determined whether the "candidate" signal has been input from the signal generation unit 11. After the inspection and input, the process proceeds to step S15, where all the on-road positions B and C recorded in the on-road position storage unit 12 are displayed on the display unit 7 while being superimposed on the map. At this time, even if the color of the symbol indicating the position on the road is changed for the evaluation function value, the ranking of the evaluation is “1”, “2”,.
Alternatively, the symbols may be displayed as “A”, “B”,.

Here, FIG. 9 will be described again. In FIG. 9, the candidate positions on the road “1”, “2”,
The display example of these display units 7 such as “3”, the self-contained navigation position “4”, and the satellite navigation position “5” is the second embodiment.
First, when the on-road candidate position “1” is displayed on the display unit 7, in step S5 of FIG. 4, “selection” is present from the signal generation unit 11 and replaced with the on-road candidate position “2”. Are displayed on the display unit 7 again, and in step S5, the signal generation unit 11 replaces the road candidate position "3" with "selection", and displays it on the display unit 7.

In the third embodiment, step S7 in FIG.
In, when the road candidate position “1” is displayed on the display unit 7, there is “reset” from the signal generation unit 11,
The display is replaced with the self-sustaining candidate position “4” on the display unit 7.

In the fourth embodiment, when the candidate position on the road "1" is displayed on the display unit 7, in step S9 in FIG. 6, "reset" from the signal generation unit 11 is performed, and in step S10, With “satellite navigation position detection”, the display unit 7 replaces the display with the satellite navigation position “5” and displays it (referred to as case 1). With “reset” in step S9, and in step S10. , The display of the candidate position on the road “1” is intermittent (referred to as case 2).

Further, in the fifth embodiment, the notification display is performed only in case 2 during the operation of the fourth embodiment.

In the sixth embodiment, when the candidate position "1" on the road is displayed on the display unit 7, the "candidate" signal from the signal generation circuit 11 is present in step S14 of FIG. The candidate positions "2" and "3" are displayed on the display unit 7, and the order in which they are evaluated is indicated by adding a symbol or character to the vicinity. In the example of FIG. 9, a case where a numeral is attached is shown.

[0053]

Since the present invention is configured as described above, the following effects can be obtained.

Waiting for the detection of a new satellite candidate position,
Awaiting notification of waiting for satellite candidate position detection
Because it is more informative, the search for new satellite candidate positions
It is possible to report the state of waiting, and to prevent misunderstanding and confusion of the user.

Further, the evaluation function is determined by the input from the signal generator.
Since the numbers are displayed in order from the best one,
Are displayed in descending order, so the best one is wrong
You can quickly see the next best thing,
User misunderstanding and confusion can be prevented .

Further, the evaluation is made based on the input from the signal generator.
Road position selected from road positions displayed in order of function
Is displayed as the current position on the map in the display,
It is possible to display the current position .

Also, the order of the evaluation function values can be distinguished.
Is displayed with a symbol or sign attached.
To inform the user of the rank of the evaluation function value of the position on the road
The location on the road can be easily selected .

Further, a signal from a satellite is received, and the
A satellite navigation position detector that calculates the position of the moving object.
The star navigation position always stores the latest data.
Displayed on the above display in response to these inputs,
If it takes time to calculate numbers, etc.
Your location can be displayed to prevent user misunderstanding and confusion.
Can be stopped .

Also, a signal from a satellite is received to
Equipped with a satellite navigation position detector that calculates the position, a signal generator
Waits for a new satellite candidate position to be detected,
When it is detected, it is displayed on the display, so the evaluation function
If it takes time to calculate, etc.
Displays the wrong current position even if you did not remember
User's misunderstanding and confusion .

[Brief description of the drawings]

FIG. 1 is a block diagram of a mobile navigation device according to a first embodiment of the present invention.

FIG. 2 is an explanatory diagram for explaining the position of a moving object by the moving object navigation device of the present invention.

FIG. 3 is a flowchart showing an operation flow of the mobile navigation device according to the first embodiment of the present invention.

FIG. 4 is a flowchart showing a flow of an operation of the navigation apparatus for a mobile object according to the second embodiment of the present invention.

FIG. 5 is a flowchart showing a flow of an operation of the navigation apparatus for a mobile object according to the third embodiment of the present invention.

FIG. 6 is a flowchart showing a flow of an operation of the navigation apparatus for a mobile object according to the fourth embodiment of the present invention.

FIG. 7 is a flowchart showing an operation flow of the navigation apparatus for a mobile object according to the fifth embodiment of the present invention.

FIG. 8 is a flowchart showing a flow of an operation of the navigation apparatus for a mobile object according to the sixth embodiment of the present invention.

FIG. 9 is an explanatory diagram of a screen display on a display unit in the navigation device for a mobile object of the present invention.

FIG. 10 is an explanatory diagram of an operation of a conventional navigation device for a mobile object.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 mileage detecting unit 2 azimuth detecting unit 3 satellite navigation position detecting unit 4 self-contained navigation position calculating unit 5 road position calculating unit 5 a error range data calculating unit 5 b evaluation function value calculating unit 5 c candidate position switching unit 6 road data storage unit 7 display Unit 8 Warning unit 11 Signal generation unit 12 Storage unit on road position

Claims (6)

(57) [Claims] 1. A distance detecting section for detecting a moving distance of a moving body, an azimuth detecting section for detecting a moving azimuth of the moving body, and a change amount data obtained by integrating based on the moving distance and the moving azimuth. A self-contained navigation position calculation unit for calculating the position of the moving object, a satellite navigation position detection unit for calculating the position of the moving object by receiving a signal from a satellite, and road data constituting a map are stored. A road data storage unit, an evaluation function value calculating means for calculating a candidate function position of the moving object on the road and calculating an evaluation function value, and a position on the road up to a predetermined rank from the best evaluation function value to the lowest evaluation function value A road position calculating unit having means for calculating, extracting and controlling the entirety; a storage unit for storing on-road positions controlled by the road-position calculating unit to store the on-road positions in a predetermined order; Indication to show position And a part, by input from the signal generating unit detects waiting a new satellite candidate position, a new satellite candidate position of the moving object Nabigeshiyon and wherein the indicating that a detection standby. 2. An evaluation function value based on an input from a signal generator.
2. The navigation device for a mobile object according to claim 1, wherein the navigation devices are displayed in order from the best position on the road . 3. An evaluation function order according to an input from a signal generation unit.
Displays the road position selected from the road positions displayed in
It is displayed as the current position on a part map
The navigation device for a mobile object according to claim 2 . 4. A method for distinguishing the order of evaluation function values from each other.
Claims are displayed with numbers or symbols attached.
The navigation device for a mobile object according to claim 2 or 3 . 5. The satellite navigation position always stores the latest data.
And displays it on the display unit according to the input from the signal generator.
5. The method according to claim 1, wherein:
A navigation device for a mobile object according to the item . 6. The position of a moving object by receiving a signal from a satellite.
Is provided with a satellite navigation position detector that calculates
Waits for the detection of a new candidate satellite position
Claim: Displaying on a display unit when it is completed
A navigation device for a mobile object according to any one of claims 1 to 5.