JP3412883B2 - Azimuth measuring device, azimuth measuring method and method of using azimuth measuring device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an azimuth measuring device and a azimuth measuring method for measuring an azimuth of a destination viewed from a user by using a signal received from a positioning satellite, and a method of using the azimuth measuring device. Regarding

[0002]

2. Description of the Related Art Gyro compasses and magnet compasses have been conventionally known as azimuth measuring instruments. The gyro compass is a device that detects the direction of the North Pole using the Coriolis force generated by the rotation of the earth, and the magnet compass is a device that measures the magnetic north by measuring the geomagnetism.

These devices have been used for many years and are highly reliable. However, on the other hand, it has a known defect. For example, a gyro compass generally has a large structure and is expensive. For example,
Since the magnet compass is based on the principle of geomagnetism measurement, it is easily affected by an external magnetic field.

Furthermore, in order to measure the direction of the user's target or destination using these compasses, a map, a positioning device, etc. are required. That is, as shown in FIG. 8, what is measured by these compasses is the azimuth θ of the magnetic north or north pole N as seen from the current location O with respect to the direction C of the compass, and from this information to the target or destination X. In order to know the azimuth, more maps are needed.

As an azimuth measuring device without these problems, GPS and GLONASS, which have been developed and implemented in recent years, are used.
There is a configuration using a global satellite positioning system such as.
In this type of system, as shown in FIG.
In the case of three-dimensional positioning, at least four positioning satellites S _{1 to} S ₄
It is necessary to receive the signal transmitted from the receiver at the ground receiver. The receiver determines the positioning satellite S based on the orbit information and time information of the positioning satellites S _{1 to} S ₄ included in the received signal.
Position of ₁ to S ₄ and obtaining the pseudorange ρ ₁ ~ρ ₄ to these satellites _S 1 to S _4. By solving the simultaneous equations by using the obtained position and the pseudo distances ρ _{1 to} ρ ₄ , it is possible to know the current location (observation location) O of the user. When the user is moving, the signals transmitted from the positioning satellites S _{1 to} S ₄ are Doppler-shifted. Therefore, by measuring this Doppler frequency, the user's moving speed, and thus the moving direction. You can know. The azimuth measuring device based on such a principle does not have a large device structure and a high price unlike the above-mentioned gyro compass, and is not affected by an external magnetic field like a magnet compass. In addition, since the obtained information is the moving direction of the user, the direction of the target or the destination X can be more easily known.

However, in this type of azimuth measuring device, the measurement error in the moving direction increases as the moving speed decreases. In particular, when the user stands still, it is impossible to measure the moving direction of the user, and thus the direction of the target or the destination X cannot be known.

In order to solve such a problem, a plurality of antennas for receiving signals from the positioning satellites S _{1 to} S ₄ may be provided. That is, as shown in FIG.
A distance D between at least two antennas 10-1 and 10-2
If the antennas 10 and 10-2 are arranged with a space, the phases of the signals received from the positioning satellites S _{1 to} S ₄ are different between the antennas 10-1 and 10-2. By using the phase difference P generated in this way, the direction of the target or the destination X viewed from the current position O of the user can be preferably known even if the user is stationary. For example, the signals received by antennas 10-1 and 10-2 may be received by individual receivers 12-1 or 12-, as indicated by the dashed lines in FIG.
To the antenna 10-1 by comparing the positioning results obtained at the receivers 12-1 and 12-2.
The azimuth of the aerial line 10-2 seen from can be known, and the azimuth of the target or destination X can be known from this azimuth. Alternatively, as indicated by the solid line in FIG. 10, the signals received by each antenna 10-1 and 10-2 are supplied to a single receiver 12-3, and this receiver 12-
Similar information can be obtained by calculating the orientation of the antenna 10-2 viewed from the antenna 10-1 in 3.

[0008]

However, as shown in FIG.
In order to measure the direction of the destination according to the principle as shown in (1), at least a plurality of antennas are required and the positional relationship between them must be set strictly. Therefore, the apparatus structure becomes expensive and complicated, and its operation becomes complicated.

The present invention has been made to solve the above problems, and it is possible to know the direction of a target or a destination even when the user is stationary. It is an object of the present invention to provide an azimuth measuring device having a small size, low cost, and easy operation. Further, the present invention is an azimuth measuring method in such an azimuth measuring device,
It is intended to provide a method of using the azimuth measuring device.

[0010]

In order to achieve such an object, an azimuth measuring device according to the present invention is an antenna which is swung back and forth by a user in a state of being directed to outer space and receives a signal from a positioning satellite. And the positional relationship between the antenna and the positioning satellite
Calculates the current position, the current time, and the moving speed vector by measuring the Doppler frequency based on the signals received in a changing state, totals the calculated moving speed vector over a predetermined time, and based on the totaling result, which direction the antenna is Is detected as a front azimuth based on a predetermined azimuth, and based on the detected front azimuth, the calculated current position and the position of a given destination, the azimuth of the destination is based on the predetermined azimuth. A receiver for calculating and notifying the user of the calculated direction of the destination.

Further, according to the azimuth measuring method of the present invention, the signal from the positioning satellite is received by the antenna which is swung back and forth while pointing to the outer space, and the positional relationship between the antenna and the positioning satellite is changed.
The current position, the current time, and the moving velocity vector by measuring the Doppler frequency are calculated based on the signal received by the antenna in the state of being converted, and the calculated moving velocity vector is aggregated over a predetermined period of time. Which direction is being shaken as the front direction is detected based on the predetermined direction, and the direction of the destination is determined based on the detected front direction, the calculated current position, and the position of the given destination. It is characterized by being calculated as a reference and notifying the user of the calculated direction of the destination.

Further, the method of using the azimuth measuring device of the present invention is as follows.
The azimuth measuring device of the present invention is characterized in that the azimuth of the destination is measured by swinging the antenna back and forth while being directed to the outer space.

The present invention also provides a
The aggregated moving speed vector is classified into multiple groups based on the direction, the absolute value of the average vector of the moving speed vector is calculated for each group, and the direction of the average vector with the largest calculated absolute value is detected as the forward direction. It is characterized by doing.

The present invention further determines whether or not the calculated moving velocity vector is vibrating to a predetermined degree or more, and starts counting the moving velocity vectors only when it is determined that it is vibrating. Characterize.

The present invention is characterized in that, when notifying the user of the calculated direction of the destination, the direction is output by voice or displayed.

The present invention further compares the calculated current time with a given start time of use and informs the user that the antenna should be swung back and forth when the current time reaches the start time of use. It is characterized by

The present invention is characterized in that the fact that the antenna should be swung back and forth is notified by voice, display or vibration.

[0018]

In the present invention, first, the antenna is swung back and forth by the user in a state in which the antenna is directed to the large universe. The signal transmitted from the positioning satellite is received by this antenna. When the signal is received, the current position, the current time, and the moving speed vector are calculated based on the received signal, and the calculated moving speed vector is aggregated over a predetermined time. Since the obtained totalization result indicates which direction the antenna is swung as the frontal direction, the frontal direction can be detected on the basis of a predetermined direction (for example, true north) based on the totalization result. When the front azimuth is detected, the azimuth of the destination is calculated based on the predetermined azimuth based on the detected front azimuth, the calculated current position, and the position of the given destination. The calculated direction of the destination is notified to the user. Therefore, in the present invention, since the direction of the destination can be known by the single antenna and the receiver, the size and cost of the device are not increased. Further, since the user's operation is only the operation of swinging the antenna back and forth, the operation is also simple. As a result, according to the present invention, an azimuth measuring device for personal use is preferably realized, and for example, the azimuth of a religious sacred place can be measured outdoors and anywhere in the world.

In the present invention, when notifying the user of the calculated direction of the destination, a means such as voice output or display is used. This significantly expands the environment in which the user can use the azimuth measuring device according to the present invention.

Further, in the present invention, when the forward direction is detected, the aggregated moving speed vectors are classified.
That is, the aggregated moving speed vectors are classified into a plurality of groups based on their directions, and the absolute value of the average vector of the moving speed vectors is calculated for each group. In general, when a person shakes an object back and forth, the speed is higher when the object is shaken forward than when shaken backward. Therefore, the azimuth of the average vector having the largest calculated absolute value can be regarded as the forward azimuth. In the present invention, the azimuth of the average vector is detected as the forward azimuth.

Further, according to the present invention, whether or not the totalization of the moving speed vector can be started is determined based on the calculated moving speed vector. That is, when the calculated moving velocity vector vibrates more than a predetermined level, it can be considered that the user is shaking the antenna forward and backward.
If the counting of the moving velocity vector is started only when such vibration is determined and detected, the frequency of the arithmetic processing in the receiver is reduced. Further, since the power supply to the portion of the receiver that does not need to be operated can be cut off while the movement speed vector is not being aggregated, an azimuth measuring device that is more power-saving and suitable for carrying can be realized.

Further, in the present invention, the user is informed that the antenna should be swung back and forth. That is, by comparing the calculated current time with a given use start time, and notifying the user when the current time reaches the use start time, the user can set a predetermined destination at a necessary time. You can know the bearing. This is effective when, for example, worshiping a religious sacred place. Furthermore, this notification can be performed by any means of voice, display, or vibration.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A preferred embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows the configuration of an azimuth measuring device according to an embodiment of the present invention. The azimuth measuring device shown in this figure is composed of an antenna 14 and a receiver 16.

The antenna 14 has a size and shape that can be gripped by a user 18, as shown in FIG. 2, for example. The antenna 14 and the receiver 16 are connected by a signal line 20. When using the azimuth measuring device according to the present embodiment, the user shakes the antenna 14 forward and backward while directing the antenna 14 upward as shown in FIG. The antenna 14 receives signals transmitted from the positioning satellites S _{1 to} S ₄ shown in FIG. 9.

As shown in FIG. 1, the receiver 16 includes a reception processing unit 22, an orientation calculation unit 24, a time monitoring unit 26, a measurement value display unit 28, a measurement value notification unit 30, and an operation time instruction unit 3.
It consists of two. The reception processing unit 22 uses the antenna 14
The current position, the moving speed and the current time of the user 18 are obtained based on the signal received by the user. Direction calculation unit 24
Inputs the current position, the moving speed, and the current time obtained by the reception processing unit 22, calculates the direction of the destination X, and outputs it to the measurement value display unit 28 and the measurement value notification unit 30 together with the current time. Therefore, the position of the predetermined destination X is preset in the azimuth calculation unit 24 by, for example, a nonvolatile memory or the like. The measurement value display unit 28 displays the current time and the target region position given from the azimuth calculation unit 24 on the screen, and the measurement value notification unit 30 outputs a voice. Either the measurement value display unit 28 or the measurement value notification unit 30 can be omitted.

The time monitoring unit 26 inputs the current position and time of the user 18 obtained by the reception processing unit 22, and compares the use start time preset by the non-volatile memory or the like with the input current time. Determines whether or not the use start time has arrived. When the use start time has come, the time monitoring unit 26 notifies the operation time instruction unit 32 of that fact. In response to this notification, the operation time instruction unit 32 notifies the user of the arrival of the use start time. This notification is performed by screen display, voice output, generation of vibration, or the like. Before the arrival of the use start time, the time monitoring unit 26 may cause the operation time instruction unit 32 to give advance notice.

FIG. 3 shows the flow of operations of the time monitoring unit 26 in this embodiment. As shown in this figure, the time monitoring unit 26 converts the time given from the reception processing unit 22 from the world time to the local time (10
0). That is, since the time used in the positioning system such as GPS and GLONASS is the predetermined world time, this is converted into the local time at the current position O of the user 18. At that time, the time monitoring unit 26 uses the current position of the user 18 obtained by the reception processing unit 22.

The time monitoring unit 26 compares the obtained local time with the preset use start time (1
02). As a result of this comparison, when the current time has not reached the use start time yet, the operation of the time monitoring unit 26 is temporarily ended. Conversely, when it is determined that the current time has reached the use start time, the time monitoring unit 26 notifies the operation time instruction unit 32 that the use start time has arrived (10
4). In response to this, as described above, the operation time instruction unit 3
2 notifies the user 18 of the arrival of the use start time. After that, the operation of the time monitoring unit 26 ends.

The operation shown in FIG. 3 is repeated at a predetermined frequency. Therefore, at some point, step 1
The determination condition 02 is satisfied, and the user 18 receives a notification from the operation time instruction unit 32 that the use start time has arrived. In response to this notification, the user shakes the antenna 14 back and forth while facing the sky 14 as shown in FIG. By such an operation of the antenna 14, the antenna 14 and the positioning satellites S ₁ to
Since the positional relationship of S ₄ changes, the reception processing unit 22
From this, the velocity information of the antenna 14 can be obtained. Further, in general, when a person swings an object toward the sky, the velocity when swinging forward is higher than when swinging backward, so that the antenna 14 is positioned in front of the user 18 (A in FIG. 4).
When it is swung in the direction), the absolute value of the vector (moving speed vector) relating to the speed information obtained from the reception processing unit 22 becomes larger. That is, the velocity vector measurement result as shown in FIG. 4 is obtained.

The azimuth calculation unit 24 collects such velocity vectors over a predetermined period of time, and the moving velocity vectors obtained by the aggregation are classified into two types so that the vectors oriented in an approximate direction belong to the same group. Classify into groups. Comparing the absolute values of the average vectors of the moving speed vectors belonging to each group, the absolute value of the average vector in any direction becomes larger. The azimuth calculation unit 24
FIG. 4 shows the azimuth θ ₁ of the average vector that has a large absolute value.
It is regarded as the A direction (front) in the middle, and is recognized as the front direction of the user 18 represented by the true north standard. The azimuth calculation unit 24 obtains the azimuth θ ₁ , the current time of the user, and the given destination X.
From the position, the direction θ _{2 of the} destination X is calculated on the basis of true north (N), and the calculation result is displayed together with the time information on the measurement value display unit
And the measured value notification unit 30. Note that the relationship between these orientations is as shown in FIG.

6 and 7 show the flow of more detailed operation of the azimuth calculation section 24 in this embodiment.
The operation shown in this figure is realized using the table TB1 for determining whether measurement can be started and the table TB2 for registering measurement values, and the operation shown in FIG. 6 is repeatedly executed at a predetermined frequency.

First, the azimuth calculation section 24 updates the value of the table TB1 for determining whether measurement can be started or not (200). That is, the contents of the table TB1 are updated based on the velocity vector obtained from the reception processing unit 22. Subsequently, the calculation unit 24 determines whether or not the target local position is currently being measured (that is, whether the moving speed vector is being aggregated) (202). As a result, when it is determined that the measurement is not in progress, the table TB1
Based on the above moving speed vector, it is determined whether to start the measurement (204). That is, when the movement velocity vector on the table TB1 starts to vibrate at a predetermined level or higher as shown in FIG. 7 (204), the azimuth calculation unit 24 resets the built-in measurement timer (20).
6) and shifts to step 208. When it is determined that such vibration has not started, the operation of the azimuth calculation unit 24 ends.

After step 206 is executed and when it is determined in step 202 that the measurement is in progress,
The azimuth calculation unit 24 uses the reception processing unit 22 on the table TB2.
The information related to the moving speed vector supplied from is registered.
The azimuth calculation unit 24 further counts the measurement timer (210). Until the measurement timer counts up,
The operations of steps 200, 202, 208 and 210 described above are repeated (212). When the measurement timer counts up, the operation proceeds to the subsequent step 213.

In step 213, the azimuth calculation section 24 classifies the moving velocity vector on the table TB2 into a group based on the azimuth. That is, antenna 1
When 4 is swung back and forth, the moving velocity vector is 2
Since it is distributed as a group of types, the azimuth calculation unit 24
Classifies velocity vectors based on this fact. Furthermore,
The azimuth calculation unit 24 calculates the vector average of each group.

The azimuth calculation section 24 finds the difference between the absolute value of the mean vector and the absolute value of the mean vector, further finds the absolute value, and compares this with a predetermined threshold value α (214). When the difference is smaller than the threshold α as a result of this comparison, the azimuth calculation unit 24
Clears the measurement timer (216), and then table TB
1 and TB2 are cleared (218), and the operation ends. That is, it is assumed that the vector distribution on the table TB2 is not caused by the normal operation of the user 18.

On the contrary, when the difference is equal to or more than the threshold α, it can be considered that the moving velocity vector distribution on the table TB2 is generated by the user 18 swinging the antenna 14 back and forth. . In this case, the azimuth calculation unit 24 determines that the azimuth of the average vector having the larger absolute value of the average vector is the A azimuth, that is, the azimuth θ ₁ ahead of the user 18 (22).
0), and then the process proceeds to step 216.

Therefore, according to the present embodiment, the direction of the destination X is measured using the portable antenna 14 and the receiver 16, so that the device configuration can be downsized and the cost can be reduced. A azimuth measuring instrument suitable for is realized. Also,
Since the operation required for azimuth measurement is a simple operation of swinging the antenna 14 upward while swinging it back and forth, many users can become familiar with this operation, and an azimuth measuring instrument with excellent usability can be obtained. .

Further, the arrival of the use start time, which is the time when this operation should be performed, is notified to the user 18 by the operation of the time monitoring unit 26 and the operation time instruction unit 32, so that the user 18 needs the necessary time. For example, the direction of the destination X can be known in accordance with the arrival of the time of worship to the sacred place.

Further, in this embodiment, since the moving speed vectors are totaled only when the calculated moving speed vector vibrates at a predetermined level or more, if the judgment in step 204 is not established. Receiver 16
Power supply to unnecessary circuit configurations can be turned on,
It is possible to obtain an azimuth measuring device that is power-saving and suitable for carrying. Further, since the user 18 can be notified of the arrival of the use start time and the measurement result of the target local position by means of display, voice, vibration, etc., the environment in which the azimuth measuring instrument according to the present embodiment is used is extremely wide. . In addition, the azimuth measuring device according to this embodiment can be used anywhere in the world as long as it is outdoors.

[0041]

As described above, according to the present invention,
A simple operation of waving the aerial line upward because it was made to detect the direction in which the aerial line was swung as the forward direction based on the result of totaling the moving velocity vectors obtained by the positioning system using satellites. It becomes possible to know the direction of the destination. In addition, the azimuth measuring instrument having such a function can be configured as a portable antenna and receiver, and the azimuth measuring instrument suitable for individual carrying can be obtained because the device configuration does not become large and the price does not increase. To be

Furthermore, according to the present invention, since the moving speed vectors are not aggregated when the calculated moving speed vector does not vibrate more than a predetermined level, unnecessary portions can be eliminated. The power supply can be turned off, and an azimuth measuring device that is more power saving and suitable for carrying can be obtained. Furthermore, the calculated direction of the destination can be notified by means such as voice or display, and the direction measuring device of the present invention can be used in a wide environment of use. In addition, since the azimuth measuring device according to the present invention uses the positioning system using satellites, it can be used anywhere outdoors in the world.

Further, according to the present invention, the calculated present time is compared with a given use start time, and the user is instructed to operate the antenna according to the arrival of the use start time. Therefore, it is possible for the user to appropriately measure the target local position according to the arrival of the predetermined time, and it is necessary to measure the target local position at the predetermined time, for example, when worshiping a religious sacred place. In this case, a suitable orientation measuring device can be obtained. Furthermore, an instruction relating to this operation can be given by voice, display, vibration, or the like, and a direction measuring instrument with higher usability can be obtained.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of an azimuth measuring device according to an embodiment of the present invention.

2 is a diagram showing a method of using this embodiment, and FIG.
2A is a side view, and FIG. 2B is a top view.

FIG. 3 is a flowchart showing a flow of operations of a time monitoring unit in this embodiment.

FIG. 4 is a diagram showing a phenomenon mode of a maximum value of a moving velocity vector measured in this embodiment.

FIG. 5 is a diagram showing a relationship of orientations in this embodiment.

FIG. 6 is a flowchart showing a flow of operations of an azimuth calculation unit in this embodiment.

FIG. 7 is a diagram showing a change in speed in an azimuth in which the speed is maximum in this embodiment.

FIG. 8 is a diagram showing a problem of azimuth measurement using a compass.

FIG. 9 is a diagram showing a positioning principle in a positioning system such as GPS and GLONASS.

FIG. 10 is a diagram showing a configuration of an apparatus relating to relative positioning using GPS, GLONASS and the like.

[Explanation of symbols]

14 Aerial 16 receiver 18 users 22 Reception processing unit 24 Direction calculator 26 Time monitoring section 28 Measurement value display 30 Measurement value notification unit 32 Operation time indicator

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields investigated (Int.Cl. ⁷ , DB name) G01S 5/00-5/14 G01C 17/00-17/38 G01C 21/00-21/24 G01C 23 / 00-25/00 JISST file (JOIS)

Claims (9)

(57) [Claims] 1. An antenna which is swung back and forth by a user in a state of being directed to outer space and receives a signal from a positioning satellite, and a current position based on a signal received in a state where the positional relationship between the antenna and the positioning satellite changes , Current time and Doppler frequency
Calculate the moving speed vector by the measurement of , the calculated moving speed vector is aggregated over a predetermined time, based on the totalized result, which direction the antenna is swung as the forward direction is detected based on the predetermined direction, A reception that calculates the direction of the destination based on the detected forward direction, the calculated current position and the position of the given destination based on the predetermined direction, and notifies the user of the calculated direction of the destination. An azimuth measuring instrument comprising: 2. A current position is received based on a signal received from an antenna in a state in which a positional relationship between the antenna and the positioning satellite is changed by receiving a signal from the positioning satellite by an antenna that is swung back and forth while being directed to outer space. the current time and de
Calculates the moving velocity vector by measuring the Prappler frequency, collects the calculated moving velocity vector over a predetermined time, and detects which direction the antenna is swung as the forward direction based on the totalized result based on the predetermined direction. Then, the direction of the destination is calculated based on the detected forward direction, the calculated current position and the position of the given destination based on the predetermined direction, and the user is notified of the calculated direction of the destination. An azimuth measuring method characterized by: 3. The azimuth measuring method according to claim 2, wherein when detecting the forward azimuth, the aggregated moving speed vectors are classified into a plurality of groups based on the azimuths, and the absolute vector of the moving speed vectors is absolute for each group. An azimuth measuring method comprising calculating a value and detecting the azimuth of an average vector having the largest calculated absolute value as a forward azimuth. 4. The azimuth measuring method according to claim 2 or 3, wherein it is determined whether or not the calculated moving velocity vector vibrates at a predetermined level or more, and only when it is determined that the moving velocity vector vibrates. An azimuth measuring method, characterized by starting counting speed vectors. 5. The azimuth measuring method according to claim 2, wherein when notifying the user of the calculated azimuth of the destination, the azimuth is output as voice or displayed. Measuring method. 6. The azimuth measuring device according to claim 1, wherein the receiver compares the calculated current time with a given use start time, and when the current time reaches the use start time, the user is instructed to the user. An azimuth measuring device characterized by notifying that the antenna should be swung back and forth. 7. The azimuth measuring method according to claim 2, wherein the calculated current time is compared with a given use start time, and when the current time reaches the use start time, the antenna is moved back and forth to the user. An azimuth measuring method characterized by notifying that a person should shake. 8. The azimuth measuring method according to claim 7, wherein the fact that the antenna should be swung back and forth is notified by voice, display or vibration. 9. A method of using an azimuth measuring device, characterized by measuring the azimuth of a destination by swinging the antenna according to the azimuth measuring device according to claim 1 back and forth while being directed to the outer space.