JP4828504B2 - Mobile station travel trajectory measuring device by single GPS positioning with initial position correction function - Google Patents

Description

  The present invention is mounted on a vehicle such as an automobile or a ship, and moves to measure the traveling locus of the vehicle based on a GPS signal transmitted from a GPS (Global Positioning System) satellite group. The present invention relates to a travel locus measuring apparatus for a mobile station provided with a station.

  Conventionally, an example of a technique related to an automobile travel locus measuring apparatus that measures a travel locus of an automobile based on a GPS signal or the like has been disclosed (see, for example, Non-Patent Document 1). In this technique, various data (for example, GPS signals, inertia data, etc.) are accumulated during traveling of the automobile, and the traveling locus of the automobile is obtained after the traveling is completed.

  Also, an example of a technique for changing the reception sensitivity of a satellite navigation receiver according to the situation and correcting an error related to the current position and the traveling direction is disclosed (for example, see Patent Document 2). According to this technique, even if the accessory switch is turned off when the direction of the vehicle is changed by a turntable or the like and a large error occurs in the traveling direction of the vehicle, the error can be corrected. Therefore, the movement trajectory can be displayed on the map based on the road map data.

Hiromi Iinuma, et al .: Development of vehicle trajectory measurement device and results of practicality confirmation test, Automobile Society of Japan Preprint, No.1-99,9931894, p17-20 JP 2007-057261 A

  When trying to display the vehicle's travel locus on a map, a reference station (in addition to “base station”, “ground station”, etc.) whose ground position (coordinate values, points, etc.) is known in advance using the above-described conventional technology. Also called). If there is no reference station, it is necessary to install a new reference station or start measuring the vehicle from a known position. However, the former increases the cost, and in the latter, it is not easy in terms of driving operation technique to position the vehicle at a specific position.

  The present invention has been made in view of these points, and provides a mobile station travel trajectory measurement apparatus that can suppress the cost by eliminating the need for a reference station and can superimpose and display the travel trajectory of the mobile station on a map. With the goal.

(1) Means for solving the problem (hereinafter simply referred to as “solution means”) 1 is mounted on a vehicle such as an automobile or a ship, and is based on a GPS signal transmitted from a GPS satellite group or the like. A travel trajectory measuring apparatus for a mobile station including a mobile station that measures a travel trajectory of the vehicle, and the distance from the vehicle when the traveling vehicle passes the initial position line with reference to a predetermined position on the ground A distance measuring means for measuring the vehicle, and a vehicle trajectory measured by the mobile station based on the specified position by specifying the position of the vehicle when passing the initial position line based on the distance measured by the distance measuring means And a position correcting means for correcting the measurement start (or restart) position.

  The measurement start position means a position at which the measurement of the travel locus is started, and includes a measurement restart position at which the measurement of the travel locus is resumed. According to the solution means 1, the measurement start position of the vehicle travel locus measured by the mobile station is corrected by the position correction means. This correction makes it possible to superimpose and display the vehicle travel locus recorded at the relative position from the measurement start position on the map. Further, the position correcting means specifies the position of the vehicle when passing through the initial position line based on the distance measured by the distance measuring means. Since the position of the vehicle can be specified in this way, the reference station is not required and the cost can be kept low.

(2) Solving means 2 is the travel locus measuring apparatus for a mobile station described in solver 1, and the position correcting means corrects all positions on the travel locus measured by the mobile station based on the specified position. The gist is to do.

  According to the solution means 2, all positions of the vehicle trajectory measured by the mobile station are corrected by the position correction means. By this correction, it becomes possible to display the vehicle traveling locus composed of the absolute position (for example, the coordinate value of the earth coordinate system) superimposed on the map.

(3) Solving means 3 is the mobile station trajectory measuring device described in Solving means 1 or 2, and the distance measuring means is a reflection provided at one of a predetermined position of the vehicle and a predetermined position on the ground. A member, a light-emitting device and a light-receiving device provided on the other, and a distance calculating means for measuring a time required to receive light by the light-receiving device after being emitted by the light-emitting device and reflected by the reflecting member This is the gist.

According to the solution means 3, the distance calculating means determines the distance between the predetermined position of the vehicle and the predetermined position on the ground based on the time until the light emitted from the light emitter is reflected by the reflecting member and received by the light receiver. Find the distance. Since the distance thus obtained is high in accuracy, the vehicle travel locus corrected by the position correction means can also improve the accuracy.
Note that the distance measurement means obtains the distance using light, but may use other physical means to obtain the distance. As other physical means, for example, a means for obtaining a distance using sound waves (particularly, ultrasonic waves) is applicable.

(4) The solving means 4 is the travel locus measuring device for a mobile station described in any one of the solving means 1 to 3, wherein the map data storage means stores map data including road map data; Map trajectory display means for displaying the map data stored in the map data storage means and the travel trajectory corrected by the position correcting means with reference to the position of the vehicle when passing through the initial position line. Is the gist.

  The “road map data” includes map data related to roads provided on the site such as circuit courses and training courses in addition to map data related to general roads, expressways, and automobile-only roads. “Display” corresponds to, for example, screen display or printing.

  According to the solution means 4, the map trajectory display means superimposes and displays the travel trajectory corrected by the position correction means based on the position of the vehicle when passing through the initial position line. Therefore, it is possible to display a travel locus that is substantially the same as the actual travel locus.

  According to the present invention, since the position of the vehicle when passing through the initial position line can be specified, the reference station is not required and the cost can be kept low. In addition, since the vehicle travel locus is corrected based on the specified position, the vehicle travel locus can be displayed superimposed on the map.

  The best mode for carrying out the present invention will be described with reference to FIGS.

  First, FIG. 1 schematically shows a configuration example of a travel locus measuring apparatus according to the present invention. The travel locus measuring apparatus includes a mobile station 14, a distance measuring unit 24, a server 26, and the like. While the mobile station 14 is mounted on a vehicle such as an automobile, a ship, or an airplane, a part of the distance measuring means 24 (the reflecting member 22 in this example) is fixed at a predetermined position on the ground. The vehicle means a traffic moving body, and in this example, the vehicle 12 corresponds to the vehicle.

  The mobile station 14 measures the travel locus of the automobile 12 based on GPS signals transmitted from the GPS satellite group 10 (that is, four or more GPS satellites). Although not shown, the mobile station 14 includes, for example, a GPS receiver, a data processor, an IMU measuring device, a data transmitter, and the like. The GPS receiver receives GPS signals transmitted from the GPS satellite group 10. The IMU measurement device detects the attitude angle, acceleration, and the like of the automobile 12. The data processing unit obtains a travel locus (such as a relative movement amount or an absolute movement amount) based on the attitude angle, acceleration, or the like detected by the IMU measurement device. The data transmission unit transmits various data including the travel locus obtained by the data processing unit and the distance obtained by the distance meter 16 described later to the server 26.

  The distance measuring means 24 includes a distance meter 16, a light emitter 18, a light receiver 20, a reflecting member 22, and the like. The light emitter 18 (light source) emits light (for example, laser light). In this example, the light is always emitted to reliably capture the reflecting member 22. The light receiver 20 receives the light reflected by the reflecting member 22. The reflection member 22 has a function of reflecting light emitted from the light emitter 18 and is installed at a predetermined position on the ground (in this example, on the side of the traveling course C). Therefore, the coordinate value of the earth coordinate system is known in advance, and the line on which the reflecting member 22 can reflect light is the initial position line L represented by the alternate long and short dash line. The distance meter 16 includes a light emitter 18 and a light receiver 20. The distance W is obtained by measuring the time required for light from the light emitter 18 to be reflected by the reflecting member 22 and received by the light receiver 20. Therefore, the distance meter 16 corresponds to a distance measuring unit. Note that data can be transmitted and received between the distance meter 16 and the mobile station 14.

  The server 26 is installed in a building or the like, and has a position correction unit 28, a map data storage unit 30, a map data storage unit 30, and the like. The position correcting unit 28 specifies the position of the automobile 12 when passing the initial position line L based on the distance W measured by the distance measuring unit 24 (specifically, the distance meter 16), and based on the specified position. Then, the measurement start position of the travel locus measured by the mobile station 14 is corrected. The map data storage means 30 stores map data 32. The map data 32 in this example is data relating to a traveling course C (corresponding to a training course) provided in the site. The map locus display means 34 superimposes and displays the map data 32 stored in the map data storage means 30 and the travel locus corrected by the position correction means 28.

  The terminal device 36 is configured to be communicable with the mobile station 14 and instructs the mobile station 14 to start and end measurement. The terminal 36 is preferably composed of a portable device (for example, a PDA or a mobile phone).

  In the travel locus measuring apparatus configured as described above, a process for measuring and correcting the travel locus of the automobile 12 and further displaying the corrected travel locus on the map data as necessary is displayed. This will be described with reference to FIG. FIG. 2 is a flowchart showing a procedure example of the travel locus measurement process. In this example, steps S10 to S18 are executed by the mobile station 14, and steps S20 and S22 are executed by the server 26.

  In the travel locus measurement process shown in FIG. 2, first, a start command is received from the terminal 36 and the vehicle 12 waits until the vehicle 12 starts traveling (NO in step S10). When the vehicle 12 starts traveling (YES in step S10), the mobile station 14 measures the traveling locus of the vehicle 12 based on GPS signals and the like transmitted from the GPS satellite group 10 [step S12]. Although the measurement method is well known and omitted, for example, the time differential GPS positioning method is used. The measured travel locus data is sent to the server 26 through the data transmission unit of the mobile station 14. The measurement in step S12 is continuously performed until the vehicle 12 finishes (stops) traveling and receives an end command from the terminal 36 (NO in steps S14 and S18).

  When the automobile 12 passes through the initial position line L during traveling, that is, when the light emitted from the light emitter 18 reflects off the reflecting member 22 and is received by the light receiver 20 (YES in step S14), the distance meter 16 The distance W between the predetermined position (the part where the light emitter 18 or the like is installed) and the reflecting member 22 is calculated [corresponding to the distance calculating means; step S16]. The calculated distance W data is sent to the server 26 through the data transmission unit of the mobile station 14.

  Thereafter, when an end command is received from the terminal 36 and the automobile 12 finishes (stops) traveling (YES in step S18), the automobile when passing the initial position line L based on the distance W calculated in step S16. 12 positions (coordinates) are specified, and the travel locus measured by the mobile station 14 is corrected based on the specified positions [step S20]. In this example, correction is performed only for the measurement start position of the travel locus. When such a corrected travel locus is superimposed on the map data 32 stored in the map data storage means 30 and displayed [Step S22], it can be seen at a glance how the travel course C was traveled.

  Here, a calculation example for realizing the correction in step S20 described above will be described with reference to FIG. In FIG. 3, it is assumed that the automobile 12 starts the measurement from the position Ps and travels on the travel course C after passing through the initial position line L. FIG. 3 also shows an earth coordinate system composed of an N axis (north direction), an E axis (east direction), and an H axis (vertical direction), and a vehicle coordinate system composed of an x axis, a y axis, and a z axis. it's shown. However, the H-axis and z-axis are not shown because they are in the front-rear direction of FIG. Since there is no change in the H-axis and z-axis in the case of flat ground, the description of the H-axis and z-axis will be omitted below unless otherwise specified.

For the earth coordinate system, as shown in FIG. 4A, the azimuth angle around the H axis with respect to the N axis (north direction) is defined as a rotation angle (posture angle) ψ. Further, as shown in FIG. 3, the installation position of the reflecting member 22 is assumed to be the origin Poe, that is, the coordinate value (0, 0).
As for the vehicle coordinate system, as shown in FIG. 4B, the rotation angle (posture angle) φ around the x axis is the rotation angle (posture angle) θ, and the rotation around the z axis is the rotation angle ψ. . Further, as shown in FIG. 3, it is assumed that the installation position of the mobile station 14 provided in the automobile 12 is the origin Poc, that is, the coordinate value (0, 0).

Let the coordinate value of the measurement start position Ps be (Ns, Es). When the vehicle 12 begins to travel from the measurement start position Ps passes through the initial positions line L, since it is determined the distance W by the distance meter 16, the passing position P _F of the distance meter 16 based on the distance W is obtained. When the distance W is used, the coordinate values (N _F , E _F ) of the passing position P _F are expressed as the following formula (1).
In this example, the distance meter 16 is arranged at a position Pl that is a distance “l” from the mobile station 14. That is, since the distance meter 16 is arranged on the x-axis centering on the mobile station 14, the coordinate value (lx, 0) is obtained. Therefore, when passing through the initial position line L, the position Pe of the mobile station 14 is expressed by the following equation (2) using coordinate values (Ns + No, Es + Eo). When this formula is rearranged and transformed into a formula for correcting the measurement start position Ps, it is expressed as the following formula (3).

When the coordinate value measured at the travel position Pt of the automobile 12 traveling on the travel course C after passing the initial position line L is (Nt, Et), the coordinate value corrected to the earth coordinate system is (Ns + Nt, Es + Et). Become. In the travel locus corrected in this way, the automobile 12 starts traveling from the measurement start position Ps represented by the equation (3), that is, the coordinate values (Ns, Es), and passes the initial position line L according to the equation (1). The passing position P _F, that is, the coordinate values (N _F , E _F ) is shown, and the traveling course C passes the traveling position P t, that is, the coordinate values (Ns + Nt, Es + Et).

Although the calculation method on the two-dimensional plane has been described above for the sake of simplicity, the conversion from the vehicle coordinate system to the earth coordinate system in the three-dimensional space may be performed according to the following equation (4). For example, assuming that the coordinate value measured at the travel position Pt of the automobile 12 is (Nt, Et, Ht), the coordinate value converted to the earth coordinate system and corrected is (Ns + Nt, Es + Et, Hs + Ht). Δ ⁻¹ represented in the equation is a transformation matrix.

  FIG. 5 shows an example in which the corrected travel locus obtained as described above is displayed superimposed on the map data 32 stored in the map data storage means 30. In the display example of FIG. 5, the traveling locus T of the automobile 12 traveling on the traveling course C is displayed (screen display, printing, etc.). Further, the traveling course C in the middle of traveling is partially enlarged and displayed on the display window 32a. In this example, only the traveling locus T is displayed. However, when the mobile station 14 measures various data (for example, speed, acceleration, inertial force, etc.) relating to the traveling of the automobile 12 and transmits them to the server 26, these data are displayed. Data may be displayed together.

According to the embodiment described above, the following effects can be obtained.
(1) The travel locus of the automobile 12 measured by the mobile station 14 is corrected for the measurement start position Ps by the position correction means 28 (see step S20 in FIG. 2). By this correction, the traveling locus of the automobile 12 recorded at the relative position from the measurement start position Ps can be displayed superimposed on the map (see FIG. 5). Further, the position correcting unit 28 specifies the position of the automobile 12 when passing through the initial position line L based on the distance W measured by the distance measuring unit 24 (see step S18 in FIG. 2). Since the position of the automobile 12 can be specified in this way, a reference station is not required and the cost can be kept low.
In the above-described embodiment, the measurement start position Ps (the position of the automobile 12 when passing through the initial position line L) is the target of correction. However, measurement restart when the measurement of the travel locus is resumed after being temporarily stopped is performed. Similar effects can be obtained even when the position is the target of correction.

(2) In the above-described embodiment, correction is performed only for the measurement start position Ps of the travel locus. However, the travel locus of the automobile 12 measured by the mobile station 14 may be corrected for all positions. Good (see step S20 in FIG. 2). By this correction, the traveling locus of the automobile 12 having an absolute position (for example, coordinate values in the earth coordinate system) can be displayed superimposed on the map.

(3) Based on the time until the light emitted from the light emitter 18 is reflected by the reflecting member 22 and received by the light receiver 20, a predetermined position (position where the distance meter 16 is provided) of the automobile 12 and the ground A distance W from a predetermined position (an installation position of the reflecting member 22) was obtained (see step S16 in FIG. 2). Since the distance W thus obtained is highly accurate (the error is 2 [cm] or less), the traveling locus of the automobile 12 corrected by the position correcting means 28 can also improve the accuracy.

[Other Embodiments]
Although the best mode for carrying out the present invention has been described above, the present invention is not limited to this mode. In other words, various forms can be implemented without departing from the scope of the present invention. For example, the following forms may be realized.

(1) In the embodiment described above, the distance measuring means 24 uses light, that is, the distance W is obtained using the light emitter 18, the light receiver 20, and the reflecting member 22 (see FIG. 3). The distance W may be obtained using physical means. As other physical means, for example, a means for obtaining the distance W using sound waves (particularly ultrasonic waves) is applicable. Even if the distance W is obtained by other physical means, the traveling locus of the automobile 12 can be displayed superimposed on the map with higher accuracy than before.

(2) In the above-described embodiment, the automobile 12 includes the distance meter 16 and the reflecting member 22 is installed beside the traveling course C (see FIGS. 1 and 3). Instead of this form, the automobile 12 may be provided with the reflecting member 22 and the distance meter 16 may be installed beside the traveling course C. Further, one of the light emitter 18 and the light receiver 20 may be provided in the automobile 12 and the other may be installed beside the traveling course C. In addition, you may install in the position (for example, a pillar including a building, a utility pole, a steel tower, a bridge pier, a bridge etc.) instead of the driving | running | working course C side. In any case, any configuration may be used as long as light emitted from the light emitter 18 is reflected by the reflecting member 22 and can be received by the light receiver 20. In particular, if the side of the driving course C or an alternative position is above the vehicle (the automobile 12), the distance W can be calculated individually even if a plurality of automobiles 12 pass through the initial position line L almost simultaneously. it can.

(3) In the above-described embodiment, the terminal device 36 is applied as a device for instructing the mobile station 14 to start or end measurement (see FIG. 1). Instead of (or in addition to) this form, the function of the terminal 36 may be configured as a part of the server 26, or may be configured by a server or computer separate from the server 26. In any case, any configuration that can instruct the mobile station 14 is acceptable. In this way, it is possible to give an instruction from the server 26 or the like instead of (or in addition to) the terminal device 36.

(4) In embodiment mentioned above, the map data 32 applied the data regarding the driving course C provided in the site (refer FIG. 5). Instead of (or in addition to) this form, data relating to other roads (for example, circuit courses) provided in the site, general roads, highways, and automobile roads may be applied. By applying such data, it is possible to display a traveling trajectory T that matches the actual situation by screen display, printing, or the like.

(5) In the above-described embodiment, coordinate conversion is performed from the vehicle coordinate system to the earth coordinate system, and the travel locus T is displayed superimposed on the map data 32 (see FIG. 5). Instead of this form, coordinate conversion from the earth coordinate system to the vehicle coordinate system may be performed, and the traveling locus T may be displayed superimposed on the map data 32. In this case, it is necessary to align the specific point of the map data 32 with the passing position P _F when the automobile 12 passes the initial position line L, that is, the coordinate values (N _F , E _F ). The conversion from the earth coordinate system to the vehicle coordinate system in the three-dimensional space may be performed according to the following equation (5). Δ shown in the equation is a transformation matrix.

(6) In the above-described embodiment, the measurement start position Ps is corrected based on the position (coordinates) of the automobile 12 specified when passing through the initial position line L (see step S20 in FIG. 2). Instead of (or in addition to) this form, the present invention may be applied to verification of the origin or reference point of a different coordinate system. For example, it can be used to determine the starting point coordinates after recovery of cycle slip that occurs by passing under a three-dimensional intersection on a road such as a racing course or traveling course with a three-dimensional intersection.

It is a mimetic diagram showing the example of composition of a run locus measuring device. It is a flowchart showing the example of a procedure of a driving | running | working locus measurement process. It is a figure explaining the correction method. It is a figure showing an example of a coordinate system. It is a figure showing the example which displayed and superimposed the map data and the driving | running | working locus.

Explanation of symbols

10 GPS satellite group 12 Car (vehicle)
14 mobile station 16 rangefinder (including distance calculation means)
DESCRIPTION OF SYMBOLS 18 Light emitter 20 Light receiver 22 Reflective member 24 Distance measurement means 26 Server 28 Position correction means 30 Map data storage means 32 Map data 34 Map locus display means 36 Terminal C Travel course L Initial position line T Travel locus W Distance θ, φ , Ψ Posture angle P _F passing position Ps Measurement start position Pt Traveling position

Claims (4)

A traveling trajectory measurement device for a mobile station equipped with a mobile station mounted on a vehicle such as an automobile or a ship and measuring the traveling trajectory of the vehicle based on a GPS signal transmitted from a GPS satellite group,
A distance measuring means for measuring a distance from the vehicle when the traveling vehicle passes the initial position line with reference to a predetermined position on the ground;
A position for specifying the position of the vehicle when passing through the initial position line based on the distance measured by the distance measuring means, and correcting the measurement start position of the travel locus measured by the mobile station based on the specified position A travel trajectory measuring apparatus for a mobile station having correction means. A travel locus measuring apparatus for a mobile station according to claim 1,
The position correction means is a travel locus measuring device for a mobile station that corrects all the positions related to the travel locus measured by the mobile station based on the specified position. A travel locus measuring apparatus for a mobile station according to claim 1 or 2,
The distance measuring means includes a reflecting member provided at one of a predetermined position of the vehicle and a predetermined position on the ground, a light emitting device and a light receiving device provided at the other, light emitted by the light emitting device, and then reflected by the reflecting member. And a distance calculating means for calculating a distance by measuring a time required for receiving light by the light receiver. A travel locus measuring apparatus for a mobile station according to any one of claims 1 to 3,
Map data storage means in which map data including road map data is stored;
Map trajectory display means for displaying the map data stored in the map data storage means and the travel trajectory corrected by the position correcting means on the basis of the position of the vehicle when passing through the initial position line. Mobile station travel locus measurement device.

Images