JP5458924B2 - Current location device and program - Google Patents

Description

  The present invention relates to a current position specifying device and a program.

  Conventionally, in the current position specifying device that calculates the current position using the position information output from the GPS receiver, the operation of the GPS receiver is intermittently performed or the current position is calculated in order to reduce power consumption. Is known (see Patent Documents 1 and 2).

JP 2002-277528 A JP 2000-338218 A

  However, these technologies are technologies that reduce power consumption on the premise that a GPS receiver is used alone as a device for position detection, and there is no mention of a device for position detection other than the GPS receiver. .

  In view of the above points, the present invention provides a novel technique for reducing the power consumption of a GPS receiver in an environment where a satellite navigation receiver (for example, a GPS receiver) is used in combination with other devices for position detection. The purpose is to do.

In order to achieve the above object, the present invention according to claims 1 and 4 is a current position specifying device mounted on a vehicle, wherein the satellite navigation antenna (2) receives a signal received from a satellite for satellite navigation. The value of the detection signal output from the satellite navigation receiver (11) that performs frequency conversion and demodulation, and outputs the resultant signal, and the sensor (3, 12, 13) that outputs the detection signal for autonomous navigation And the current position of the vehicle, the current position of the vehicle according to the detection signal output from the sensor (3, 12, 13) is calculated, and for the satellite navigation A control unit (17) that intermittently corrects the relational expression based on a signal output from the reception unit (11), and the control unit (17) is caused by correcting the relational expression. The satellite navigation antenna (2) and the front The power supply to either or both of the satellite navigation receivers (11) is temporarily stopped, and then the power supply that has been stopped is restarted because a predetermined return condition is satisfied. This is a current position specifying device.

  In this way, the control unit calculates the current position of the vehicle according to the detection signal from the sensor, and receives the relational expression between the value of the detection signal output from the sensor and the current position of the vehicle for satellite navigation. Based on the signal output by the unit, the correction is made intermittently. The present invention utilizes the fact that the satellite navigation receiver is used in this way. That is, the power supply to either or both of the satellite navigation antenna and the satellite navigation receiver is temporarily stopped due to the correction of this relational expression based on the signal output by the satellite navigation receiver. Let

  As a result, the power supply to either or both of the satellite navigation antenna and the satellite navigation receiver is temporarily stopped, and signals can be temporarily received from the satellite navigation receiver. Even if it disappears, since the relational expression between the value of the detection signal of the sensor and the current position of the vehicle is corrected before that, the specific accuracy of the current position using the detection signal of the sensor is kept high. Therefore, even if the power supply to one or both of the satellite navigation antenna and the satellite navigation receiver is temporarily stopped to reduce power consumption, the measurement accuracy of the current position in the current position determination device Is kept high.

The invention according to claim 5 is the current position specifying device according to any one of claims 1 to 4 , wherein the current position specifying device is a navigation device having a function of route guidance, Even when the relational expression is corrected, the control unit (17) supplies power to the satellite navigation antenna (2) and also receives the satellite navigation reception unit when the current position specifying device performs route guidance. The power supply to (11) is also not stopped.

  As described above, when the current position specifying device is a navigation device having a route guidance function, the current position specifying device is more specific when the current position specifying device is performing the route guidance than when the current position specifying device is not performing the route guidance. High accuracy is required. Therefore, even when the relational expression is corrected as described above, if the current position specifying device is performing route guidance, the power supply is not stopped to further increase the accuracy of current position specification at the time of route guidance. be able to.

The invention described in Claim 1, one of the return condition is characterized in that the movement distance of the vehicle after stopping the power supply is to exceed the reference distance.

  By doing so, the stopped power supply can be restarted in response to an increase in the deterioration factor of dead reckoning accuracy, so that the power supply can be restarted at an efficient timing.

Further, the present invention according to claim 1 is characterized in that the current position specifying device has a map display function, and the reference distance is displayed as a map than when the current position specifying device is performing map display. It is characterized in that it is longer when not going.

  This is because it is desirable to specify the current position more accurately when the map is displayed than when the map is not displayed (for example, when a video is being played or the audio operation screen is displayed). This is because it is desired to restart the power supply to the satellite navigation antenna and the satellite navigation receiver earlier.

The inventions according to claims 2 and 4 are characterized in that one of the return conditions is that a turning angle of the vehicle after stopping the power supply exceeds a reference angle.

  By doing so, the stopped power supply can be restarted in response to an increase in the deterioration factor of dead reckoning accuracy, so that the power supply can be restarted at an efficient timing.

The present invention according to claims 3 and 4 is characterized in that the current position specifying device has a map display function, and the reference angle is greater than that in the case where the current position specifying device performs map display. It is characterized in that it is larger when no display is made.

  This is because it is desirable to specify the current position more accurately when the map is displayed than when the map is not displayed (for example, when a video is being played or the audio operation screen is displayed). This is because it is desired to restart the power supply to the satellite navigation antenna and the satellite navigation receiver earlier.

According to a sixth aspect of the present invention, the satellite navigation antenna (2) performs frequency conversion and demodulation on the signal received from the satellite navigation satellite, and outputs a resultant signal. 11) and a control unit (17), and is a program used for a current position specifying device that is mounted on a vehicle and has a map display function. The control unit (17) is used for autonomous navigation. The current position of the vehicle according to the detection signal output from the sensor is calculated using a relational expression between the value of the detection signal output from the sensor that outputs the detection signal and the current position of the vehicle. Due to the calculation and the current position calculation means (17a) for correcting the relational expression intermittently based on the signal output from the satellite navigation receiving unit, and the correction of the relational expression For satellite navigation The power supply to one or both of the antenna and the satellite navigation reception unit is temporarily stopped, and then the power supply that has been stopped is restarted because a predetermined return condition is satisfied. One of the return conditions is that the moving distance of the vehicle after stopping the power supply exceeds a reference distance, and the reference distance is the current position The program is characterized in that it is longer when the map is not displayed than when the specific device displays the map.
Also, the invention according to claim 7, performs frequency conversion and demodulation on the signal satellite navigation antenna (2) has received from the satellite navigation satellite, a satellite navigational receiver for outputting a resultant signal and (11), and a control unit (17), comprising a, a program used for current position determining device, having mounted on Rutotomoni map display functions in a vehicle, said control unit (17), autonomous navigation A current position of the vehicle according to the detection signal output from the sensor, using a relational expression between the value of the detection signal output from the sensor that outputs a detection signal for use and the current position of the vehicle Further, the current position calculation means (17a) for correcting the relational expression intermittently based on the signal output from the satellite navigation receiver, and the correction of the relational expression For satellite navigation The power supply to one or both of the antenna and the satellite navigation reception unit is temporarily stopped, and then the power supply that has been stopped is restarted because a predetermined return condition is satisfied. One of the return conditions is that the turning angle of the vehicle after stopping the power supply exceeds a reference angle, and the reference angle is the current position. The program is characterized in that the case where the specific device does not display the map is larger than the case where the specific device performs the map display . Thus, the features of the present invention can also be realized as a program invention.

  In addition, the code | symbol in the bracket | parenthesis in the said and the claim shows the correspondence of the term described in the claim, and the concrete thing etc. which illustrate the said term described in embodiment mentioned later. .

It is a lineblock diagram of navigation device 1 for vehicles in an embodiment of the present invention. It is a flowchart of a power supply control process. It is a flowchart of a power supply control process.

  Hereinafter, an embodiment of the present invention will be described. FIG. 1 shows a vehicle navigation apparatus 1 according to this embodiment.

  The vehicle navigation apparatus 1 includes a GPS receiving unit 11, a gyro sensor 12, a G sensor 13, a hard disk drive 14, a RAM 15, a system power supply circuit 16, and a CPU 17.

  The GPS receiver 11 performs frequency conversion, demodulation, amplification, etc. on a signal received from a GPS satellite (corresponding to an example of a satellite for satellite navigation) by a GPS antenna 2 mounted on the vehicle, and the resulting signal is It outputs to CPU17. The signal output from the GPS receiver 11 to the CPU 17 includes position information such as navigation data and a C / A code.

  The gyro sensor 12 is a known sensor that outputs a detection signal of a value (for example, voltage) corresponding to the turning angular velocity of the vehicle to the CPU 17. The G sensor 13 is a well-known sensor that outputs a detection signal having a value (for example, voltage) corresponding to the acceleration of the vehicle to the CPU 17.

  The hard disk drive (hereinafter referred to as HDD) 14 includes a magnetic storage medium, on which well-known map data for map display and route guidance, and a program executed by the CPU 17 are recorded. The RAM 15 is a storage medium used as a work area for the CPU 17.

  The system power supply circuit 16 is a circuit that receives power supply from a battery power supply in the vehicle and distributes the received power supply to the units 11 to 17 and the GPS antenna 2 of the vehicle navigation apparatus 1. The presence / absence of power supply from the system power supply circuit 16 to the GPS receiver 11 and the GPS antenna 2 is switched according to the control from the CPU 17. The GPS antenna 2 includes an amplifier circuit that operates upon receiving power supply. Therefore, if the GPS antenna 2 cannot receive power supply, it cannot receive signals from GPS satellites.

  The CPU 17 implements various processes by reading a program from the HDD 14 and executing it. The processing that the CPU 17 reads out and executes the program includes a current position calculation process 17a, a map display control process, a guidance route calculation process, a route guidance process, and a power supply control process 17b. The CPU 17 can execute the processing substantially simultaneously by the time sharing method.

  Based on the detection signals received from the GPS receiver 11 and various sensors that output detection signals for autonomous navigation, the current position calculation processing 17a is performed periodically (for example, once every 0.1 second). This is a process for calculating the current position. Here, as a sensor for outputting a detection signal for autonomous navigation, in addition to the gyro sensor 12 and the G sensor 13 described above, a vehicle speed pulse signal (in the detection signal) that is mounted on the vehicle and has a frequency approximately proportional to the vehicle speed. There is a vehicle speed sensor 3 that outputs to the CPU 17.

  The map display control process is an apparatus that configures a map image including the current position calculated by the current position calculation process 17a based on the map data, and displays the configured map image on an in-vehicle image display device (not shown).

  The guidance route calculation process is a process of receiving an input of a destination by a user via an operation unit (button, touch panel, etc.) not shown and calculating an optimum guidance route from the current position to the destination.

  The route guidance process is a process that guides the travel along the calculated guidance route. The positional relationship between the guidance route and the vehicle position is monitored sequentially, and the vehicle arrives in front of the intersection of the guidance route. When necessary, for example, a guidance voice for instructing a right turn or a left turn is output to a voice output device (not shown), and an enlarged view of a right / left turn intersection is displayed on the image display device. The route guidance process is performed when the user performs an operation to start route guidance on the operation unit after the guide route is calculated and after the guide route is calculated. The process starts when the operation starts, and ends when the user performs an operation to end the route guidance on the operation unit and when the vehicle arrives near the destination.

  The power supply control process 17 b is a process for controlling the system power supply circuit 16 to switch the power supply to the GPS receiver 11 and the gyro sensor 12.

  Here, the current position calculation process 17a and the power supply control process 17b will be described in more detail. First, the current position calculation process 17a will be described. In the current position calculation process 17a, the CPU 17 basically determines, based on the value of the detection signal output from only the sensors 3, 12, 13 for autonomous navigation among the sensors 3, 12, 13 and the GPS receiving unit 11. The current position of the host vehicle is repeatedly calculated at a predetermined first cycle (for example, at a cycle of 0.1 second), and the calculated current position is determined as the current position of the host vehicle.

  At this time, in order to calculate the current position from the values of the detection signals output from the sensors 3, 12, and 13, a relational expression between the values of the detection signals output from the sensors 3, 12, and 13 and the current position is expressed as Use.

  As this relational expression, for example, a relational expression of Pc = Pp + D (v, g, y) is used. Here, Pc is a vector quantity representing the current position to be calculated at the current current position calculation timing (for example, a vector quantity having components of latitude and longitude), and Pp is the sensor 3 at the previous current position calculation timing. , 12 and 13 are vector quantities (for example, vector quantities having latitude and longitude components) representing the current position calculated using the detection signal values.

  Further, D (v, g, y) is a vector function (for example, a vector having components of a latitude change amount and a longitude change amount) representing a movement amount of the vehicle from the previous current position calculation timing to the current current position calculation timing. The variables v, g, and y are the vehicle speed, acceleration, and yaw rate at the current current position calculation timing, respectively. Since the function form of D (v, g, y) is well known, its description is omitted here.

  Here, the vehicle speed v is calculated, for example, by multiplying the frequency Sv of the pulse signal (detection signal) from the vehicle speed sensor 3 at the current current position calculation timing by a coefficient Kv. The acceleration g can be obtained by multiplying the detection signal value Sg of the G sensor 13 at the current current position calculation timing by a coefficient Kg. The yaw rate y can be obtained by multiplying the detection signal value Sy of the gyro sensor 12 at the current current position calculation timing by a coefficient Ky.

  Therefore, the relational expression Pc = Pp + D (v, g, y) becomes Pc = Pp + D (Kv × Sv, Kg × Sg, Ky × Sy). Coefficients Kv, Kg, and Ky in this relational expression will be described later in order to correspond to changes in characteristics of the vehicle speed sensor 3, the gyro sensor 12, and the G sensor 13 due to temperature, vibration, etc., and changes over time due to use. As described above, correction is repeated.

  Further, in the current position calculation process 17a, the CPU 17 captures the current position using the GPS receiver 11 intermittently in the second period (for example, one minute period) sufficiently longer than the first period, and Correct the relational expression.

  Specifically, the CPU 17 calculates the current position of the host vehicle based on the value of a signal output from only the GPS receiver 11 among the sensors 3, 12, 13 and the GPS receiver 11. Then, the calculated current position is determined as the current position of the current vehicle. That is, the current position of the vehicle calculated using the output signal value of the G sensor 13 from the current position calculated in the first cycle using the detection signal values of the sensors 3, 12, 13. Replace with Such replacement corresponds to acquisition of the current position by the GPS receiver 11.

  Further, the CPU 17 uses the current position obtained from the output signal value of the G sensor 13 and the vehicle speed v, acceleration g, and yaw rate y obtained from the detection signal values of the sensors 3, 12, 13, and Kv × Sv , Kg × Sg, Ky × Sy are corrected to the values of the coefficients Kv, Kg, Ky so that the vehicle speed v, acceleration g, and yaw rate y are correct. Since the correction methods for the coefficients Kv, Kg, and Ky using the output signal value of the G sensor 13 are well known, the details thereof are omitted. By correcting the coefficients Kv, Kg, and Ky in this way, the above relational expression is corrected.

  Next, the power supply control process 17b will be described. 2 and 3 are flowcharts of the power supply control process 17b. The CPU 17 starts executing the power supply control process 17b immediately after the vehicle navigation device 1 is activated.

  Hereinafter, the details of the power supply control processing 17b will be described in time series. First, after starting the vehicle navigation apparatus 1, the CPU 17 first controls the system power supply circuit 16 in step 110 to start supplying power to the GPS antenna 2 and the GPS receiving unit 11.

  As a result, the GPS antenna 2 starts to receive signals (including navigation data, C / A codes, etc.) transmitted from GPS satellites, and the GPS receiver 11 performs frequency conversion on the signals received by the GPS antenna 2, Demodulation, amplification, and the like are performed, and output of the resulting signal to the CPU 17 is started.

  Subsequently, at step 120, it is determined whether or not the GPS receiver 11 has completed capturing the current position during the period from the execution of the previous step 110 to the present. The capture of the first current position is not completed for about 10 minutes after activation, so the determination result of step 120 is NO (negative determination), and step 120 is executed again.

  If it is determined that the time has elapsed and the capture of the current position by the GPS receiver 11 has been completed, the process proceeds to step 130. During the period from the execution of the previous step 110 to the present, the current position calculation process 17a It is determined whether the correction of the relational expression is completed. If this determination result is NO (negative determination), the process returns to Step 120.

  In the present embodiment, in the current position calculation process 17a, the acquisition of the current position by the GPS receiver 11 and the correction of the relational expression are continuously performed in a very short time (for example, within one second) compared to the second period. Is done. Then, the determination results of both step 120 and step 130 are YES (positive determination), and then the process proceeds to step 140.

  In step 140, the CPU 17 determines whether or not the route guidance process is currently being executed. If so, the process returns to step 120. If not, the CPU 17 supplies power to the GPS antenna 2 and the GPS receiving unit 11. To stop at step 145.

  When the route guidance process is currently being executed, the process returns to step 120 without stopping the power supply to the GPS antenna 2 and the GPS receiver 11 because the current position needs to be specified with high accuracy during the route guidance process. This is because, for this purpose, it is desirable to execute the acquisition of the current position by the GPS receiver 11 and the correction of the relational expression as much as possible.

  In this example, it is assumed that route guidance is not currently being performed. In this case, the process proceeds to step 145, where the system power supply circuit 16 is controlled to stop the power supply to the GPS antenna 2 and the GPS receiving unit 11.

  Then, no signal is output from the GPS receiving unit 11 to the CPU 17. Therefore, while the power supply to the GPS antenna 2 and the GPS receiver 11 is stopped, the GPS receiver 11 cannot capture the current position and correct the relational expression.

  Subsequently, in step 150, the CPU 17 determines whether or not the map display control process is being executed. If the map display control process is being executed, the first reference value set is set in step 155. Then, the second reference value set is set.

  In the reference value set setting in steps 155 and 160, reference time, reference distance, and reference angle (that is, reference value set) values used in steps 170, 175, and 180 described later are set.

  However, the reference time, reference distance, and reference angle values (for example, 10 minutes, 30 km, 720 °) set in the first reference value set setting in step 155 are set in the second reference value set setting in step 160. Smaller than the reference time, reference distance, and reference angle values (for example, 20 minutes, 60 km, 1440 °). This is done when the map display is not as much as when the route is being displayed than when the map is not being displayed (for example, while a video is being played or the audio operation screen is being displayed). This is because more accurate specification of the current position is desired, and it is desired to restart the power supply to the GPS antenna 2 and the GPS receiver 11 earlier. In either case, the reference time is set longer than the second period described above.

  Following step 155 or 160, in step 165, whether or not the condition (corresponding to an example of the return condition) that the elapsed time after power-off in the previous step 145 exceeds the set reference time is satisfied. If not satisfied, the process proceeds to step 170, and if satisfied, the process returns to step 110.

  In Step 170, it is determined whether or not a condition (corresponding to an example of a return condition) that the vehicle travel distance after power-off in the immediately preceding Step 145 exceeds a set reference distance is satisfied. If not satisfied, the process proceeds to step 175. If satisfied, the process returns to step 110.

  Further, in step 175, it is determined whether or not a condition (corresponding to an example of the return condition) that the turning angle of the vehicle after the power-off in the previous step 145 exceeds the set reference angle is satisfied, If not satisfied, the process proceeds to step 180, and if satisfied, the process returns to step 110.

  In step 180, it is determined whether or not a condition that route guidance is currently being performed (corresponding to an example of a return condition) is satisfied. If not satisfied, the process returns to step 150. If satisfied, the process returns to step 110.

  That is, the CPU 17 continues the stop of power supply to the GPS antenna 2 and the GPS receiving unit 11 by repeating the processing of steps 150 to 180 while none of the four return conditions in steps 165 to 180 is satisfied. To do. As a result, if the processing of steps 150 to 180 is repeated for a longer period than the above-described second period, even if the timing of the current position acquisition and the relational expression correction by the GPS receiver 11 comes, the acquisition and correction Can not be.

  If the map display is changed while the processes in steps 150 to 180 are repeated, the reference time, the reference distance, and the reference angle change accordingly.

  If at least one of the four return conditions in steps 165 to 180 is satisfied, the process returns to step 110 and the power supply to the GPS antenna 2 and the GPS receiver 11 is resumed.

  Note that the return conditions in steps 165, 170, and 175 are conditions for detecting that the cause of deterioration of dead reckoning accuracy has increased beyond the allowable range. Therefore, the reference time used in step 165 is sufficiently shorter than the time (several hours) required to maintain the freshness of the navigation data (almanac data and ephemeris data). Further, the return condition in step 180 is provided for the same purpose as the condition in step 140.

  When any of the return conditions of Steps 165, 170, and 175 is satisfied and the process returns to Step 110, the system power supply circuit 16 is controlled to restart the power supply to the GPS antenna 2 and the GPS receiver unit 11. After that, in steps 120 and 130, it waits for the GPS receiver 11 to capture the current position and correct the relational expression, and at the timing when they are realized, if the route guidance is not in progress (see step 140), again. In step 145, power supply to the GPS antenna 2 and the GPS receiver 11 is stopped.

  However, when route guidance is being performed, it is determined in step 140 that route guidance is being performed, so that the power supply to the GPS antenna 2 and the GPS receiving unit 11 continues and the processing of steps 120 to 140 is repeated. In the meantime, the current position is captured by the GPS receiver 11 and the relational expression is corrected in the second cycle described above.

  As described above, the CPU 17 calculates the current position of the vehicle according to the output signals of the sensors 3, 12, 13 by executing the current position calculation process 17 a, and the detection output from the sensors 3, 12, 13. The relational expression between the signal value and the current position of the vehicle is corrected intermittently based on the signal output from the GPS receiver 11. In the present embodiment, the satellite navigation receiver is used in this way.

  That is, by executing the power supply control process 17b, the CPU 17 captures the current position using the GPS receiving unit 11 and corrects the above relational expression, thereby correcting the relational expression. The power supply to either or both of the GPS antenna 2 and the GPS receiving unit 11 is temporarily stopped, and then the power supply that has been stopped is restarted due to the above-described return condition being satisfied. .

  In this way, even when the GPS receiving unit 11 and the GPS antenna 2 stop operating, the current position can be specified by the signals from the sensors 3, 12, and 13 while reducing power consumption. The current position can be specified.

  Furthermore, even if the power supply to both the GPS antenna 2 and the GPS receiving unit 11 is temporarily stopped and the signal from the GPS receiving unit 11 cannot be temporarily received, the output signals of the sensors 3, 12, and 13 Since the relational expression between the value of the vehicle and the current position of the vehicle is corrected immediately before that, the specific accuracy of the current position using the output signals of the sensors 3, 12, 13 is to some extent even while the power supply is stopped. Kept high. Therefore, even when the power supply to both the satellite navigation antenna and the satellite navigation receiver is temporarily stopped to reduce power consumption, the current position measurement device maintains high measurement accuracy. Is done.

  In other words, to reduce power consumption while maintaining high current position identification accuracy in situations where navigation is extremely frequent, such as “I do not need route guidance but want to maintain current position identification accuracy above a certain level”. Can do.

  Further, even when the relational expression is corrected, the CPU 17 does not stop the power supply to the GPS antenna 2 and the power supply to the GPS receiving unit 11 when performing the route guidance process.

  When the navigation device 1 having the route guidance function performs route guidance, higher accuracy is required for specifying the current position than when the navigation device 1 does not perform route guidance. Therefore, even when the relational expression is corrected as described above, when the current position specifying device is performing route guidance, the power supply to the GPS antenna 2 and the GPS receiving unit 11 is not stopped so that the route guidance can be performed. The accuracy of specifying the current position can be further increased.

  In addition, by adopting return conditions such as steps 165, 170, and 175, the stopped power supply can be restarted in response to an increase in the cause of deterioration in dead reckoning accuracy, so at an efficient timing, The power supply can be resumed.

  In the above embodiment, the vehicle navigation device 1 corresponds to an example of the current position specifying device, the GPS antenna 2 corresponds to an example of a satellite navigation antenna, and the GPS receiver 11 corresponds to an example of a satellite navigation receiver. The CPU 17 corresponds to an example of a control unit. Further, the CPU 17 functions as an example of a current position calculation unit by executing the current position calculation process 17a, and functions as an example of a power supply control unit by executing the power supply control process 17b.

(Other embodiments)
As mentioned above, although embodiment of this invention was described, the scope of the present invention is not limited only to the said embodiment, The various form which can implement | achieve the function of each invention specific matter of this invention is included. It is.

  For example, when any of the return conditions is realized and the power supply to the GPS antenna 2 and the GPS receiving unit 11 is restarted again in step 110, a caution such as “capturing satellite information” for the first few seconds is displayed on the image display device. Information may be provided to the user by being displayed on the screen.

  In the above embodiment, power supply to both the GPS antenna 2 and the GPS receiving unit 11 is stopped in step 145, but power supply to only one of them is stopped. Also good.

  Moreover, in the said embodiment, although this invention is applied to GPS, this invention can also be applied to the positioning using a GLONASS satellite, a GALILEO satellite, etc. That is, the present invention can be applied to any positioning as long as it is positioning by satellite navigation.

  In the above embodiment, each function realized by the CPU 17 executing the program is realized using hardware having those functions (for example, an FPGA capable of programming the circuit configuration). It may be.

  Further, the current position specifying device of the present invention is not necessarily a navigation device, and may be a map display device that displays a map including the current position, or a current position recording device that sequentially records the current position. It may be.

DESCRIPTION OF SYMBOLS 1 Vehicle navigation apparatus 2 GPS antenna 3 Vehicle speed sensor 11 GPS receiving part 12 Gyro sensor 13 G sensor 14 HDD
15 RAM
16 System power supply circuit 17 CPU
17a Current position calculation process 17b Power supply control process

Claims (7)

A current location device mounted on a vehicle,
A satellite navigation receiving unit (11) for performing frequency conversion and demodulation on the signal received by the satellite navigation antenna (2) from the satellite navigation satellite, and outputting a result signal;
Using the relational expression between the value of the detection signal output from the sensor (3, 12, 13) that outputs the detection signal for autonomous navigation and the current position of the vehicle, the sensor (3, 12, 13 ) To calculate the current position of the vehicle according to the detection signal output from the control signal, and to intermittently correct the relational expression based on the signal output from the satellite navigation receiver (11). Part (17),
The control unit (17) temporarily supplies power to one or both of the satellite navigation antenna (2) and the satellite navigation reception unit (11) due to the correction of the relational expression. And then restarting the power supply that has been stopped due to the fact that a predetermined return condition has been satisfied ,
One of the return conditions is that the moving distance of the vehicle after stopping the power supply exceeds a reference distance,
The current position specifying device has a map display function,
The current position specifying device characterized in that the reference distance is longer when the map is not displayed than when the current position specifying device is displaying a map . Wherein one of the return condition is current position determining device according to claim 1, wherein the turning angle of the vehicle after stopping the power supply is to exceed the reference angle. The current position specifying device has a map display function,
The current position specifying device according to claim 2 , wherein the reference angle is larger when the map is not displayed than when the current position specifying device is displaying a map. A current location device mounted on a vehicle,
A satellite navigation receiving unit (11) for performing frequency conversion and demodulation on the signal received by the satellite navigation antenna (2) from the satellite navigation satellite, and outputting a result signal;
Using the relational expression between the value of the detection signal output from the sensor (3, 12, 13) that outputs the detection signal for autonomous navigation and the current position of the vehicle, the sensor (3, 12, 13 ) To calculate the current position of the vehicle according to the detection signal output from the control signal, and to intermittently correct the relational expression based on the signal output from the satellite navigation receiver (11). Part (17),
The control unit (17) temporarily supplies power to one or both of the satellite navigation antenna (2) and the satellite navigation reception unit (11) due to the correction of the relational expression. And then restarting the power supply that has been stopped due to the fact that a predetermined return condition has been satisfied ,
One of the return condition state, and are the turning angle of the vehicle after stopping the power supply exceeds the reference angle,
The current position specifying device has a map display function,
The current position specifying device is characterized in that the reference angle is larger when no map display is performed than when the current position specifying device displays a map . The current position specifying device is a navigation device having a function of route guidance,
Even when the relational expression is corrected, the control unit (17) supplies power to the satellite navigation antenna (2) and receives the satellite navigation reception when the current position specifying device is performing route guidance. The current position specifying device according to any one of claims 1 to 4 , wherein power supply to the unit (11) is not stopped. A satellite navigation receiver (11) for performing frequency conversion and demodulation on a signal received by the satellite navigation antenna (2) from the satellite navigation satellite, and outputting a result signal; a control unit (17); the provided, a program used current position determining device, in having mounted on Rutotomoni map display functions in the vehicle,
The control unit (17)
Using the relational expression between the value of the detection signal output from the sensor that outputs the detection signal for autonomous navigation and the current position of the vehicle, the vehicle according to the detection signal output from the sensor Current position calculating means (17a) for correcting the relational expression intermittently based on a signal output from the satellite navigation receiver, and calculating a current position;
Due to the correction of the relational expression, power supply to either or both of the satellite navigation antenna and the satellite navigation reception unit is temporarily stopped, and then a predetermined return condition is satisfied. Due to that, the power supply control means (17b) for resuming the power supply that has been stopped ,
One of the return conditions is that the moving distance of the vehicle after stopping the power supply exceeds a reference distance,
The program characterized in that the reference distance is longer when the map is not displayed than when the current position specifying device is displaying a map . A satellite navigation receiver (11) for performing frequency conversion and demodulation on a signal received by the satellite navigation antenna (2) from the satellite navigation satellite, and outputting a result signal; a control unit (17); the provided, a program used current position determining device, in having mounted on Rutotomoni map display functions in the vehicle,
The control unit (17)
Using the relational expression between the value of the detection signal output from the sensor that outputs the detection signal for autonomous navigation and the current position of the vehicle, the vehicle according to the detection signal output from the sensor Current position calculating means (17a) for correcting the relational expression intermittently based on a signal output from the satellite navigation receiver, and calculating a current position;
Due to the correction of the relational expression, power supply to either or both of the satellite navigation antenna and the satellite navigation reception unit is temporarily stopped, and then a predetermined return condition is satisfied. Due to that, the power supply control means (17b) for resuming the power supply that has been stopped ,
One of the return conditions is that the turning angle of the vehicle after stopping the power supply exceeds a reference angle,
The program according to claim 1, wherein the reference angle is larger when the map is not displayed than when the current position specifying device is displaying a map .

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