JP2001503519A - 衛星受信器を有する自動車用の位置検出装置 - Google Patents
衛星受信器を有する自動車用の位置検出装置Info
- Publication number
- JP2001503519A JP2001503519A JP52093098A JP52093098A JP2001503519A JP 2001503519 A JP2001503519 A JP 2001503519A JP 52093098 A JP52093098 A JP 52093098A JP 52093098 A JP52093098 A JP 52093098A JP 2001503519 A JP2001503519 A JP 2001503519A
- Authority
- JP
- Japan
- Prior art keywords
- route
- detecting device
- vehicle
- position detecting
- satellite receiver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/14—Systems for determining direction or deviation from predetermined direction
- G01S3/52—Systems for determining direction or deviation from predetermined direction using a receiving antenna moving, or appearing to move, in a cyclic path to produce a Doppler variation of frequency of the received signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1. 衛星受信器を有する自動車用の位置検出装置であって、該衛星受信器は有 利にはGPS衛星またはGLONASS衛星の信号を受信するものであり、 衛星受信器は、自動車の予想位置に対して受信した信号から公差のある走行 方向(走行方向セグメント)を計算するように構成されており、 距離センサと、デジタル道路地図と、計算器とを有し、 該計算器は、自動車の予想位置における実際の走行方向を検出するものであ る位置検出装置において、 計算器(5)は、デジタル道路地図の部分領域の道路(21,22,24) に対して、自動車の瞬時位置が予測される主経路と、場合により副経路(22) を検出するように構成されており、 主経路と場合により副経路(22)の方向は、衛星受信器の走行方向セグメ ント(20)と比較され、 方向セグメント(20)は、自動車の予想位置における方向が方向セグメン ト(20)内に延在する主経路(21)と場合により副経路(22)だけがさら に追跡されるように位置決めされる、 ことを特徴とする位置検出装置。 2. 衛星受信器(2)は自動車の走行方向を、自動車の走行中に受信された衛 星周波数の周波数変化からドップラー法に従って検出する、請求項1記載の位置 検出装置。 3. 位置検出装置は方向センサまたは回転速度センサ(7)を有し、 当該センサ(7)の検出された方向結果を、衛星受信器(2)により与えら れた瞬時の方向ベクトルの方向値に置換可能であるか、または補正可能である、 請求項1または2記載の位置検出装置。 4. 方向センサ(7)はジャイロセンサである、請求項3記載の位置検出装置 。 5. 方向セグメント(20)の大きさは、衛星受信器(2)および/または位 置検出装置(1)のシステム誤差によって定められる、請求項1から4までのい ずれか1項記載の位置検出装置。 6. 計算器(5)は、予想位置の箇所で各経路(24,21,22)について 方向ベクトル(25)を検出する、請求項1から5までのいずれか1項記載の位 置検出装置。 7. 計算器(5)は、主経路(21)と副経路(22)を重み付けし、 方向が予想位置の箇所において方向セグメント(23)の方向ともっとも一 致する経路を新たな主経路として検出する、請求項1から6までのいずれか 1項記載の位置検出装置。 8. 計算器(5)は、予想位置の箇所において個々の経路の走行方向を記憶さ れた道路地図の部分領域における道路経過と比較し、もっとも一致する経路を新 たな主経路として検出する、請求項1から7までのいずれか1項記載の位置検出 装置。 9. 経路が平行に延在する場合にはこれまでの主経路を維持する、請求項1か ら8までのいずれか1項記載の位置検出装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19645209.0 | 1996-11-02 | ||
DE19645209A DE19645209B4 (de) | 1996-11-02 | 1996-11-02 | Ortungsvorrichtung für ein Kraftfahrzeug mit einem Satellitenempfänger und Ortungsverfahren |
PCT/DE1997/001945 WO1998020359A1 (de) | 1996-11-02 | 1997-09-04 | Ortungssystem für ein kraftfahrzeug mit einem satellitenempfänger |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2001503519A true JP2001503519A (ja) | 2001-03-13 |
JP3877011B2 JP3877011B2 (ja) | 2007-02-07 |
Family
ID=7810476
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP52093098A Expired - Fee Related JP3877011B2 (ja) | 1996-11-02 | 1997-09-04 | 衛星受信器を有する自動車用の位置検出装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US6240368B1 (ja) |
EP (1) | EP0935760B1 (ja) |
JP (1) | JP3877011B2 (ja) |
KR (1) | KR20000053026A (ja) |
CZ (1) | CZ152699A3 (ja) |
DE (2) | DE19645209B4 (ja) |
WO (1) | WO1998020359A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20130112917A (ko) * | 2010-12-03 | 2013-10-14 | 퀄컴 인코포레이티드 | Gnss 운송수단 내비게이션을 위한 관성 센서 지원 헤딩 및 포지셔닝 |
Families Citing this family (22)
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FR2768230B1 (fr) * | 1997-09-11 | 2000-05-05 | Commissariat Energie Atomique | Procede de localisation d'un objet en mouvement par mesures magnetiques gradientmetriques |
US20040215387A1 (en) * | 2002-02-14 | 2004-10-28 | Matsushita Electric Industrial Co., Ltd. | Method for transmitting location information on a digital map, apparatus for implementing the method, and traffic information provision/reception system |
JP3481168B2 (ja) * | 1999-08-27 | 2003-12-22 | 松下電器産業株式会社 | デジタル地図の位置情報伝達方法 |
US6454036B1 (en) * | 2000-05-15 | 2002-09-24 | ′Bots, Inc. | Autonomous vehicle navigation system and method |
JP5041638B2 (ja) | 2000-12-08 | 2012-10-03 | パナソニック株式会社 | デジタル地図の位置情報伝達方法とそれに使用する装置 |
JP4663136B2 (ja) | 2001-01-29 | 2011-03-30 | パナソニック株式会社 | デジタル地図の位置情報伝達方法と装置 |
JP4749594B2 (ja) | 2001-04-27 | 2011-08-17 | パナソニック株式会社 | デジタル地図の位置情報伝達方法 |
JP4230132B2 (ja) * | 2001-05-01 | 2009-02-25 | パナソニック株式会社 | デジタル地図の形状ベクトルの符号化方法と位置情報伝達方法とそれを実施する装置 |
DE10148667C2 (de) * | 2001-06-14 | 2003-06-18 | Bosch Gmbh Robert | Verfahren zur Bestimmung einer vektoriellen Fahrzeuggeschwindigkeit |
US7164973B2 (en) | 2001-10-02 | 2007-01-16 | Robert Bosch Gmbh | Method for determining vehicle velocity |
DE10247994B4 (de) * | 2002-10-15 | 2018-10-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Fahrdynamikregelung |
EP1772982A1 (en) * | 2004-07-28 | 2007-04-11 | Matsushita Electric Industrial Co., Ltd. | Diversity type receiver apparatus and receiving method |
DE102008043120A1 (de) | 2008-10-23 | 2010-04-29 | Robert Bosch Gmbh | Ortungsvorrichtung und Ortungsverfahren |
US8792903B2 (en) * | 2009-06-30 | 2014-07-29 | Qualcomm Incorporated | Trajectory-based location determination |
DE102009027919B4 (de) | 2009-07-22 | 2019-02-28 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Navigieren eines Fahrzeuges |
US9200902B2 (en) * | 2009-12-11 | 2015-12-01 | General Motors Llc | Method of processing global navigation satellite system data |
US8442763B2 (en) * | 2010-04-16 | 2013-05-14 | CSR Technology Holdings Inc. | Method and apparatus for geographically aiding navigation satellite system solution |
DE102016205277B4 (de) * | 2016-03-31 | 2017-11-23 | Ford Global Technologies, Llc | Verfahren und System zur Bestimmung der Genauigkeit eines satellitengestützten Navigationssystems |
US11134360B2 (en) * | 2016-04-18 | 2021-09-28 | Cambridge Mobile Telematics Inc. | Methods and systems for orienting a mobile device to a vehicle's reference frame |
WO2018038131A1 (ja) * | 2016-08-26 | 2018-03-01 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ | 三次元情報処理方法及び三次元情報処理装置 |
WO2018050563A1 (de) | 2016-09-14 | 2018-03-22 | Prothelis Gmbh | Sicherheits- und ortungsgeraet |
WO2018050566A1 (de) | 2016-09-14 | 2018-03-22 | Prothelis Gmbh | Autarkes ortungssystem |
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JPH08145706A (ja) * | 1994-11-18 | 1996-06-07 | Zanavy Informatics:Kk | 車両用ナビゲーション装置 |
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-
1996
- 1996-11-02 DE DE19645209A patent/DE19645209B4/de not_active Expired - Fee Related
-
1997
- 1997-09-04 DE DE59709284T patent/DE59709284D1/de not_active Expired - Lifetime
- 1997-09-04 JP JP52093098A patent/JP3877011B2/ja not_active Expired - Fee Related
- 1997-09-04 US US09/297,547 patent/US6240368B1/en not_active Expired - Lifetime
- 1997-09-04 CZ CZ991526A patent/CZ152699A3/cs unknown
- 1997-09-04 EP EP97942782A patent/EP0935760B1/de not_active Expired - Lifetime
- 1997-09-04 WO PCT/DE1997/001945 patent/WO1998020359A1/de not_active Application Discontinuation
- 1997-09-04 KR KR1019990703917A patent/KR20000053026A/ko active Search and Examination
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR20130112917A (ko) * | 2010-12-03 | 2013-10-14 | 퀄컴 인코포레이티드 | Gnss 운송수단 내비게이션을 위한 관성 센서 지원 헤딩 및 포지셔닝 |
JP2014507628A (ja) * | 2010-12-03 | 2014-03-27 | クゥアルコム・インコーポレイテッド | Gnss車両ナビゲーションのための慣性センサにより支援された進行方向および測位 |
JP2016020917A (ja) * | 2010-12-03 | 2016-02-04 | クゥアルコム・インコーポレイテッドQualcomm Incorporated | Gnss車両ナビゲーションのための慣性センサにより支援された進行方向および測位 |
KR101600150B1 (ko) * | 2010-12-03 | 2016-03-04 | 퀄컴 인코포레이티드 | Gnss 운송수단 내비게이션을 위한 관성 센서 지원 헤딩 및 포지셔닝 |
US9803983B2 (en) | 2010-12-03 | 2017-10-31 | Qualcomm Incorporated | Inertial sensor aided heading and positioning for GNSS vehicle navigation |
US9816818B2 (en) | 2010-12-03 | 2017-11-14 | Qualcomm Incorporated | Inertial sensor aided heading and positioning for GNSS vehicle navigation |
US9891054B2 (en) | 2010-12-03 | 2018-02-13 | Qualcomm Incorporated | Inertial sensor aided heading and positioning for GNSS vehicle navigation |
Also Published As
Publication number | Publication date |
---|---|
US6240368B1 (en) | 2001-05-29 |
KR20000053026A (ko) | 2000-08-25 |
WO1998020359A1 (de) | 1998-05-14 |
CZ152699A3 (cs) | 1999-12-15 |
EP0935760A1 (de) | 1999-08-18 |
EP0935760B1 (de) | 2003-02-05 |
DE59709284D1 (de) | 2003-03-13 |
DE19645209A1 (de) | 1998-05-07 |
DE19645209B4 (de) | 2005-07-28 |
JP3877011B2 (ja) | 2007-02-07 |
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