JP2005069873A - Navigation system - Google Patents

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JP2005069873A
JP2005069873A JP2003300124A JP2003300124A JP2005069873A JP 2005069873 A JP2005069873 A JP 2005069873A JP 2003300124 A JP2003300124 A JP 2003300124A JP 2003300124 A JP2003300124 A JP 2003300124A JP 2005069873 A JP2005069873 A JP 2005069873A
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navigation
current position
learning data
data storage
storage unit
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JP4259954B2 (en
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Youichi Zenimoto
陽一 銭本
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Sanyo Electric Co Ltd
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Sanyo Electric Co Ltd
Sanyo Multimedia Tottori Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a navigation system capable of accurately displaying its current position by making errors in autonomous navigations small, even in the case tires having different outer diameters are exchanged. <P>SOLUTION: In the navigation system, the autonomous navigations which compute the current positions based on detection results at a travel distance detecting section 11 and a movement direction detecting section 12, and GPS navigations which compute the current positions based on information from satellites, are used together. The navigation system has a plurality of training data memories 15, 16 storing errors between the current positions, one of which is computed based on the detection results at the travel distance detecting section 11 and the movement direction detecting section 12, and the other of which is computed by the GPS navigation. In the case a prescribed number of successive errors of the current positions computed by the autonomous navigation and the GPS navigation are not less than a prescribed distance, the training data memory which has been used, is changed to any other training data memory, and data in the training data memory are used for correction when computing the current position. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

本発明は、自立航法とＧＰＳ航法を併用するハイブリッド航法を用いたナビゲーション装置に関するものである。   The present invention relates to a navigation apparatus using hybrid navigation that uses both self-contained navigation and GPS navigation.

従来のナビゲーション装置では、自律航法による現在位置検出時の誤差補正の方法として、例えば特許文献１に記載されているように誤差要因（温度、温度変化、角速度等）を計測してニューラルネットワークに入力し、学習させるものがある。
特開平５−６６７１３号公報 In a conventional navigation device, as an error correction method at the time of detecting the current position by autonomous navigation, for example, as described in Patent Document 1, error factors (temperature, temperature change, angular velocity, etc.) are measured and input to a neural network. And there is something to learn.
JP-A-5-66713

しかしながら、自律航法で現在位置を求めて表示し、ＧＰＳ航法で位置補正を行う従来のハイブリッド航法においては、学習させた学習データを記憶する記憶手段は１つしか有しておらず、外径の異なるタイヤに交換した場合、しばらくの間、交換前後のタイヤの外径が異なることで移動距離及び移動速度の差が生じる。そのため、交換後に交換前のタイヤで学習させた学習データを用いて自律航法による位置を検出すると、タイヤ交換後は検出した移動距離と実際の移動距離との差が生じ、現在位置の検出が正しくできない。そして、実際の現在位置と自律航法で求めた現在位置との誤差が大ききくなり、自律航法によって求めた現在位置を表示後、ＧＰＳにより位置補正を行うと、表示位置の表示が著しく変わってしまい使い勝手の悪いものであった。なお、外径の異なるタイヤへの交換は夏用タイヤと冬用タイヤの交換、ナビゲーション装置を装着する車の変更等が挙げられる。   However, in the conventional hybrid navigation which obtains and displays the current position by autonomous navigation and corrects the position by GPS navigation, it has only one storage means for storing learned learning data, and has an outer diameter of When the tire is replaced with a different tire, the outer diameter of the tire before and after the replacement is different for a while, resulting in a difference in moving distance and moving speed. Therefore, when the position by autonomous navigation is detected using the learning data learned with the tire before replacement after replacement, the difference between the detected travel distance and the actual travel distance occurs after tire replacement, and the current position is correctly detected. Can not. And the error between the actual current position and the current position obtained by autonomous navigation becomes large, and if the current position obtained by autonomous navigation is displayed and then the position is corrected by GPS, the display of the display position changes significantly. It was inconvenient. In addition, replacement with a tire having a different outer diameter includes replacement of a summer tire and a winter tire, a change of a vehicle equipped with a navigation device, and the like.

本発明は、外径の異なるタイヤに交換された場合でも自律航法の誤差を小さくして現在位置を高精度に表示できるナビゲーション装置を提供することを目的とする。   An object of the present invention is to provide a navigation device that can display the current position with high accuracy by reducing errors in autonomous navigation even when the tires are replaced with tires having different outer diameters.

上記目的を達成するために本発明は、移動距離検出部及び進行方向検出部での検出結果に基づいて現在位置を算出する自律航法と、衛星からの情報に基づいて現在位置を算出するＧＰＳ航法とを併用するナビゲーション装置において、前記移動距離検出部及び進行方向検出部の検出結果に基づいて算出された現在位置と、ＧＰＳ航法で算出した現在位置との誤差を記憶する複数の学習データ記憶部とを備え、前記何れかの学習データ記憶部のデータを自律航法における現在位置算出時の補正に用いることを特徴とする。   In order to achieve the above object, the present invention provides an autonomous navigation that calculates a current position based on detection results of a moving distance detection unit and a traveling direction detection unit, and a GPS navigation that calculates a current position based on information from a satellite. A plurality of learning data storage units for storing errors between the current position calculated based on the detection results of the movement distance detection unit and the traveling direction detection unit and the current position calculated by GPS navigation The data of any one of the learning data storage units is used for correction when calculating the current position in autonomous navigation.

上記のナビゲーション装置において、前記複数の学習データ記憶部に記憶された誤差は、前記検出部の構成が異なるものによる検出値で算出されることを特徴とする。   In the above navigation apparatus, the errors stored in the plurality of learning data storage units are calculated as detection values based on different configurations of the detection units.

更に、所定回数連続して前記自律航法及びＧＰＳ航法で算出された現在位置の誤差が所定距離以上であった場合、用いている前記学習データ記憶部を他の何れかの学習データ記憶部に切り替えることを特徴とする。   Furthermore, when the error of the current position calculated by the autonomous navigation and the GPS navigation is continuously a predetermined number of times or more, the learning data storage unit used is switched to any other learning data storage unit. It is characterized by that.

更に、日時を刻む計時部を備え、予め設定された所定期間に、所定回数連続して前記自律航法及びＧＰＳ航法で算出された現在位置の誤差が所定距離以上であった場合、用いている前記学習データ記憶部を他の何れかの学習データ記憶部に切り替えるようにしてもよい。   In addition, it has a timekeeping part that ticks the date and time, and is used when the error of the current position calculated by the autonomous navigation and the GPS navigation is a predetermined distance or more continuously for a predetermined period of time, which is greater than or equal to a predetermined distance. The learning data storage unit may be switched to any other learning data storage unit.

なお、前記所定期間は、１１月〜１月及び３月〜５月であることが好ましい。   The predetermined period is preferably November to January and March to May.

また、上記のナビゲーション装置に気温を測定する温度センサを備え、予め設定された所定温度を所定日数連続して超えるか下回った場合、用いている前記学習データ記憶部を他の何れかの学習データ記憶部に切り替えるようにしてもよい。   In addition, the navigation device includes a temperature sensor for measuring the temperature, and when the preset predetermined temperature is continuously exceeded or exceeded by a predetermined number of days, the learning data storage unit used is any other learning data You may make it switch to a memory | storage part.

本発明によれば、外径の異なるタイヤに交換された場合でもタイヤの外径に合った学習データ記憶部に切り替えて、そのデータを用いて現在位置を補正する構成であるので、自律航法の誤差を小さくして現在位置を高精度に表示できる。従って、ＧＰＳ航法と自律航法のどちらで算出した現在位置を表示してもほとんど表示位置に変化がないため、自律航法の現在位置を長時間表示したり自律航法とＧＰＳ航法を頻繁に切り替えたりしても、ユーザに違和感を与えることがない。   According to the present invention, even when the tire is replaced with a tire having a different outer diameter, the learning data storage unit suitable for the outer diameter of the tire is switched, and the current position is corrected using the data. The current position can be displayed with high accuracy by reducing the error. Therefore, even if the current position calculated by either GPS navigation or autonomous navigation is displayed, there is almost no change in the display position. For this reason, the current position of autonomous navigation is displayed for a long time, or autonomous navigation and GPS navigation are frequently switched. However, it does not give the user a sense of incongruity.

また、所定期間や所定温度の限定を追加することにより、タイヤの交換がされる可能性のない時期に現在位置検出の誤差が生じてもタイヤの外径に関係なく偶然生じたものとみなし、誤った学習データを使用することがなくなる。   In addition, by adding restrictions on the predetermined period and temperature, it is considered that it occurred by chance regardless of the outer diameter of the tire even if an error in the current position detection occurs at a time when there is no possibility of replacement of the tire, Incorrect learning data is not used.

図１は、ナビゲーション装置１０の構成を示すブロック図である。１１は車の移動距離を計測する距離センサ等からなる移動距離検出部であり、１２は車の進行方向を検出するジャイロセンサ等からなる進行方向検出部、１３はＧＰＳ受信機等からなるＧＰＳ測位部である。移動距離検出部１１と進行方向検出部１２の検出結果から現在位置を算出する方法を自律航法と呼び、ＧＰＳ測位部１３による現在位置の算出方法をＧＰＳ航法と呼ぶ。本実施形態のナビゲーション装置１０はこれら２つの航法を併用したハイブリッド航法を採用している。   FIG. 1 is a block diagram showing a configuration of the navigation device 10. Reference numeral 11 denotes a moving distance detection unit including a distance sensor for measuring the moving distance of the vehicle, 12 denotes a traveling direction detection unit including a gyro sensor to detect the traveling direction of the vehicle, and 13 denotes GPS positioning including a GPS receiver. Part. A method of calculating the current position from the detection results of the movement distance detection unit 11 and the traveling direction detection unit 12 is called autonomous navigation, and a method of calculating the current position by the GPS positioning unit 13 is called GPS navigation. The navigation device 10 of the present embodiment employs hybrid navigation that combines these two navigation methods.

１４は地図情報を格納する地図情報記憶部であり、ＤＶＤやＣＤから読み込んでＨＤＤに記憶させてもよいし、通信により受信するようにしてもよい。   Reference numeral 14 denotes a map information storage unit for storing map information, which may be read from a DVD or CD and stored in the HDD, or may be received by communication.

１５及び１６は学習データ記憶部であり、移動距離検出部１１及び進行方向検出部１２の検出の誤差要因を計測する誤差要因検出部１７と、自律航法及びＧＰＳ航法で算出した現在位置の誤差に対する誤差要因の値を記憶する。ここで、誤差要因とは、温度、角速度、速度（すなわちタイヤの回転数と車の移動距離との関係）、加速度、タイヤ温度等であり、各センサの値に影響するものである。   Reference numerals 15 and 16 denote learning data storage units, which correspond to an error factor detection unit 17 that measures error factors of detection by the movement distance detection unit 11 and the traveling direction detection unit 12, and an error of the current position calculated by autonomous navigation and GPS navigation. The error factor value is stored. Here, the error factors are temperature, angular velocity, speed (that is, the relationship between the rotational speed of the tire and the moving distance of the vehicle), acceleration, tire temperature, and the like, which affect the value of each sensor.

１８は外気温を測定する温度計等からなる温度検出部であり、１９はカレンダー機能を有する時計等からなる計時部である。   Reference numeral 18 denotes a temperature detection unit including a thermometer for measuring the outside air temperature, and reference numeral 19 denotes a timer unit including a clock having a calendar function.

２０は地図情報や現在位置を表示する液晶ディスプレイ等からなる表示部であり、２１はユーザが目的地の設定等の入力を行う入力部、２２はナビゲーション装置１０を制御するマイクロコンピュータ等で構成された制御部である。   Reference numeral 20 denotes a display unit composed of a liquid crystal display or the like for displaying map information and the current position, 21 is an input unit for the user to input destination settings and the like, and 22 is a microcomputer that controls the navigation device 10. Control unit.

次に、ナビゲーション装置１０の動作について説明する。   Next, the operation of the navigation device 10 will be described.

図２は、ナビゲーション装置１０の学習データ作成時の動作を示すフローチャートである。まず、ステップＳ１０において自律航法による現在位置の算出を行う。具体的には、移動距離検出部１１で検出された移動距離と進行方向検出部１２で検出された進行方向とが制御部２２へ入力され現在位置が算出される。   FIG. 2 is a flowchart showing the operation of the navigation device 10 when creating learning data. First, in step S10, the current position is calculated by autonomous navigation. Specifically, the movement distance detected by the movement distance detection unit 11 and the movement direction detected by the movement direction detection unit 12 are input to the control unit 22 and the current position is calculated.

次に、ステップＳ１１へ進んでＧＰＳ航法による現在位置の算出を行う。具体的には、３つ以上の衛星から受信したデータが制御部２２へ入力され現在位置が算出される。   Next, it progresses to step S11 and the present position is calculated by GPS navigation. Specifically, data received from three or more satellites is input to the control unit 22 and the current position is calculated.

その後、ステップＳ１２へ進んで誤差要因検出部１７で各誤差要因を測定し、ステップＳ１３へ進んで自律航法及びＧＰＳ航法で算出した現在位置の誤差を求め、それに誤差要因の値を対応させることにより学習データを作成する。そしてステップＳ１４へ進んで学習データを学習データ記憶部１６に記憶する。   Thereafter, the process proceeds to step S12, each error factor is measured by the error factor detection unit 17, the process proceeds to step S13, the error of the current position calculated by the autonomous navigation and the GPS navigation is obtained, and the error factor value is associated with it. Create learning data. Then, the process proceeds to step S14 and the learning data is stored in the learning data storage unit 16.

なお、例えば夏用タイヤから冬用タイヤへ交換された場合は、後述する地図データ記憶部切り替え判断に基づいて学習データ記憶部を学習データ記憶部１５から学習データ記憶部１６に切り替えて上述のステップS１０〜Ｓ１４を繰り返して記憶すればよい。   For example, when the summer tire is replaced with the winter tire, the above-described steps are performed by switching the learning data storage unit from the learning data storage unit 15 to the learning data storage unit 16 based on a map data storage unit switching determination described later. What is necessary is just to store S10-S14 repeatedly.

図３は、ナビゲーション装置１０の学習データ記憶部の切り替え判断時の動作を示すフローチャートである。図２と同様にステップＳ１０、Ｓ１１で自律航法及びＧＰＳ航法により現在位置を算出し、ステップＳ２０へ進んで両航法の現在位置の誤差を求める。   FIG. 3 is a flowchart showing the operation at the time of switching determination of the learning data storage unit of the navigation device 10. As in FIG. 2, the current position is calculated by autonomous navigation and GPS navigation in steps S10 and S11, and the process proceeds to step S20 to obtain an error in the current position of both navigations.

ステップＳ２０からステップＳ２１へ進んで両現在位置の誤差が所定距離以上であるか否かを判定する。この所定距離は予め設定された値であり、例えば走行距離に対して５％（１ｋｍ走行後に５０ｍの誤差）とすることができる。   Proceeding from step S20 to step S21, it is determined whether or not the error between both current positions is greater than or equal to a predetermined distance. This predetermined distance is a value set in advance, and can be, for example, 5% of the travel distance (an error of 50 m after traveling 1 km).

ステップＳ２１において誤差が所定距離以上であった場合は、ステップＳ２２へ進んで制御部２２に設けられたカウンタに１加算する。一方、ステップＳ２１において誤差が所定距離未満であった場合は、ステップＳ２３へ進んでカウンタを０にした後、ステップＳ１０に戻る。   If the error is greater than or equal to the predetermined distance in step S21, the process proceeds to step S22, and 1 is added to the counter provided in the control unit 22. On the other hand, if the error is less than the predetermined distance in step S21, the process proceeds to step S23 to set the counter to 0 and then returns to step S10.

次に、ステップＳ２２からステップＳ２４へ進んでカウンタが所定数に達したか否かを判定する。この所定数は予め設定され、例えば現在位置の誤差が偶然にも所定距離以上となってしまった場合を回避できる回数であればよく、３回程度とすることが望ましい。   Next, the process proceeds from step S22 to step S24 to determine whether or not the counter has reached a predetermined number. The predetermined number is set in advance, and may be any number that can avoid the case where the error of the current position accidentally exceeds the predetermined distance, and is preferably about three times.

ステップＳ２４においてカウント数が所定数に達した場合は、タイヤの外径が変わった、つまり外径の異なる夏用タイヤ又は冬用タイヤに交換されたと判断して、ステップＳ２５へ進んで使用する学習データ記憶部を切り替え、ステップＳ２６へ進んでカウンタを０にする。一方、ステップＳ２４においてカウント数が所定数に達していない場合は、誤差が偶然発生した可能性もあるのでステップＳ１０に戻る。   When the count reaches the predetermined number in step S24, it is determined that the outer diameter of the tire has changed, that is, it has been replaced with a summer tire or winter tire having a different outer diameter, and the learning proceeds to step S25 for use. The data storage unit is switched, and the process proceeds to step S26 to set the counter to zero. On the other hand, if the count number does not reach the predetermined number in step S24, there is a possibility that an error has occurred, so the process returns to step S10.

図４は、ナビゲーション装置１０の現在位置の表示時の動作を示すフローチャートである。ステップＳ１０、Ｓ１２で現在位置と誤差要因を求めた後、ステップＳ３０へ進んで図３の過程で選択されている学習データ記憶部から誤差要因に対応した距離を読み出し、ステップＳ１０で求めた現在位置を補正する。その後、補正した現在位置を地図情報に合致するように表示部２０に表示する。なお、ＧＰＳ航法が利用可能な場所ではＧＰＳ航法で求めた現在位置を優先して表示するようにしてもよい。   FIG. 4 is a flowchart showing the operation of the navigation device 10 when displaying the current position. After obtaining the current position and the error factor in steps S10 and S12, the process proceeds to step S30, the distance corresponding to the error factor is read from the learning data storage unit selected in the process of FIG. 3, and the current position obtained in step S10. Correct. Thereafter, the corrected current position is displayed on the display unit 20 so as to match the map information. In a place where GPS navigation can be used, the current position obtained by GPS navigation may be displayed with priority.

以上の動作（図２〜図４）は適時並行して行うことができる。図４の現在位置の表示は秒単位で更新することが望ましいが、図２、図３の動作は１ｋｍ走行毎や１０分走行毎程度の間隔で行えば足りる。   The above operations (FIGS. 2 to 4) can be performed in parallel in a timely manner. Although it is desirable to update the display of the current position in FIG. 4 in seconds, it is sufficient that the operations in FIGS. 2 and 3 are performed at intervals of about every 1 km or every 10 minutes.

このように、外径の異なるタイヤに交換された場合でもタイヤの外径に合った学習データ記憶部のデータを用いて現在位置を補正することにより、自律航法の誤差を小さくして現在位置を高精度に表示できる。従って、ＧＰＳ航法と自律航法のどちらで算出した現在位置を表示してもほとんど表示位置に変化がないため、自律航法の現在位置を長時間表示したり自律航法とＧＰＳ航法を頻繁に切り替えたりしても、ユーザに違和感を与えることがない。   In this way, even when the tire is replaced with a tire having a different outer diameter, the current position is corrected by using the data stored in the learning data storage unit that matches the outer diameter of the tire, thereby reducing the error in autonomous navigation. It can be displayed with high accuracy. Therefore, even if the current position calculated by either GPS navigation or autonomous navigation is displayed, there is almost no change in the display position. For this reason, the current position of autonomous navigation is displayed for a long time, or autonomous navigation and GPS navigation are frequently switched. However, it does not give the user a sense of incongruity.

なお、図３のステップＳ２２〜Ｓ２４は必ずしも必要ではない。また、図３の動作は所定期間に該当する場合のみ行うようにしてもよい。例えば、夏用タイヤから冬用タイヤに交換される可能性のある１１月〜１月と、冬用タイヤから夏用タイヤに交換される可能性のある３月〜５月が所定期間として予め設定されている場合、計時部１９のカレンダーが該当期間を示すときのみ図３の処理を行うようにすることができる。   Note that steps S22 to S24 in FIG. 3 are not necessarily required. Further, the operation of FIG. 3 may be performed only when the predetermined period is satisfied. For example, the predetermined period is preset from November to January when there is a possibility of changing from a summer tire to a winter tire and from March to May when there is a possibility of changing from a winter tire to a summer tire. If it is, the process of FIG. 3 can be performed only when the calendar of the timer unit 19 indicates the corresponding period.

また、図３の動作は温度検出部１８で検出される外気温が予め設定された所定温度を所定日数連続して超えるか下回った場合のみ行うようにしてもよい。例えば、５℃以下の日が３日連続すると夏用タイヤから冬用タイヤに交換された可能性があると判断し、一方、１０℃以上の日が３日連続すると冬用タイヤから夏用タイヤに交換された可能性があると判断し、図３の処理を行うようにすることができる。   3 may be performed only when the outside air temperature detected by the temperature detector 18 exceeds or falls below a preset predetermined temperature for a predetermined number of days. For example, if a day at 5 ° C. or lower is consecutive for 3 days, it is determined that the summer tire may have been replaced with a winter tire. On the other hand, if a day at 10 ° C. or higher is continued for 3 days, the winter tire is switched to a summer tire. 3 can be determined, and the process of FIG. 3 can be performed.

このように、所定期間や所定温度の限定を追加することにより、タイヤの交換がされる可能性のない時期に現在位置検出の誤差が生じてもタイヤの外径に関係なく偶然生じたものとみなし、誤った学習データを使用することがなくなる。   In this way, by adding restrictions on the predetermined period and temperature, even if there is an error in detecting the current position at a time when there is no possibility that the tire will be replaced, it occurred by chance regardless of the outer diameter of the tire. It is assumed that incorrect learning data is not used.

なお、本発明において学習データ記憶部は３つ以上設けても構わない。この場合、学習データの内容が現在の条件に最も近くなる学習データ記憶部を選択できるまで順次切り替えていく。それにより、ダートタイヤ等の他のタイヤを装着した場合にも学習データの切り替えが可能となる。   In the present invention, three or more learning data storage units may be provided. In this case, the learning data is sequentially switched until the learning data storage unit whose learning data content is closest to the current condition can be selected. Thereby, the learning data can be switched even when other tires such as dirt tires are mounted.

また、学習データ記憶部の切り替えは外径の異なるタイヤに交換した際にユーザが入力部２１を操作して切り替えられるようにしてもよい。   The learning data storage unit may be switched by the user operating the input unit 21 when the tire is replaced with a tire having a different outer diameter.

本発明のナビゲーション装置は、車載用に用いることができる。   The navigation device of the present invention can be used for in-vehicle use.

本発明のナビゲーション装置の構成を示すブロック図である。It is a block diagram which shows the structure of the navigation apparatus of this invention. 本発明のナビゲーション装置の学習データ作成時の動作を示すフローチャートである。It is a flowchart which shows the operation | movement at the time of learning data creation of the navigation apparatus of this invention. 本発明のナビゲーション装置の学習データ記憶部の切り替え判断時の動作を示すフローチャートである。It is a flowchart which shows the operation | movement at the time of the switching judgment of the learning data storage part of the navigation apparatus of this invention. 本発明のナビゲーション装置の現在位置の表示時の動作を示すフローチャートである。It is a flowchart which shows the operation | movement at the time of the display of the present position of the navigation apparatus of this invention.

符号の説明Explanation of symbols

１０ ナビゲーション装置
１１ 移動距離検出部
１２ 進行方向検出部
１３ ＧＰＳ測位部
１４ 地図情報記憶部
１５、１６ 学習データ記憶部
１７ 誤差要因検出部
１８ 温度検出部
１９ 計時部
２０ 表示部
２１ 入力部
２２ 制御部

DESCRIPTION OF SYMBOLS 10 Navigation apparatus 11 Movement distance detection part 12 Traveling direction detection part 13 GPS positioning part 14 Map information storage part 15, 16 Learning data storage part 17 Error factor detection part 18 Temperature detection part 19 Time measuring part 20 Display part 21 Input part 22 Control part

Claims (6)

移動距離検出部及び進行方向検出部での検出結果に基づいて現在位置を算出する自律航法と、衛星からの情報に基づいて現在位置を算出するＧＰＳ航法とを併用するナビゲーション装置において、
前記移動距離検出部及び進行方向検出部の検出結果に基づいて算出された現在位置と、ＧＰＳ航法で算出した現在位置との誤差を記憶する複数の学習データ記憶部とを備え、
前記何れかの学習データ記憶部のデータを自律航法における現在位置算出時の補正に用いることを特徴とするナビゲーション装置。 In a navigation device that uses both autonomous navigation that calculates the current position based on the detection results of the moving distance detection unit and the traveling direction detection unit, and GPS navigation that calculates the current position based on information from the satellite,
A plurality of learning data storage units for storing an error between the current position calculated based on the detection results of the movement distance detection unit and the traveling direction detection unit and the current position calculated by GPS navigation;
A navigation apparatus characterized in that the data in any one of the learning data storage units is used for correction when calculating the current position in autonomous navigation. 前記複数の学習データ記憶部に記憶された誤差は、前記検出部の構成が異なるものによる検出値で算出されることを特徴とする請求項１記載のナビゲーション装置。   The navigation apparatus according to claim 1, wherein the errors stored in the plurality of learning data storage units are calculated from detection values obtained by different configurations of the detection units. 所定回数連続して前記自律航法及びＧＰＳ航法で算出された現在位置の誤差が所定距離以上であった場合、用いている前記学習データ記憶部を他の何れかの学習データ記憶部に切り替えることを特徴とする請求項１記載のナビゲーション装置。   When the error of the current position calculated by the autonomous navigation and the GPS navigation is a predetermined distance or more continuously for a predetermined number of times, the learning data storage unit used is switched to any other learning data storage unit. The navigation device according to claim 1, wherein: 日時を刻む計時部を備え、予め設定された所定期間に、所定回数連続して前記自律航法及びＧＰＳ航法で算出された現在位置の誤差が所定距離以上であった場合、用いている前記学習データ記憶部を他の何れかの学習データ記憶部に切り替えることを特徴とする請求項１記載のナビゲーション装置。   The learning data that is used when an error of the current position calculated by the autonomous navigation and the GPS navigation is equal to or greater than a predetermined distance in a predetermined period set in advance, provided with a timekeeping unit that records the date and time The navigation device according to claim 1, wherein the storage unit is switched to any other learning data storage unit. 前記所定期間が、１１月〜１月及び３月〜５月であることを特徴とする請求項３記載のナビゲーション装置。   The navigation apparatus according to claim 3, wherein the predetermined period is from November to January and from March to May. 気温を測定する温度センサを備え、予め設定された所定温度を所定日数連続して超えるか下回った場合、用いている前記学習データ記憶部を他の何れかの学習データ記憶部に切り替えることを特徴とする請求項１記載のナビゲーション装置。

A temperature sensor for measuring the temperature is provided, and the learning data storage unit used is switched to any other learning data storage unit when a preset predetermined temperature exceeds or falls below a predetermined number of days continuously. The navigation device according to claim 1.

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007278754A (en) * 2006-04-04 2007-10-25 Sanyo Electric Co Ltd Vehicle-mounted navigation apparatus
JP2008116449A (en) * 2006-11-03 2008-05-22 Topcon Positioning Systems Inc Method and apparatus for accurately determining height coordinates in a satellite/laser positioning system
WO2020255796A1 (en) * 2019-06-18 2020-12-24 日本電気株式会社 Receiver terminal, positioning method, and program

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007278754A (en) * 2006-04-04 2007-10-25 Sanyo Electric Co Ltd Vehicle-mounted navigation apparatus
JP2008116449A (en) * 2006-11-03 2008-05-22 Topcon Positioning Systems Inc Method and apparatus for accurately determining height coordinates in a satellite/laser positioning system
WO2020255796A1 (en) * 2019-06-18 2020-12-24 日本電気株式会社 Receiver terminal, positioning method, and program
JPWO2020255796A1 (en) * 2019-06-18 2020-12-24

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