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公开(公告)号：US20100292915A1
公开(公告)日：2010-11-18
申请号：US12517944
申请日：2007-11-01
申请人： Tadatomi Ishigami , Masatoshi Fujii , Shigeki Kumagai , Keika Kan , Sadami Ouchi , Hiroaki Kato
发明人： Tadatomi Ishigami , Masatoshi Fujii , Shigeki Kumagai , Keika Kan , Sadami Ouchi , Hiroaki Kato
IPC分类号： G01C21/16
CPC分类号： G01C21/26
摘要： A car navigation system includes a distance sensor 2; an angular velocity sensor 1 for detecting angular velocity having a sensor detection axis in a vertical direction of a casing; an acceleration sensor 3 for detecting acceleration having a sensor detection axis in a back and forth direction of the casing on a horizontal plane; a body velocity and acceleration measuring unit 42 for measuring velocity and acceleration in the body direction of vehicle movement from the signal from the distance sensor; an angular velocity measuring unit 41 for measuring angular velocity from the signal from the angular velocity sensor; a body roll angle estimating unit 43 for estimating a body roll angle from the body direction of vehicle movement velocity and angular velocity; an acceleration sensor output estimating unit 45 for outputting, when the casing is set in the body with a rotation in a yaw direction, estimation values of the output signal of the acceleration sensor at every prescribed angle; and a yaw direction mounted angle detecting unit 46 for determining as a yaw direction mounted angle in the body an angle at a time when an estimated value is obtained which agrees most closely with a value remaining after subtracting from the signal from the acceleration sensor its offset component.
摘要翻译： 汽车导航系统包括距离传感器2; 角速度传感器1，用于检测在壳体的垂直方向上具有传感器检测轴的角速度; 加速度传感器3，用于检测在水平面上具有壳体的前后方向的传感器检测轴的加速度; 车身速度和加速度测量单元42，用于从距离传感器的信号测量车辆运动的车身方向上的速度和加速度; 用于从角速度传感器的信号测量角速度的角速度测量单元41; 用于从车体移动速度和角速度的身体方向估计身体侧倾角的身体侧倾角估计单元43; 加速度传感器输出估计单元45，用于当壳体在偏转方向上以旋转方式设置在主体中时，以每个规定角度输出加速度传感器的输出信号的估计值; 以及偏航方向安装角度检测单元46，用于将获得的估计值的角度确定为身体中的偏航方向安装角度，该估计值最符合从加速度传感器的信号中减去后的剩余值，其偏移 零件。
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公开(公告)号：US08548723B2
公开(公告)日：2013-10-01
申请号：US12517944
申请日：2007-11-01
申请人： Tadatomi Ishigami , Masatoshi Fujii , Shigeki Kumagai , Keika Kan , Sadami Ouchi , Hiroaki Kato
发明人： Tadatomi Ishigami , Masatoshi Fujii , Shigeki Kumagai , Keika Kan , Sadami Ouchi , Hiroaki Kato
IPC分类号： G01C21/00
CPC分类号： G01C21/26
摘要： A car navigation system includes a distance sensor 2; an angular velocity sensor 1 for detecting angular velocity having a sensor detection axis in a vertical direction of a casing; an acceleration sensor 3 for detecting acceleration having a sensor detection axis in a back and forth direction of the casing on a horizontal plane; a body velocity and acceleration measuring unit 42 for measuring velocity and acceleration in the body direction of vehicle movement from the signal from the distance sensor; an angular velocity measuring unit 41 for measuring angular velocity from the signal from the angular velocity sensor; a body roll angle estimating unit 43 for estimating a body roll angle from the body direction of vehicle movement velocity and angular velocity; an acceleration sensor output estimating unit 45 for outputting, when the casing is set in the body with a rotation in a yaw direction, estimation values of the output signal of the acceleration sensor at every prescribed angle; and a yaw direction mounted angle detecting unit 46 for determining as a yaw direction mounted angle in the body an angle at a time when an estimated value is obtained which agrees most closely with a value remaining after subtracting from the signal from the acceleration sensor its offset component.
摘要翻译： 汽车导航系统包括距离传感器2; 角速度传感器1，用于检测在壳体的垂直方向上具有传感器检测轴的角速度; 加速度传感器3，用于检测在水平面上具有壳体的前后方向的传感器检测轴的加速度; 车身速度和加速度测量单元42，用于从距离传感器的信号测量车辆运动的车身方向上的速度和加速度; 用于从角速度传感器的信号测量角速度的角速度测量单元41; 用于从车体移动速度和角速度的身体方向估计身体侧倾角的身体侧倾角估计单元43; 加速度传感器输出估计单元45，用于当壳体在偏转方向上以旋转方式设置在主体中时，以每个规定角度输出加速度传感器的输出信号的估计值; 以及偏航方向安装角度检测单元46，用于在获得估计值时确定作为偏转方向安装角度的角度，该估计值最符合从加速度传感器的信号中减去后的剩余值，其偏移 零件。
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公开(公告)号：US07987047B2
公开(公告)日：2011-07-26
申请号：US12672240
申请日：2008-07-07
申请人： Tadatomi Ishigami , Masatoshi Fujii , Keika Kan , Sadami Ouchi , Hiroaki Kato , Takeshi Nita , Atsushi Mori
发明人： Tadatomi Ishigami , Masatoshi Fujii , Keika Kan , Sadami Ouchi , Hiroaki Kato , Takeshi Nita , Atsushi Mori
CPC分类号： G01C21/30 , G01C21/165 , G01S19/22 , G01S19/49
摘要： A navigation equipment includes a user position observing unit 15 for calculating the position of the navigation equipment by using the pseudo range and position of each GPS satellite, and a pseudo range error, a user velocity and heading observing unit 16 for calculating the velocity of the navigation equipment from a measured range rate, the position of each GPS satellite, and the position of the navigation equipment, and a user heading searching unit 17 for, when a multipath error is smaller than a specified value, searching for, as the heading of the navigation equipment, a heading whose range rate, which is calculated from a relative movement between the navigation equipment when the navigation equipment changes its heading within a predetermined angle range and a GPS satellite, matches the measured range rate.
摘要翻译： 导航设备包括用户位置观察单元15，用于通过使用每个GPS卫星的伪距离和位置来计算导航设备的位置，以及伪距离误差，用户速度和航向观测单元16，用于计算 导航设备从测量的距离率，每个GPS卫星的位置和导航设备的位置，以及用户航向搜索单元17，当多路径误差小于指定值时，搜索作为 导航设备，当导航设备在预定角度范围内改变其航向的导航设备与GPS卫星之间的距离率，其距离率与测量的距离率匹配时。
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公开(公告)号：US20110071755A1
公开(公告)日：2011-03-24
申请号：US12672240
申请日：2008-07-07
申请人： Tadatomi Ishigami , Masatoshi Fujii , Keika Kan , Sadami Ouchi , Hiroaki Kato , Takeshi Nita , Atsushi Mori
发明人： Tadatomi Ishigami , Masatoshi Fujii , Keika Kan , Sadami Ouchi , Hiroaki Kato , Takeshi Nita , Atsushi Mori
CPC分类号： G01C21/30 , G01C21/165 , G01S19/22 , G01S19/49
摘要： A navigation equipment includes a user position observing unit 15 for calculating the position of the navigation equipment by using the pseudo range and position of each GPS satellite, and a pseudo range error, a user velocity and heading observing unit 16 for calculating the velocity of the navigation equipment from a measured range rate, the position of each GPS satellite, and the position of the navigation equipment, and a user heading searching unit 17 for, when a multipath error is smaller than a specified value, searching for, as the heading of the navigation equipment, a heading whose range rate, which is calculated from a relative movement between the navigation equipment when the navigation equipment changes its heading within a predetermined angle range and a GPS satellite, matches the measured range rate.
摘要翻译： 导航设备包括用户位置观察单元15，用于通过使用每个GPS卫星的伪距离和位置来计算导航设备的位置，以及伪距离误差，用户速度和航向观测单元16，用于计算 导航设备从测量的距离率，每个GPS卫星的位置和导航设备的位置，以及用户航向搜索单元17，当多路径误差小于指定值时，搜索作为 导航设备，当导航设备在预定角度范围内改变其航向的导航设备与GPS卫星之间的距离率，其距离率与测量的距离率匹配时。
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公开(公告)号：US10267920B2
公开(公告)日：2019-04-23
申请号：US14403647
申请日：2012-06-27
摘要： An object is to provide in a positioning device of a moving body such as a vehicle, a technique which can modify a built-in clock error of a moving body to increase accuracy of a velocity. The positioning device includes a built-in clock error estimating unit which estimates a built-in clock error of the vehicle as a built-in clock error based on a difference between a delta range and a calculated range rate, and a range rate estimating unit which estimates a vehicle stop range rate based on position and velocity of GPS satellite based on transmission signal and a vehicle position, and modifies a calculated range rate, based on the built-in clock error. Further, the positioning device includes an own vehicle velocity calculating unit which calculates own vehicle velocities in three axial directions which form an orthogonal coordinate system, based on a navigation matrix, the vehicle stop range rate and the modified calculated range rate.
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6.发明授权公开(公告)号：US09587957B2
公开(公告)日：2017-03-07
申请号：US14763772
申请日：2013-03-01
CPC分类号： G01C21/367 , G01C21/30
摘要： A vehicle position display controller performs a branch determination processing of determining whether a vehicle has entered a branch road. In addition, in a case where a connecting road through which a currently traveled road is connected to a road extending in parallel with the currently traveled road lies ahead of a position of the vehicle, the vehicle position display controller performs a road shape conversion processing of subjecting the road extending in parallel to the branch determination processing on the assumption that the road extending in parallel is the branch road by making a correction of an angle between the currently traveled road and the connecting road. However, in a case where the vehicle travels at a speed equal to or greater than a predetermined speed, the vehicle position display controller does not perform the road shape conversion processing.
摘要翻译： 车辆位置显示控制器执行确定车辆是否已经进入分支道路的分支确定处理。 此外，在与当前行驶的道路并行延伸的道路连接的连接道路位于车辆的位置前方的情况下，车辆位置显示控制器进行道路形状转换处理 假设通过对当前行驶的道路和连接道路之间的角度进行校正，并行地并行延伸的道路是分支道路，使平行延伸的道路进行分支确定处理。 然而，在车辆以等于或大于预定速度的速度行驶的情况下，车辆位置显示控制器不执行道路形状转换处理。
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公开(公告)号：US20150149073A1
公开(公告)日：2015-05-28
申请号：US14406236
申请日：2012-06-27
摘要： An object of the present invention is to provide a positioning device which can more reliably and frequently correct a own vehicle position earlier, reliably detect an error matching state or a straying state earlier and correct the position to a correct position. The positioning device according to the present invention includes a GPS receiver, a GPS position calculating unit which calculates pseudo distances to the GPS satellites based on the transmission signals, and calculates a re-calculated GPS position which is the own vehicle position based on the pseudo distances, and a multipath influence evaluating unit which evaluates a multipath influence on the GPS position based on a difference between the GPS position calculated by the GPS receiver and the re-calculated GPS position calculated by the GPS position calculating unit.
摘要翻译： 本发明的目的在于提供一种定位装置，该定位装置可以更可靠，频繁地更正自身车辆位置，可靠地早期检测出错误匹配状态或者偏离状态，并将位置校正到正确的位置。 根据本发明的定位装置包括GPS接收器，GPS位置计算单元，其基于发送信号计算到GPS卫星的伪距离，并且基于伪距离计算作为本车位置的重新计算的GPS位置 距离和多径影响评估单元，其基于由GPS接收机计算的GPS位置与由GPS位置计算单元计算出的重新计算的GPS位置之间的差来评估对GPS位置的多径影响。
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公开(公告)号：US09864064B2
公开(公告)日：2018-01-09
申请号：US14406236
申请日：2012-06-27
摘要： An object of the present invention is to provide a positioning device which can more reliably and frequently correct a own vehicle position earlier, reliably detect an error matching state or a straying state earlier and correct the position to a correct position. The positioning device according to the present invention includes a GPS receiver, a GPS position calculating unit which calculates pseudo distances to the GPS satellites based on the transmission signals, and calculates a re-calculated GPS position which is the own vehicle position based on the pseudo distances, and a multipath influence evaluating unit which evaluates a multipath influence on the GPS position based on a difference between the GPS position calculated by the GPS receiver and the re-calculated GPS position calculated by the GPS position calculating unit.
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公开(公告)号：US20150138015A1
公开(公告)日：2015-05-21
申请号：US14403647
申请日：2012-06-27
摘要： An object is to provide in a positioning device of a moving body such as a vehicle, a technique which can modify a built-in clock error of a moving body to increase accuracy of a velocity. The positioning device includes a built-in clock error estimating unit which estimates a built-in clock error of the vehicle as a built-in clock error based on a difference between a delta range and a calculated range rate, and a range rate estimating unit which estimates a vehicle stop range rate based on position and velocity of GPS satellite based on transmission signal and a vehicle position, and modifies a calculated range rate, based on the built-in clock error. Further, the positioning device includes an own vehicle velocity calculating unit which calculates own vehicle velocities in three axial directions which form an orthogonal coordinate system, based on a navigation matrix, the vehicle stop range rate and the modified calculated range rate.
摘要翻译： 目的在于提供诸如车辆的移动体的定位装置，能够改变移动体的内置时钟误差以提高速度精度的技术。 定位装置包括：内置时钟误差估计单元，其基于Δ范围和计算出的范围速率之间的差值，估计作为内置时钟误差的车辆的内置时钟误差;以及范围速率估计单元 其基于发送信号和车辆位置基于GPS卫星的位置和速度来估计车辆停止范围速率，并且基于内置的时钟误差来修改计算的范围速率。 此外，定位装置包括：本车速度计算单元，其基于导航矩阵，车辆停止范围速率和修改的计算出的范围速率来计算形成正交坐标系的三个轴向的自身车速。
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公开(公告)号：US06856903B2
公开(公告)日：2005-02-15
申请号：US10372944
申请日：2003-02-26
CPC分类号： G01C21/165 , G01S19/47 , G01S19/52
摘要： Location equipment includes a calibration unit for calibrating scale factors used for calculating distances traveled by left and right wheels of a vehicle from pulse signals delivered from wheel sensors respectively installed in the left and right wheels, based on global positioning satellite signals received by a GPS receiver, and an estimation unit for estimating vehicle position and movement from the GPS signals received by the GPS receiver and the pulse signals delivered from the wheel sensors, using the scale factors calibrated by the calibration unit.
摘要翻译： 位置设备包括校准单元，用于根据由GPS接收器接收到的全球定位卫星信号来校准用于计算车辆左右车轮行驶距离的脉冲信号的比例因子，所述脉冲信号从分别安装在左右车轮上的车轮传感器发出 以及估计单元，用于使用由校准单元校准的比例因子从GPS接收机接收的GPS信号和从车轮传感器传送的脉冲信号估计车辆位置和移动。
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