Positioning device

一种定位装置、位置信息的技术，应用在定位、测量装置、卫星无线电信标定位系统等方向，能够解决道路形状不一致、不能车辆位置修正、地图数据精度不是很高等问题，达到精确定位的效果

Active Publication Date: 2009-07-01
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] However, the accuracy of map data in general commercially available navigation systems is not very high, and since the road network is represented by straight lines connecting intersections (nodes), the shape of the actual road may not match.
Therefore, in the map matching method, the vehicle position may not be sufficiently corrected

Method used

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Examples

Experimental program
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Embodiment Construction

[0050] Hereinafter, the best embodiment of the present invention will be described with reference to the drawings.

[0051] figure 1 This is a schematic configuration diagram of a navigation system 10 to which the positioning device 9 of this embodiment is applied. The navigation system 10 is controlled by a navigation ECU (Electrical Control Unit) 8 (navigation ECU 8) that controls the navigation system. The navigation ECU8 is composed of a CPU for running programs, a storage device (hard disk, ROM) for storing programs, a RAM for temporarily storing data and programs, an input and output device for data input and output, NV (Non Volatile: non-volatile)- A computer connected together by a bus such as RAM.

[0052] The navigation ECU 8 is connected with: a GPS receiver 1 that receives radio waves from GPS (Global Positioning System) satellites; a vehicle speed sensor 2 that detects the speed of the vehicle; a yaw rate sensor 3 (or gyro sensor) that detects the rotational angular...

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PUM

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Abstract

A positioning device (9) comprises a map data storage means (5) for storing map data, autonomous sensors (2, 3) for detecting the behavior information of a movable body, an inertia positioning means (82) for accumulating the information detected by the autonomous sensors into the positioning result obtained by a radio navigation positioning means such as, a GPS to detect the estimated position ofthe movable body, a feature detection means (84) for detecting a feature along a road, a feature position identifying means (83) for identifying the position of the feature, a feature reference positioning means (85) for estimating the feature estimation position of the movable body with reference to the position of the feature, and a position estimation means (86) for applying the estimated position and the feature estimation position to the Kalman filter to estimate the position of the movable body.

Description

Technical field [0001] The invention relates to a positioning device for detecting the position of a moving object, in particular to a positioning device for accurately correcting the position of a moving object located by an autonomous navigation method. Background technique [0002] In the navigation system, the location of the vehicle is located based on the radio waves from GPS (Global Positioning System) satellites, and the vehicle's current location can be accurately estimated by accumulating the travel distance and direction by using vehicle speed sensors and gyro sensors. [0003] However, in a state where the radio waves from GPS satellites cannot be received, the errors contained in the positioning of the autonomous navigation method will be amplified over time, and the accuracy of the position will gradually decrease. [0004] Therefore, various methods have been proposed to correct the position of the vehicle located by the autonomous navigation method. For example, i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01S5/14G08G1/0969G01S19/14G01S19/45G01S19/49G01S19/50
CPCG01C21/165G01S19/48G01S19/49G01C21/30G08G1/0969G01C21/28G08G1/09623G01S19/485G01C21/1656
Inventor 小堀训成香川和则
Owner TOYOTA JIDOSHA KK
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