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Attitude estimation device

A technology of azimuth and estimating part, which is applied to measurement devices, satellite radio beacon positioning systems, instruments, etc., and can solve problems such as increased error, azimuth error, and azimuth error increase.

Active Publication Date: 2020-03-06
DENSO CORP +1
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  • Application Information

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Problems solved by technology

[0008] However, of course there is an error in the estimated bearing, and this error changes every time the bearing is estimated
Therefore, when the azimuth can be estimated by the method disclosed in Patent Document 1, if the azimuth must be used as the reference azimuth, the error in the estimated azimuth may increase.
[0009] On the other hand, it is widely known that if the autonomous navigation continues, the error of the yaw rate detected by the yaw rate sensor is accumulated, thereby increasing the error of the direction estimation.
Therefore, even if the time without updating the reference azimuth becomes longer, the state where the azimuth estimation error is large continues.

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Deformed example 1

[0099] The formula (1) shown in the above-mentioned embodiment is as described in Patent Document 1, and the following constraint conditions 1 to 3 are used, and the velocity Vs in the satellite direction is i An expression obtained by constraining the relational expression of the velocity vector of the vehicle 1 . In addition, Vx and Vy are the x component and the y component of the velocity vector of the vehicle 1, respectively.

[0100] [number 6]

[0101] Constraint 1

[0102] Constraint 2Vz t =O

[0103] Constraint 3Cbv t =Cbv 0 +At

[0104] As also disclosed in Patent Document 1, it is not necessary to use all of these three constraints as constraints. It is also possible to use only any one of the constraint conditions of the vehicle speed data, the change amount of the azimuth angle, and the time change of the clock drift Cbv. Moreover, it is good also as the constraint condition which combined suitably each.

[0105] As a constraint condition, in the case o...

Deformed example 2

[0109] In the aforementioned embodiments, the mobile body is a vehicle, but the mobile body may be other than a vehicle.

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Abstract

The present invention relates to an attitude estimation device. The attitude estimation device comprises: a satellite data acquisition unit (101) for acquiring the Doppler shift frequency of a navigation signal, a sensor data acquisition unit (102) for acquiring a yaw rate from a yaw rate sensor, a Doppler azimuth estimation unit (103) for estimating the azimuth of a moving body, a state variabledetermination unit (S14) for determining a state variable (S) expressing an azimuth angle reliability, a threshold selection unit (S16) for selecting an evaluation parameter threshold group from amonga plurality of evaluation parameter threshold groups for determining whether to use the azimuth as a standard azimuth, an evaluation parameter calculation unit (S17) for calculating a plurality of evaluation parameters for evaluating the reliability of the azimuth, and a usage determination unit (S18, S19) for comparing the plurality of evaluation parameters and the evaluation parameter thresholdgroup selected by the threshold selection unit and deciding to use the azimuth as the standard azimuth if usage conditions are determined to have been met.

Description

[0001] Cross References to Related Applications [0002] This application is based on Japanese Patent Application No. 2017-136433 filed on July 12, 2017, and its content is cited here. technical field [0003] The present disclosure relates to an azimuth estimating device for estimating an azimuth in which a mobile body moves. Background technique [0004] In Patent Document 1, it is disclosed that the frequency shift amount of the navigation signal transmitted by the navigation satellite is accumulated in time series, that is, the Doppler frequency shift frequency, and one or both of the vehicle speed and the yaw rate are obtained in time series, and according to their height A method of accurately estimating azimuth. [0005] In addition, a current position estimation method called autonomous navigation is widely known. In autonomous navigation, the azimuth angle change amount determined from the value detected by the yaw rate sensor is added to the reference azimuth to ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/53G01C21/12G01S19/49
CPCG01C21/12G01S19/53G01S19/396G01S19/49
Inventor 宫岛朗松冈克宏
Owner DENSO CORP