MOVING BODY POSITIONING DEVICE

• US 20110106487A1
• Filed: 07/02/2009
• Published: 05/05/2011
• Est. Priority Date: 07/02/2008
• Status: Active Grant

• Current Assignee: National Institute of Advanced Industrial Science and Technology (Government of Japan)
• Original Assignee: National Institute of Advanced Industrial Science and Technology (Government of Japan)
• Inventors: KOUROGI, Masakatsu
• Granted Patent: US 9,008,996 B2
• Time in Patent Office: Days
• US Class Current: 702/142
• CPC Class Codes: G01C 19/00 Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
• CPC Class Codes: G01C 21/188 for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 22/00 Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• CPC Class Codes: G08G 1/005 including pedestrian guidance indicator

Abstract

In order to acquire positioning results (position and azimuth) of a moving body and reducing cumulative errors in integration processing of the positioning results, a moving body positioning apparatus includes: movement detecting means for detecting whether or not a moving body is moving; position acquiring means for acquiring a position of the moving body; integrating means for integrally processing a plurality of positions acquired by the position acquiring means as positioning results; and preprocessing means for preprocessing the positioning results to be inputted into the integrating means. In accordance with output from the movement detecting means, the preprocessing means inputs the positioning results obtained from the position acquiring means into the integrating means, which integrally processes the positioning results.

Claims

1. A moving body positioning apparatus comprising:

movement detecting means for detecting whether or not a moving body is moving;

position acquiring means for acquiring a position of the moving body;

integrating means for integrally processing a plurality of positions acquired by the position acquiring means as positioning results; and

preprocessing means for preprocessing positioning results that are to be inputted into the integrating means,

in accordance with output from the movement detecting means, the preprocessing means inputting positioning results obtained from the position acquiring means into the integrating means, which integrally processes the positioning results.

8. The moving body positioning apparatus as set forth in any one of claims 1 to 4, wherein position information acquired by the position acquiring means is position information that is not guaranteed to assume character of an error having a quality of white noise whose mean vector is zero.

2. A moving body positioning apparatus comprising:

movement speed measuring means for measuring a movement speed of a moving body;

position acquiring means for acquiring a position of the moving body;

integrating means for integrally processing a plurality of positions acquired by the position acquiring means as positioning results; and

preprocessing means for preprocessing positioning results that are to be inputted into the integrating means,

in accordance with output from the movement speed measuring means, the preprocessing means inputting positioning results obtained from the position acquiring means into the integrating means, which integrally processes the positioning results.

3. A moving body positioning apparatus comprising:

movement speed measuring means for measuring a movement speed of a moving body;

position acquiring means for acquiring a position of the moving body;

integrating means for integrally processing a plurality of positioning results acquired by the position acquiring means and results of measurement of the movement speed by the movement speed measuring means; and

preprocessing means for preprocessing positioning results that are to be inputted into the integrating means,

in accordance with output from the movement speed measuring means, the preprocessing means inputting positioning results obtained from the position acquiring means into the integrating means, which integrally processes the positioning results.

4. A moving body positioning apparatus comprising:

travel distance measuring means for measuring a travel distance that a moving body has traveled;

integrating means for integrally processing a plurality of positions acquired by the position acquiring means as positioning results; and

preprocessing means for preprocessing positioning results that are to be inputted into the integrating means,

in accordance with output from the travel distance measuring means, the preprocessing means inputting positioning results obtained from the position acquiring means into the integrating means, which integrally processes the positioning results.

5. A moving body positioning apparatus comprising:

movement detection means for detecting whether or not a moving body is moving;

absolute azimuth acquiring means for acquiring an absolute azimuth of the moving body;

integrating means for integrally processing azimuth estimate results estimated from a plurality of absolute azimuths acquired by the absolute azimuth acquiring means as positioning results; and

preprocessing means for preprocessing positioning results that are to be inputted into the integrating means,

in accordance with output from the movement detecting means, the preprocessing means inputting absolute azimuth estimate results obtained from the absolute azimuth acquiring means into the integrating means, which integrally processes the azimuth estimate results.

9. The moving body positioning apparatus as set forth in any one of claims 5 to 7, wherein azimuth information acquired by the absolute azimuth acquiring means is azimuth information that is not guaranteed to assume character of an error having a quality of white noise whose mean vector is zero.

6. A moving body positioning apparatus comprising:

movement speed measuring means for measuring a movement speed of a moving body;

absolute azimuth acquiring means for acquiring an absolute azimuth of the moving body;

integrating means for integrally processing azimuth estimate results estimated from a plurality of absolute azimuths acquired by the absolute azimuth acquiring means as positioning results; and

preprocessing means for preprocessing positioning results that are to be inputted into the integrating means,

in accordance with output from the movement speed measuring means, the preprocessing means inputting absolute azimuth estimate results obtained from the absolute azimuth acquiring means into the integrating means, which integrally processes the azimuth estimate results.

7. A moving body positioning apparatus comprising:

travel distance measuring means for measuring a travel distance that a moving body has traveled;

absolute azimuth acquiring means for acquiring an absolute azimuth of the moving body;

integrating means for integrally processing azimuth estimate results estimated from a plurality of absolute azimuths acquired by the absolute azimuth acquiring means as positioning results; and

preprocessing means for preprocessing positioning results that are to be inputted into the integrating means,

in accordance with output from the travel distance measuring means, the preprocessing means inputting absolute azimuth estimate results obtained from the absolute azimuth acquiring means into the integrating means, which integrally processes the azimuth estimate results.