Hybrid navigation system for determining a relative position and direction of a vehicle and method therefor

• US 4,743,913 A
• Filed: 02/18/1987
• Issued: 05/10/1988
• Est. Priority Date: 02/19/1986
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takai, Hideo
• Primary Examiner(s): Blum, Theodore M.
• Assistant Examiner(s): GREGORY, BERNARR E
• Application Number:
  US07/015,999
• Time in Patent Office: 447 Days
• Field of Search: 342/351, 342/357, 342/450, 342/457, 342/463, 342/464, 33/356, 33/357, 33/361, 324/302, 324/226, 324/244, 324/247, 73/178 R, 364/420, 364/423, 364/424, 364/443, 364/447, 364/449, 364/454, 364/457, 364/444, 364/559, 364/571
• US Class Current: 342/457
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments

Abstract

A hybrid navigation system for determining a relative position and direction of a vehicle and method therefor. In the hybrid navigation system and method, a magnitization quantity on a vehicle body which affects an output detection result of a geomagnetic sensor is calculated on the basis of a forwarding direction data derived from such as a GPS (Global Positioning System) absolute position calculating circuitry. Furthermore, in order to prevent an erroneous determination of the relative position and direction of the vehicle, the calculation on the relative position and direction of the vehicle on the basis of the detection result of the geomagnetic sensor is halted when the vehicle does not run on a straight road.

Claims

1. A system mounted on a moving object for determining a position and direction of the moving object relative to a destination, comprising:

(a) first means for receiving a navigation electromagnetic wave, calculating coordinate positions of the moving object on the earth on the basis of the received electromagnetic wave, and deriving a running direction of travel in which the moving object advances with respect to an orientation of the geomagnetic field as a reference direction on the basis of the calculated coordinate positions;

(b) second means for detecting a direction of the moving object with respect to the orientation of the geomagnetic field and an intensity of the geomagnetic field on the moving object;

(c) third means for correcting a detection result of the second means to compensate for an error due to an effect of magnetization of a body of the moving object itself on the basis of the running direction data derived from the first means;

(d) fourth means for detecting a distance by which the moving object has moved; and

(e) fifth means for calculating the relative position and direction of the moving object on the basis of the detection result of the fourth means and corrected detection result of the second means derived from the third means.

2. The system according to claim 1, wherein the first means derives a first running direction data of the moving object from measurement results of positions at two adjacent points of location, the second means derives an average value of a second running direction data of the moving object from the measurement results of positions between the two adjacent points which are the same as those by the first means, the fourth means derives a straight line passing the first running direction data received from the first means and an average value of the second running direction data received from the second means, the first means derives a third running direction data from the measurement results of positions at another two adjacent points of location, the second means derives another average value of a fourth running direction data from the measurement results of positions between the other two adjacent points of location which are the same as those by the first means, the fourth means derives another straight line passing the third running value of the fourth running direction data received from the second means and derives an intersection data of the two straight lines.

3. The system according to claim 2, wherein the fifth means receives the intersection data from the fourth means and calculates the distance by which the moving object moves and the running direction of the moving object with respect to a destination at which the moving object will arrive on the basis of the intersection data received from the fourth means as a center point for the relative position calculation.

4. The system according to claim 3, wherein the fifth means derives a vector (QP) for the magnetic field data derived by the second means at a given point of location with respect to the center point (Q) derived by the fourth means and multiplies the vector (QP) by the distance data derived by the third means.

5. A navigation system installed in a moving object, comprising:

(a) first means for receiving a navigation electromagnetic wave and calculating coordinate positions of the moving object on the earth on the basis of the received navigation electromagnetic wave;

(b) second means for detecting a direction of the moving object with respect to the geomagnetic field and a magnitude of a magnetic field on the moving object with respect to the geomagnetic field;

(c) third means for detecting a distance moved by the moving object;

(d) fourth means for calculating a magnetization quantity on the moving object using running direction data of the moving object calculated from the plurality of adjacent coordinate position data of the moving object by the first means and using a plurality of magnetic field data derived from the second means; and

(e) fifth means for receiving the magnetization quantity data on the moving object derived from the fourth means and for calculating the distance moved by the moving object and a relative running direction of the moving object without influence of the magnetization on the moving object on the detection result of the second means.

6. The system according to claim 5, which further comprises sixth means for detecting whether the moving object runs on a straight road and outputting a signal indicating that the moving object runs on the straight road to the fourth means and wherein the fourth means halts the calculation of magnetization quantity on the basis of the detection result of the second means when no output signal is received from the sixth means.

7. The system according to claim 6, wherein the moving object is a vehicle and the sixth means comprises a steering angle sensor for detecting an angular displacement of a steering wheel of the vehicle and determining whether each angular displacement falls within a predetermined limit to determine the vehicle run on the straight road.

8. The system according to claim 5, wherein the second means outputs a magnetic field output data to the fourth means whenever a predetermined period of time has passed and wherein the fourth means further comprises seventh means for determining whether the magnetic field output data derived from the second means whenever the predetermined period of time has passed falls within a predetermined range of values to determine whether the moving object runs on a straight road and the fourth means halts the calculation of magnetization quantity on the moving object when determining that the moving object does not run on the straight road.

9. The system according to claim 5, which further comprises sixth means for presetting an intensity of a horizontal component of the geomagnetic field predetermined in a territory and wherein the fourth means calculates the magnetization quantity using a running direction data of the moving object derived by the first means, a magnetic field output data derived by the first means, and the preset intensity of the horizontal component of the geomagnetic field derived by the six means.

10. The system according to claim 9, wherein the fourth means calculates center point coordinates as the magnetization quantity using a straight line passing a point representing the magnetic field output data derived by the first means and the preset intensity derived by the sixth means and outputs the center point coordinate data to the fifth means.

11. The system according to claim 5, wherein the first means comprises a GPS (Global Positioning System) receiving apparatus which receives an electromagnetic wave transmitted by a GPS geostationary satellite and calculates the coordinate position of the moving object on the basis of the electromagnetic wave from the GPS geostationary satellite.

12. A method for determining a relative position and direction of a vehicle to a destination, comprising the steps of:

(a) preparing an X,Y orthogonal coordinates on the earth according to an orientation of the geomagnetic field;

(b) preparing a forward running direction data with respect to the Y coordinate derived from first means for calculating coordinate positions of the vehicle;

(c) preparing a forward running direction data with respect to the Y coordinate derived from second means for detecting an orientation of the vehicle with respect to the geomagnetic field as a reference direction and a magnitude of a magnetic field on the vehicle with respect to the geomagnetic field;

(d) deriving a center point coordinate data deviated from an origin of X,Y coordinates due to a magnetization on a vehicle body on the basis of the forward running direction data derived by the first and second means; and

(e) deriving a relative position and direction of the vehicle on the basis of the center point coordinate data, forward running direction data derived by the second means, and a vehicle running distance data derived by third means, for detecting a distance which the vehicle has travelled.

13. The method according to claim 12, wherein said step (d) comprises the steps of:

(f) drawing a first straight line intersecting the Y coordinate at an angle corresponding to the forward running direction data derived by the first means and a point on the X,Y coordinates representing the forward running direction data derived by the second means;

(g) drawing a second straight line intersecting the Y coordinate at an angle corresponding to another forward running direction data at another point of a road on which the vehicle has travelled, derived by the first means and another point on the X,Y coordinates representing another forward running direction data derived by the second means; and

(h) deriving an intersection of the first and second straight lines as the center point coordinate data.

14. The method according to claim 12, which further comprises the steps of:

(f) detecting whether the vehicle is travelling on a straight road;

(g) inhibiting the step (d) when the vehicle is not travelling on the straight road.

15. The method according to claim 12, which further comprises the step of:

(f) presetting a magnitude of a horizontal component of the geomagnetic field and wherein the step (d) derives the center point coordinate data deviated from the origin of the X,Y coordinate data on forward running direction data derived by the first and second means and the magnitude of the horizontal component preset in the step (f).