On-board navigation apparatus

• US 5,087,919 A
• Filed: 07/06/1990
• Issued: 02/11/1992
• Est. Priority Date: 09/05/1989
• Status: Expired due to Term

• Current Assignee: Pioneer Electronics (USA) Incorporated (Pioneer Corporation)
• Original Assignee: Pioneer Electronics (USA) Incorporated (Pioneer Corporation)
• Inventors: Akiyama, Kazuhiro, Odagawa, Satoshi, Araki, Morio, Fukushima, Atsuhiko, Kashiwazaki, Takashi
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US07/549,512
• Time in Patent Office: 585 Days
• Field of Search: 342/357, 342/457, 364/449, 364/450
• US Class Current: 342/357.3
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/50 whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks

Abstract

An on-board navigation apparatus having a GPS receiver detects a difference between the current and the previous values of the estimated current position in terms of the longitude and latitude information gained from GPS data. The difference is added to the coordinates of the previously established position, the result being taken for the coordinates of the estimated current position. This makes it possible to estimate the current position coordinates accurately even if the accuracy of GPS data is not high enough. When the GPS receiver is in a two-dimensional measuring state, the coordinates of the estimated current position are obtained from a manually or automatically designated elevation value and from the GPS data. This allows the current position coordinates to be estimated with accuracy even if the accuracy of GPS data has dropped due to the two-dimensional measuring instead of a three-dimensional measuring.

Claims

1. In an on-board vehicle navigation apparatus comprising:

a GPS receiver which outputs the coordinates representing the absolute position of a vehicle equipped with said apparatus; and

reading means for reading a map data group from a recording medium, said medium containing road data obtained by translating points of road segments in a map into numerical form, said medium further containing a plurality of map data groups corresponding to a plurality of regions, wherein said navigation apparatus recognizes a current vehicle position on the basis of output data from said GPS receiver, and reads from said recording medium map data of a region having a specific area containing said current position so that a display device may display said current vehicle position and a map of its surroundings, the improvement comprising;

means for acquiring a difference between current measurement values and previous values of longitude and latitude information acquired from the output data from said GPS receiver; and

means for adding said difference to coordinate data of a previously established vehicle position, and determining a result from said addition as the coordinate data of an estimated current position.

2. An on-board vehicle navigation apparatus according to claim 1, further comprising:

means for searching said map data groups for a road segment data group representing a road segment close to said estimated current position; and

means for correcting said coordinate data of said estimated current position so that said position is located on said road segment represented by said road segment data group searched out, and determining corrected coordinate data as those of an established current position.

3. An on-board vehicle navigation apparatus according to claim 2, wherein the angle of said road segment represented by said road segment data group searched out substantially corresponds to the orientation of a velocity vector obtained from the output data from said GPS receiver.

4. An on-board vehicle navigation apparatus according to claim 2, further comprising a direction sensor for detecting the direction in which said vehicle runs;

wherein the angle of said road segment represented by said road segment data group searched out substantially corresponds to a vehicle running direction obtained from the output data from said direction sensor.

7. An on-board vehicle navigation apparatus according to claim 1, further comprising:

judging means for judging if said GPS receiver is in a two-dimensional measuring state;

tentative current position setting means for setting a tentative current position;

elevation value setting means for acquiring an elevation value of said tentative current position on the basis of coordinate data of said tentative current position and output data from said GPS receiver; and

means for obtaining, when said judging means determines said GPS receiver to be the in two-dimensional measuring state, coordinate data of the current vehicle position on the basis of the output data from said GPS receiver and the elevation value set by said elevation value setting means.

8. An on-board vehicle navigation apparatus according to claim 7, wherein said tentative current position setting means further comprises manual input means for manually entering as the tentative current position a desired position in a map shown on said display device.

9. An on-board vehicle navigation apparatus according to claim 7, wherein said tentative current position setting means detects that said vehicle passes a characteristic point and determines said characteristic point as the tentative current position.

10. An on-board vehicle navigation apparatus according to claim 7, wherein said tentative current position setting means further comprises:

a distance sensor for detecting the distance traveled by said vehicle;

a direction sensor for detecting the direction in which said vehicle runs;

means for acquiring coordinate data of an estimated current position on the basis of output data from said distance and direction sensors; and

means for searching said map data groups for a road segment data group representing a road segment close to said estimated current position;

wherein coordinate data of said road segment data group which are closest to coordinate data of said estimated current position are selected as coordinate data of the established current position.

11. An on-board vehicle navigation apparatus according to claim 7, further comprising:

means for acquiring coordinate data of a reference estimated current position on the basis of output data from said GPS receiver and a reference elevation value;

means for searching said map data groups for a road segment data group representing a road segment close to said reference estimated current position;

tentative elevation value setting means for setting a plurality of tentative elevation values which are different from said reference elevation value;

means for acquiring coordinate data of a plurality of tentatively estimated current positions on the basis of the output data from said GPS receiver and said plurality of tentative elevation values;

selecting means for selecting coordinate data of the tentatively estimated current position that is closest to coordinate data of said road segment data group, from among coordinate data of said plurality of tentatively estimated current positions;

computing means for computing the elevation value of the estimated current position based on the tentative elevation value corresponding to coordinate data of said tentatively estimated current position selected by said selecting means; and

means for obtaining, when said judging means determines said GPS receiver to be in the two-dimensional measuring state, coordinate data of the current vehicle position of the basis of the output data from said GPS receiver and the elevation value computed by said computing means.

12. An on-board vehicle navigation apparatus according to claim 11, wherein said tentative elevation value setting means adds or subtracts a multiple of a predetermined value to or from said reference elevation value, respectively, and determines the value resulting from said addition or subtraction as said tentative elevation value.

13. An on-board vehicle navigation apparatus according to claim 11, wherein said computing means determines said reference elevation value as the elevation value of the established current position if said reference estimated current position is closer to said estimated current position than said plurality of tentatively estimated current positions.

14. An on-board vehicle navigation apparatus according to claim 11, wherein said reference elevation value is the previous elevation value.

5. In an on-board vehicle navigation apparatus comprising:

a GPS receiver which outputs the coordinate data representing the absolute position of a vehicle equipped with said apparatus;

a distance sensor for detecting the distance traveled by said vehicle;

a direction sensor for detecting the direction in which said vehicle runs; and

reading means for reading a map data group from a recording medium, said medium containing road data obtained by translating points on road segments in a map into numerical form, said medium further containing a plurality of map data groups corresponding to a plurality of regions;

wherein said navigation apparatus recognizes a current vehicle position based on output data from said GPS receiver or from said distance and direction sensors, and reads from said recording medium map data of a region having a specific area containing said current vehicle position so that a display device may display said current vehicle position and a map of its surroundings, the improvement comprising;

means for acquiring a difference between current measurement values and previous values in terms of longitude and latitude information acquired from the output data from said GPS receiver;

means for adding said difference to coordinate data of a previously established vehicle position, determining a result of said addition as coordinate data of a first estimated current position;

means for acquiring coordinate data of a second estimated current position on the basis of the output data from said distance and direction sensors and coordinate data of said previously established position; and

means for selecting the output data from said GPS receiver as coordinate data of an estimated current position of a present time if an absolute difference in coordinate data between said first and second estimated current positions is above a predetermined value and an applicable PDOP (position dilution of precision) value is below a predetermined value, and for selecting said coordinate data of said first estimated current position as coordinate data of said estimated current position of the present time if said PDOP value is above said corresponding predetermined value.

6. An on-board vehicle navigation apparatus according to claim 5, further comprising:

means for searching said map data groups for a road segment data group representing a road segment close to said estimated current position; and

means for correcting the coordinate data of said estimated current position so that said position is located on said road segment represented by said road segment data group searched out, and determining said corrected coordinate data as coordinate data of an established current position.