Vehicular traveling direction measuring system

• US 5,251,139 A
• Filed: 11/01/1990
• Issued: 10/05/1993
• Est. Priority Date: 11/02/1989
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Tsuda, Hiroshi, Itoh, Toshiyuki, Takano, Kenji
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/607,923
• Time in Patent Office: 1,069 Days
• Field of Search: 364/443, 364/449, 364/453, 364/454, 364/457, 33/356, 33/357, 33/355 R, 73/178 R
• US Class Current: 701/221
• 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 system for measuring a traveling direction of a vehicle includes a geomagnetic sensor and a gyro sensor. The system utilizes first and second indicies for deriving the vehicle traveling direction. The first index is indicative of disturbance of a geomagnetic field on a short interval basis, and the second index is indicative of disturbance of the geomagnetic field on a long interval basis. The system further utilizes a correction value indicative of a drift error caused by the gyro sensor for deriving the vehicle traveling direction. The system varies a rate of dependence upon an output of the geomagnetic sensor and an output of the gyro sensor based on the first and second indicies and the correction value when calculating the vehicle traveling direction.

Claims

1. A system for measuring a traveling direction of a vehicle, comprising:

a geomagnetic sensor, mounted to the vehicle, which produces a first output signal indicative of directional data relating to a geomagnetic field around the vehicle;

a gyro sensor, mounted to the vehicle, which produces a second output signal indicative of angular variation data independently of the geomagnetic field; and

a control circuit operatively connected to said geomagnetic sensor and said gyro sensor for receiving said first and second output signals and modifying said first and second output signals to derive a corrected traveling direction based on said modified output signals, said control circuit including;

first means for deriving a first variation in a traveling direction of the vehicle based on said second output signal from the gyro sensor;

second means for deriving a first vehicle traveling direction based on said first directional variation;

third means for deriving a second vehicle traveling direction based on said first output signal from the geomagnetic sensor;

fourth means for deriving a second variation in said second vehicle traveling direction;

fifth means for deriving a first value indicative of a disturbance of the geomagnetic field on a short interval basis, said first short interval based value being derived by calculating a difference between said first and second directional variations;

sixth means for deriving a second value indicative of a disturbance of the geomagnetic field on a long interval basis said second long interval based value being derived by calculating a difference between said first and second vehicle traveling directions;

seventh means for deriving a first correction value indicative of a drift error causes by said gyro sensor; and

eighth means for deriving a third vehicle traveling direction as said corrected traveling direction based on said first and second derived vehicle traveling directions by changing a rate of dependence upon said first and second vehicle traveling directions depending on said first short interval based value, said second long interval based value and said first correction value.

2. The system as set forth in claim 1, wherein said eighth means changes said rate of the dependence such that the rate of the dependence upon said first vehicle traveling direction becomes larger and the rate of the dependence upon said second vehicle traveling direction becomes less as said first short interval based value becomes larger, or said second long interval based value becomes larger, or said first correction value becomes less.

3. The system as set forth in claim 1, wherein said eighth means changes said rate of the dependence such that the rate of the dependence upon said first vehicle traveling direction becomes larger and the rate of the dependence upon said second vehicle traveling direction becomes less as the disturbance of the geomagnetic field on the short interval basis becomes larger, or the disturbance of the geomagnetic field on the long interval basis becomes larger, or the drift error becomes less.

4. The system as set forth in claim 1, wherein said seventh means derives second and third correction values based on said first correction value such that said second correction value increases when the first correction value increases and said third correction value decreases when the first correction value increases, and wherein said eighth means changes said rate of the dependence based on said first short interval based value, said second long interval based value and said second and third correction values.

5. The system as set forth in claim 4, further including ninth means for determining whether the vehicle is stopped, and tenth means for correcting said drift error of the gyro sensor when said ninth means determines that the vehicle is stopped.

6. The system as set forth in claim 5, wherein said seventh means derives said first, second and third correction values based on the following equations, respectively. ##EQU5## wherein, α

₀, α

₁ and α

₂ are the first, second and third correction values, respectively, DR is a drift error caused by the gyro sensor per unit time, i is an elapsed time from a time point where the drift error is corrected by said tenth means, and C₁, C₂ and C₃ are preselected constants, respectively.

7. The system as set forth in claim 6, wherein said eighth means includes eleventh means for deriving a coefficient based on a following equation:

##EQU6## wherein, K is said coefficient, β

is the first short interval based value, Y is the second long interval based value, and C₄, C₅, n1 and n2 are preselected constants, respectively,

and wherein said rate of the dependence varies according to said coefficient such that the rate of the dependence upon said first vehicle traveling direction becomes less and the rate of the dependence upon said second vehicle traveling direction becomes larger as said coefficient becomes larger.

8. The system as set forth in claim 7, wherein said second means derives said first vehicle traveling direction by adding said first directional variation to the third vehicle traveling direction derived in a prior execution of said eighth means.

9. The system as set forth in claim 8, wherein said eighth means derives said third vehicle traveling direction based on a following equation:

space="preserve" listing-type="equation">θ

=K×

(θ

.sub.M -θ

.sub.1)+θ

.sub.1

wherein, θ

is the third vehicle traveling direction, K is the coefficient, θ

_M is the second vehicle traveling direction and θ

₁ is the first vehicle traveling direction.

10. The system as set forth in claim 1, wherein said fifth means sets said first directional variation to zero when said first directional variation is less than a predetermined value.

11. The system as set forth in claim 1, wherein said short interval basis is per the order of several meters, and said long interval basis is per the order of several 10 to several 100 meters.

12. The system as set forth in claim 1, wherein said eighth means derives said third vehicle traveling direction per predetermined unit time.

13. The system as set forth in claim 12, wherein said eighth means converts said derived third vehicle traveling direction to a value on a basis of a predetermined unit distance travelled by the vehicle.

14. The system as set forth in claim 13, wherein said predetermined unit time is 100 msec and said predetermined unit distance corresponds to a half rotation of a vehicular tire.