Position measuring system and method therefor

• US 5,563,608 A
• Filed: 07/27/1994
• Issued: 10/08/1996
• Est. Priority Date: 07/27/1993
• Status: Expired due to Fees

• Current Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Original Assignee: Matsushita Electric Industrial Company Limited (Panasonic Holdings Corporation)
• Inventors: Sato, Izumi, Ikeda, Ken, Kawasaki, Akihisa, Tachita, Ryobun
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US08/281,215
• Time in Patent Office: 804 Days
• Field of Search: 342/357, 364/449
• US Class Current: 342/357.28
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/42 Determining position

Abstract

In a position measuring system, a position of a moving body is derived when data is sufficient for such derivation. On the other hand, when data is insufficient for such derivation, an area which may include the position of the moving body is derived. Accordingly, a user correctly evaluates reliability of information which is displayed. In a position measuring method, a measurement error of the derived position is evaluated. Further, a moving error evaluation is performed to evaluate an increase of the error. By changing the measurement error of the derived position, the area which includes the position of the moving body with high reliability can be displayed to the user.

Claims

1. A position measuring system comprising:

a receiver for receiving and demodulating signals from satellites;

position deriving means for deriving a current position of a moving body based on said demodulated signals;

first straight line deriving means, responsive to said demodulated signals being insufficient to enable said position deriving means from only deriving said current position, for deriving a first straight line based on said demodulated signals from two of said satellites, said first straight line deriving means deriving said first straight line as a horizontal line by assuming that an altitude of said moving body is constant;

error evaluating means for evaluating an error which causes a positional deviation of said first straight line;

second straight line deriving means for deriving a pair of second straight lines based on said first straight line, said second straight lines spacing from each other to define therebetween an area which corresponds to said evaluated error; and

output means for outputting at least one of said current position derived by said position deriving means and said area defined between said second straight lines.

2. The position measuring system as set forth in claim 1, wherein said second straight lines are parallel with each other.

3. The position measuring system as set forth in claim 1, further comprising means for selecting a pair of the satellites when said signals are received from more than two of said satellites, said pair of the satellites providing said second straight lines which have a smallest magnitude of said area defined therebetween.

4. The position measuring system as set forth in claim 2, further comprising means for selecting a pair of the satellites when said signals are received from more than two of said satellites, said pair of the satellites providing said second straight lines which have a smallest distance therebetween.

5. A position measuring system comprising:

a receiver for receiving and demodulating signals from satellites;

position deriving means for deriving a current position of a moving body based on said demodulated signals;

area deriving means, responsive to said demodulated signals being insufficient to enable said position deriving means from deriving said current position, for limiting said current position to within an area defined between two straight lines;

timer means for measuring an elapsed time from a time point of receipt of said signals from the satellites for a newest position derivation by said position deriving means to a time point of receipt of said signals from the satellites for a current area derivation by said area deriving means;

maximum movable area deriving means for deriving a maximum movable area from a position derived by said newest position derivation, based on said elapsed time, a predetermined maximum speed of the moving body and a predetermined maximum acceleration of the moving body;

area limiting means for deriving an area common to both of said area derived by said area deriving means and said maximum movable area derived by said maximum movable area deriving means; and

output means for outputting one of said current position derived by said position deriving means and said common area derived by said area limiting means.

6. A position measuring system comprising:

a receiver for receiving and demodulating signals from satellites;

position deriving means for deriving a current position and a velocity vector of a moving body based on said demodulated signals;

velocity vector deriving means, responsive to said demodulated signals being insufficient to enable said position deriving means from deriving said current position, for deriving a velocity vector of the moving body corresponding to a component perpendicular to a straight line which defines a possible area for said current position, said velocity vector deriving means deriving said velocity vector based on said demodulated signals;

timer means for measuring an elapsed time from a time point of receipt of said signals from the satellites for a newest position derivation by said position deriving means to a time point of receipt of said signals from the satellites for a velocity vector derivation by said velocity vector deriving means; and

position estimating means for comparing said velocity vector derived by said position deriving means with said velocity vector derived by said velocity vector deriving means, for determining, when said compared velocity vectors are substantially equal to each other and said measured elapsed time is small, a motion of said moving body to be a uniform linear motion with said velocity vector derived by one of said position deriving means and said velocity vector deriving means, and for estimating said current position based on said current position derived by said position deriving means and said velocity vector; and

output means for outputting one of said current positions derived by said position deriving means and said position estimating means.

7. A position measuring system comprising:

a receiver for receiving and demodulating signals from satellites;

position deriving means for deriving a current position of a moving body based on said demodulated signals;

area deriving means, responsive to said demodulated signals being insufficient to enable said position deriving means from deriving said current position, for limiting said current position to within an area defined between two straight lines;

timer means for measuring an elapsed time from a time point of receipt of said signals from the satellites for a last area derivation by said area deriving means to a time point of receipt of said signals from the satellites for a current area derivation by said area deriving means;

area estimating means for deriving a maximum movable area of the moving body based on said elapsed time, a predetermined maximum speed of the moving body and a predetermined maximum acceleration of the moving body when a pair of the satellites used in the last area derivation differs from a pair of the satellites used in the current area derivation;

area limiting means for deriving an area common to both of said area derived by said area deriving means and said maximum movable area derived by said area estimating means; and

output means for outputting one of said current position derived by said position deriving means and said common area derived by said area limiting means.

8. A position measuring system comprising:

a receiver for receiving and demodulating signals from satellites;

a distance sensor for measuring a distance traveled by moving body;

position deriving means for deriving a current position of the moving body based on said demodulated signals;

area deriving means, responsive to said demodulated signals being insufficient to enable said position deriving means from deriving said current position for limiting said current position to within an area defined between two straight lines;

maximum movable area deriving means for deriving, based on said travel distance measured by said distance sensor, a maximum movable area from said current position derived by said position deriving means;

area limiting means for deriving an area common to both of said area derived by said area deriving means and said maximum movable area derived by said maximum movable area deriving means; and

output means for outputting one of said current position derived by said position deriving means and said common area derived by said area limiting means.

9. A position measuring system comprising:

a receiver for receiving and demodulating signals from satellites;

a distance sensor for measuring a distance traveled by a moving body;

a timer for measuring a time;

position deriving means for deriving a current position of the moving body based on said demodulated signals;

velocity vector deriving means, responsive to said demodulated signals being insufficient to enable said position deriving means from deriving said current position, for deriving a velocity vector of the moving body corresponding to a component perpendicular to straight lines being parallel with each other and defining therebetween a possible area for said current position, said velocity vector deriving means deriving said velocity vector based on said demodulated signals;

moving speed deriving means for deriving a moving speed of the moving body based on said measured distance and said measured time;

moving direction deriving means for deriving a moving direction of the moving body based on an inverse cosine of a triangle having a hypotenuse formed by said moving speed and one of the other sides formed by said velocity vector; and

output means for outputting one of said current position derived by said position deriving means and said moving direction derived by said moving direction deriving means.

10. A position measuring system comprising:

a receiver for receiving and demodulating signals from satellites;

position deriving means for deriving a current position of a moving body based on said demodulated signals;

area deriving means, responsive to said demodulated signals being insufficient to enable said position deriving means from deriving said current position, for limiting said current position to within an area defined between two straight lines;

timer means for measuring an elapsed time from a time point of receipt of said signals from the satellites for a newest position derivation by said position deriving means to a time point of receipt of said signals from the satellites for a current area derivation by said area deriving means;

maximum movable area deriving means for deriving a maximum movable area from a position derived by said newest position derivation, based on said elapsed time and a predetermined maximum speed of the moving body;

area limiting means for deriving an area common to both of said area derived by said area deriving means and said maximum movable area derived by said maximum movable area deriving means;

storing means for storing road map data;

output means for outputting at least one of said current position derived by said position deriving means and said common area derived by said area limiting means, said output means further outputting corresponding road map data from said storing means; and

display means, responsive to said output means, for displaying said at least one of the current position and the common area along with the corresponding road map data.

11. The position measuring system as set forth In claim 10, further comprising means for retrieving road data within said common area and means for limiting said current position to within said retrieved road data.

12. The position measuring system as set forth in claim 10, further comprising means for retrieving road data which is within a maximum distance, along a road, from said position derived by said newest position derivation, said maximum distance derived based on said elapsed time and said predetermined maximum speed of the moving body, and means for limiting said current position to within said retrieved road data.

13. The position measuring system as set forth in claim 10, further comprising means for inputting a destination, means for forming a travel route on the road map data stored in said storing means, means for retrieving road data which is within a maximum distance, along the travel route, from said position derived by said newest position derivation, said maximum distance derived based on said elapsed time and said predetermined maximum speed of the moving body, and means for limiting said current position to within said retrieved road data.

14. A position measuring system comprising:

a receiver for receiving and demodulating signals from satellites;

position deriving means for deriving a current position and a velocity vector of a moving body based on said demodulated signals;

a distance sensor for measuring a distance traveled by the moving body;

area deriving means, responsive to no receipt of said signals from any of said satellites, for limiting said current position to within an area derived based on said current position, said velocity vector and said measured distance; and

output means for outputting at least one of said current position derived by said position deriving means and said area derived by said area deriving means.

15. A position measuring method, wherein a current position of a moving body and measurement error evaluation values therefor are derived when data from satellites is sufficient for deriving said current position, and wherein when said data is insufficient for deriving said current position, a maximum movable distance is derived based on an elapsed time from the last measurement and a predetermined maximum speed of the moving body, and said maximum movable distance is added to said measurement error evaluation values in given directions so as to change the measurement error evaluation values representing an error range of said current position.

17. The position measuring method as set forth in claim 15, wherein a maximum moving speed of the moving body is defined, and wherein a vector sum of an increasing velocity of the measurement error evaluation value at a portion away from a center of the error range and a moving velocity of the center of the error range is controlled to be equal to or less than said maximum moving speed.

18. The position measuring method as set forth in claim 15, wherein a distance traveled by the moving body from the last measurement and measured by a distance sensor is added to the last measurement error evaluation values in given directions.

19. The position measuring method as set forth in claim 18, wherein said distance is compared with a moving magnitude based on a predetermined maximum acceleration of the moving body, wherein when said distance is smaller than said moving magnitude, the center of the error range remains unchanged and only magnitudes of the error evaluation values are changed depending on said distance, wherein when said distance is equal to or greater than said moving magnitude, the center of the error range is displaced depending on a difference between said distance and said moving magnitude, and wherein the error evaluation values are changed depending on said moving magnitude.

20. The position measuring method as set forth in claim 15, wherein the error range defined by said measuring error evaluation values is combined with another area derived for limiting the current position, and wherein magnitudes of said measuring error evaluation values are limited and the error range is corrected based on said another area.

21. The position measuring method as set forth in claim 20, wherein when the error range is overlapped with said another area, a rectangle having a shorter long side is selected among rectangles including the overlapped area so that said selected rectangle is determined to be the error range of the current position.

16. The position measuring method as set forth in clam 15, wherein when said data is sufficient for deriving said current position, a moving speed and a moving direction of the moving body are also derived, wherein when said data is insufficient for deriving said current position, a position of the moving body is derived assuming that the moving body constantly moves in said moving direction at said moving speed, and wherein an increase of error in the current position is evaluated based on a maximum acceleration of the moving body and said elapsed time so as to be added to the last measurement error evaluation values.