Navigation system and gyroscopic device

• US 5,906,653 A
• Filed: 11/27/1996
• Issued: 05/25/1999
• Est. Priority Date: 12/01/1995
• Status: Expired due to Term

• Current Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Original Assignee: Fujitsu Ten Limited (DENSO Corporation)
• Inventors: Ichimura, Atsushi, Yamamoto, Jyunichi, Kamimura, Masatsugu
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US08/753,698
• Time in Patent Office: 909 Days
• Field of Search: 701/200, 701/201, 701/202, 701/206, 701/207, 701/208, 701/209, 701/210, 701/212, 701/215-216, 701/221, 340/988, 340/990, 340/995, 73/178 R
• US Class Current: 701/207
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A processing apparatus within a navigation system comprises a track calculating portion for subsequently memorizing a bearing detected by a bearing sensor to calculate a track, and a map match processing portion for performing the map matching process. A position correcting portion corrects a vehicle position onto a road in accordance with road data 35 by the map match processing portion 34. The bearing correction is not effected when the bearing difference conditions are established although a bearing correcting portion 39 corrects the bearing showing the progressive direction of the vehicle into the link bearing of the road. The bearing difference condition is a condition where the bearing difference between the link bearing and the bearing showing the progressive direction of the vehicle is large, and there is a possibility of further increasing the error when the error of the bearing showing the progressive direction of the vehicle is large and the correction is effected in the link bearing. The offset correction can be carried out precisely with proper timing when a gyroscopic device is used as the bearing sensor.

Claims

1. A navigation system mounted on a vehicle for presuming a vehicle position and a bearing indicating a progressive direction of the vehicle on the basis of a change in a running direction detected by a bearing detecting means and a running distance detected by a running distance detecting means, said navigation system comprising:

history calculating means for calculating a running history of the vehicle on the basis of the vehicle position and the bearing indicating the progressive direction of the vehicle;

position correcting means for calculating a similarity between the running history calculated by said history calculating means and predetermined road data by performing a comparison thereof, and for correcting the vehicle position on a road when the calculated similarity is greater than a predetermined large value; and

bearing correcting means for correcting the bearing indicating the progressive direction of the vehicle to a bearing of the road on which the vehicle position is corrected by said position correcting means;

wherein the correction of the vehicle position by said position correcting means is performed, and the correction of the bearing indicating the progressive direction of the vehicle to the bearing of the road on which the vehicle position is corrected by said position correcting means is not performed, when a predetermined bearing difference condition is established.

2. A navigation system as claimed in claim 1, wherein said bearing correcting means establishes the predetermined bearing difference condition when a bearing difference between the bearing indicating the progressive direction of the vehicle and the bearing of the road becomes at least equal to a predetermined reference value.

3. A navigation system as claimed in claim 1, further comprising:

absolute bearing detecting means for detecting an absolute bearing indicating the progressive direction of the vehicle;

wherein said bearing correcting means further corrects the bearing indicating the progressive direction of the vehicle based on the absolute bearing detected by said absolute bearing detecting means, and the predetermined bearing difference condition is established when a bearing difference between the absolute bearing and the bearing of the road on which the vehicle position is corrected by said position correcting means becomes at least equal to a predetermined reference value.

4. A navigation system as claimed in claim 3, wherein, when a first correcting direction for the bearing of the road on which the vehicle position is corrected by said position correcting means and a second correcting direction for the bearing based on the absolute bearing detected by said absolute bearing detecting means coincide, said bearing correcting means corrects the bearing of the progressive direction of the vehicle on the basis of a first bearing correction value for the first correcting direction and a second bearing correction value for the second correcting direction even when the bearing difference between the absolute bearing detected by said absolute bearing detecting means and the bearing of the road on which the vehicle position is corrected by said position correcting means becomes at least equal to the predetermined reference value.

5. A navigation system as claimed in claim 1, further comprising:

absolute bearing detecting means for detecting an absolute bearing indicating the progressive direction of the vehicle;

wherein said bearing correcting means further corrects the bearing indicating the progressive direction of the vehicle based on the absolute bearing detected by said absolute bearing detecting means, and the predetermined bearing difference condition is established when a bearing difference between the absolute bearing and a presumed bearing indicating the progressive direction becomes at least equal to a predetermined reference value.

6. A navigation system mounted on a vehicle for presuming a vehicle position and a bearing indicating a progressive direction of the vehicle on the basis of a change in a running direction detected by a bearing detecting means and a running distance detected by a running distance detecting means, said navigation system comprising:

history storage means for sequentially storing the bearing indicating the progressive direction of the vehicle and storing a history of the bearing;

straight advance judging means for determining a straight advance when a change in bearing during a predetermined period is within a predetermined range with reference to said history storage means; and

correction bearing calculating means for calculating a correction bearing, to which the bearing indicating the progressive direction of the vehicle is to be corrected, separately from a bearing showing a presumed progressive direction when the straight advance is determined by said straight advance judging means.

7. A navigation system as claimed in claim 6, wherein said straight advance judging means directly monitors the bearing of said bearing detecting means.

8. A navigation system mounted on a vehicle for presuming a vehicle position and a bearing indicating a progressive direction of the vehicle on the basis of a change in a running direction detected by a bearing detecting means and a running distance detected by a running distance detecting means, said navigation system comprising:

bearing correcting means for detecting an absolute bearing indicating the progressive direction of the vehicle, and for correcting the bearing indicating the progressive direction of the vehicle based on the detected absolute bearing;

wherein said bearing correcting means corrects the bearing indicating the progressive direction of the vehicle on the basis of a first average bearing of the absolute bearing about a predetermined first period, and a second average bearing of the bearing indicating the progressive direction of the vehicle about a predetermined second period, when correcting the bearing indicating the progressive direction of the vehicle on the basis of the detected absolute bearing.

9. A navigation system as claimed in claim 8, wherein the predetermined second period is shorter than the predetermined first period.

10. A gyroscopic device mounted on a vehicle for presuming a progressive direction of the vehicle during a running of the vehicle by detecting a change in a bearing representing the progressive direction of the vehicle by means of a gyro sensor, said gyroscopic device comprising:

clocking means for clocking an elapsed time;

offset detecting means for detecting offset components from an output of the gyro sensor under a predetermined condition where the progressive direction is judged as being stable;

correction value calculating means for calculating an offset correction value which is used for correcting the offset components detected by said offset detecting means; and

offset correcting means for correcting the output from the gyro sensor using the offset correction value calculated by said correction value detecting means;

wherein said offset correcting means makes a degree of correction in a period from a starting-up of a power source to a predetermined time, which is larger than degrees of correction in other periods, by referring to said clocking means.

11. A gyroscopic device as claimed in claim 10, wherein said offset correcting means makes the degree of offset correction large, by referring to said clocking means, when the predetermined period has elapsed after the previous offset correction.

12. A gyroscopic device as claimed in claim 10, wherein said offset correcting means effects the offset correction by multiplying the offset correction value from said correction value calculating means by a weight coefficient and adjusts the degree of the offset correction by changing the weight coefficient.