Orientation and navigation device with satellite support

• US 5,995,023 A
• Filed: 03/27/1996
• Issued: 11/30/1999
• Est. Priority Date: 09/28/1993
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Kreft, Peter
• Primary Examiner(s): SWARTHOUT, BRENT
• Application Number:
  US08/619,651
• Time in Patent Office: 1,343 Days
• Field of Search: 340/995, 340/990, 340/988, 701/214, 701/216, 701/210, 701/208, 701/211, 701/213
• US Class Current: 340/995.25
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

An orientation and navigation device provides for a current vehicle position to be displayed on a map. To make corrections in the event of loss of orientation, a satellite receiver is employed, which calculates a new vehicle position from the received satellite data and bases the dead reckoning on this new vehicle position. Since the calculated satellite orientation position is encumbered with a variation range, an optimization is performed by means of a low-pass filter and empirically determined values.

Claims

1. An orientation and navigation device for a vehicle, comprising:

at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor;

a memory for storing map data;

a display device;

a satellite receiver determining a satellite-based position finding; and

a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit including an arrangement determining a variation range of the satellite-based position finding, the arrangement including a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and a vehicle speed, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit

(i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor,

(ii) comparing the dead-reckoning to the variation range,

(iii) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and

(iv) displaying the vehicle position as a current position on the display device.

2. The device of claim 1, wherein the map-matching includes comparing the corrected vehicle position with a neighboring map location and the control unit displays the vehicle position on the display device as the current position on an adjacent street.

3. The device of claim 1, wherein the satellite-based position finding is displayed on the display device.

4. The device of claim 1, wherein when the control unit detects a loss of orientation, the control unit initializes a new vehicle position as a function of the satellite-based position finding.

5. The device of claim 1, wherein the control unit cyclically redefines the vehicle position.

6. The device of claim 1, further comprising at least one operation-control element coupled to the control unit, wherein the current position on the display device can be manually shifted via the at least one operation-control element.

7. The device of claim 1, further comprising at least one operation-control element coupled to the control unit, wherein the current position on the display device can be shifted manually via a vector V in the direction of the satellite-based position finding via the at least one operation-control element.

8. The device of claim 1, wherein the variation range is empirically determined.

9. The device of claim 1, wherein the control unit performs the plausibility check via the map-matching by comparing the vehicle position set by the satellite-based position finding with neighboring map data.

10. The device of claim 1, wherein the control unit, in comparing the dead-reckoning to the variation range, computes a difference between the dead-reckoning and the satellite-based position finding, and compares the difference to the variation range.

11. A process for performing orientation and navigation of a vehicle, comprising the steps of:

determining a dead-reckoning vehicle position from at least one signal produced by at least one dead-reckoning sensor;

computing a vehicle position based on the dead-reckoning vehicle position;

determining a satellite-based position finding from a signal produced by a satellite receiver;

determining a variation range of the satellite-based position finding using a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and a vehicle speed;

comparing the dead-reckoning vehicle position to the variation range;

when the dead-reckoning vehicle position is outside the variation range, setting the vehicle position to the satellite-based position finding, performing a plausibility check by a map-matching, and setting the vehicle position to a current position on a street; and

displaying the vehicle position as a current position on a display device.

12. An orientation and navigation device for a vehicle, comprising:

at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor;

a memory for storing map data;

a display device;

a satellite receiver determining a satellite-based position finding; and

a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit

(i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor,

(ii) generating a variation range of the satellite-based position finding,

(iii) comparing the dead-reckoning to the variation range,

(iv) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and

(v) displaying the vehicle position as a current position on the display device,

wherein the control unit includes means for temporally synchronizing a signal produced by the at least one dead-reckoning sensor and a signal produced by the satellite receiver,

wherein the control unit includes an arrangement determining the variation range of the satellite-based position finding, and

wherein the arrangement includes a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and the vehicle speed.

13. The device of claim 12, wherein the map-matching includes comparing the corrected vehicle position with a neighboring map location and the control unit displays the vehicle position on the display device as the current position on an adjacent street.

14. The device of claim 12, wherein the satellite-based position finding is displayed on the display device.

15. The device of claim 12, wherein when the control unit detects a loss of orientation, the control unit initializes a new vehicle position as a function of the satellite-based position finding.

16. The device of claim 12, wherein the control unit cyclically redefines the vehicle position.

17. The device of claim 12, further comprising at least one operation-control element coupled to the control unit, wherein the current position on the display device can be manually shifted via the at least one operation-control element.

18. The device of claim 12, further comprising at least one operation-control element coupled to the control unit, wherein the current position on the display device can be shifted manually via a vector V in the direction of the satellite-based position finding via the at least one operation-control element.

19. The device of claim 12, wherein the variation range is empirically determined.

20. The device of claim 12, wherein the control unit performs the plausibility check via the map-matching by comparing the vehicle position set by the satellite-based position finding with neighboring map data.

21. The device of claim 12, wherein the control unit, in comparing the dead-reckoning to the variation range, computes a difference between the dead-reckoning and the satellite-based position finding, and compares the difference to the variation range.

22. An orientation and navigation device for a vehicle, comprising:

at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor;

a memory for storing map data;

a display device;

a satellite receiver determining a satellite-based position finding; and

a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit

(i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor,

(ii) generating a variation range of the satellite-based position finding,

(iii) comparing the dead-reckoning to the variation range,

(iv) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and

(v) displaying the vehicle position as a current position on the display device,

wherein the satellite receiver receives GPS coordinates and the control unit includes means for transforming the GPS coordinates into a dead-reckoning vehicle position coordinate system,

wherein the control unit includes an arrangement determining the variation range of the satellite-based position finding and

wherein the arrangement includes a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and the vehicle speed.

23. The device of claim 22, wherein the map-matching includes comparing the corrected vehicle position with a neighboring map location and the control unit displays the vehicle position on the display device as the current position on an adjacent street.

24. The device of claim 22, wherein the satellite-based position finding is displayed on the display device.

25. The device of claim 22, wherein when the control unit detects a loss of orientation, the control unit initializes a new vehicle position as a function of the satellite-based position finding.

26. The device of claim 22, wherein the control unit cyclically redefines the vehicle position.

27. The device of claim 22, further comprising at least one operation-control element coupled to the control unit, wherein the current position on the display device can be manually shifted via the at least one operation-control element.

28. The device of claim 22, further comprising at least one operation-control element coupled to the control unit, wherein the current position on the display device can be shifted manually via a vector V in the direction of the satellite-based position finding via the at least one operation-control element.

29. The device of claim 22, wherein the variation range is empirically determined.

30. The device of claim 22, wherein the control unit performs the plausibility check via the map-matching by comparing the vehicle position set by the satellite-based position finding with neighboring map data.

31. The device of claim 22, wherein the control unit, in comparing the dead-reckoning to the variation range, computes a difference between the dead-reckoning and the satellite-based position finding, and compares the difference to the variation range.

32. An orientation and navigation device for a vehicle, comprising:

at least one dead-reckoning sensor, the dead-reckoning sensor including at least one of a magnetic field compass, a vehicle-motion sensor, and an angular position sensor;

a memory for storing map data;

a display device;

a satellite receiver determining a satellite-based position finding; and

a control unit determining a vehicle position and displaying the vehicle position on the display device, the control unit being coupled to each of the at least one dead-reckoning sensor, the memory, the display device, and the satellite receiver, the control unit

(i) determining the vehicle position by computing a dead-reckoning as a function of data from the at least one dead-reckoning sensor,

(ii) generating a variation range of the satellite-based position finding,

(iii) comparing the dead-reckoning to the variation range,

(iv) when the dead-reckoning is outside the variation range of the satellite-based position finding, setting the vehicle position to the satellite-based position finding, performing a plausibility check via a map-matching, and setting the vehicle position to a current position on a street, and

(v) displaying the vehicle position as a current position on the display device,

wherein when the calculated vehicle position is set to the satellite-based position finding, the control unit moves a shifted vehicle position into a current position on a street of a map, the street running substantially parallel to a direction of travel of the vehicle and which is inside the variation range of the satellite-based position finding,

wherein the control unit includes an arrangement determining the variation range of the satellite-based position finding, and

wherein the arrangement includes a low-pass filter having a selectable time constant, the selectable time constant being selected as a function of the accuracy of the satellite-based position finding and the vehicle speed.

33. The device of claim 32, wherein the map-matching includes comparing the corrected vehicle position with a neighboring map location and the control unit displays the vehicle position on the display device as the current position on an adjacent street.

34. The device of claim 32, wherein the satellite-based position finding is displayed on the display device.

35. The device of claim 32, wherein when the control unit detects a loss of orientation, the control unit initializes a new vehicle position as a function of the satellite-based position finding.

36. The device of claim 32, wherein the control unit cyclically redefines the vehicle position.

37. The device of claim 32, further comprising at least one operation-control element coupled to the control unit, wherein the current position on the display device can be manually shifted via the at least one operation-control element.

38. The device of claim 32, further comprising at least one operation-control element coupled to the control unit, wherein the current position on the display device can be shifted manually via a vector V in the direction of the satellite-based position finding via the at least one operation-control element.

39. The device of claim 32, wherein the variation range is empirically determined.

40. The device of claim 32, wherein the control unit performs the plausibility check via the map-matching by comparing the vehicle position set by the satellite-based position finding with neighboring map data.

41. The device of claim 32, wherein the control unit, in comparing the dead-reckoning to the variation range, computes a difference between the dead-reckoning and the satellite-based position finding, and compares the difference to the variation range.