Navigation apparatus for detecting a present position of a moveable body

• US 6,115,668 A
• Filed: 03/06/1998
• Issued: 09/05/2000
• Est. Priority Date: 03/07/1997
• Status: Expired due to Term

• Current Assignee: Pioneer Electronics (USA) Incorporated (Pioneer Corporation)
• Original Assignee: Pioneer Electronics (USA) Incorporated (Pioneer Corporation)
• Inventors: Matsumoto, Yoshiaki, Ishiguro, Motoki, Okamoto, Tatsuya, Kaneko, Hitoshi, Hashida, Masaya
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US09/035,911
• Time in Patent Office: 914 Days
• Field of Search: 701/207, 701/201, 701/208, 701/209, 701/213, 701/214, 701/215, 701/216, 701/217, 701/224, 342/357, 342/457, 342/357.14, 356/5.08, 356/28, 340/436, 340/988, 340/990, 340/995, 73/178 R
• US Class Current: 701/207
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments

Abstract

A navigation apparatus provided with: a vertical movement detecting device for detecting a presence or absence of a movement in a vertical direction of a moveable body associated with the movement of the movable body; a judging device for judging a position in the vertical direction of the movable body on the basis of the presence or absence of the movement in the vertical direction detected by the detecting device; and a notifying device for notifying a present position of the movable body on the basis of the position in the vertical direction judged by the judging device.

Claims

1. A navigation apparatus comprising:

a vertical movement detecting device for detecting a presence or absence of a movement in a vertical direction of a movable body associated with the movement of said movable body;

a judging device for judging a position in the vertical direction of said movable body on the basis of the presence or absence of the movement in the vertical direction detected by said vertical movement detecting device; and

a notifying device for notifying a present position of said movable body on the basis of the position in the vertical direction judged by said judging device,

wherein said vertical movement detecting device further comprises

(i) means for calculating Ga=Gc-Gb wherein Ga represents a component of a gravitational acceleration G in a moving direction of said movable body, Gb represents an acceleration in the moving direction obtained by differentiating a moving distance of said movable body twice with respect to time, and Gc represents an acceleration in the moving direction detected by an acceleration sensor of said movable body,

(ii) means for calculating an inclination angle of said movable body θ

=sin^-1 (|Ga|/|G|) by using the calculated Ga, and

(iii) means for comparing the calculated inclination angle θ

with a predetermined threshold value to thereby detect the presence or absence of the movement in the vertical direction.

2. A navigation apparatus according to claim 1, wherein said notifying device comprises at least one of a display device for visually notifying the present position and an acoustic reproducing device for audibly notifying the present position.

3. A navigation apparatus comprising:

a vertical movement detecting device for detecting a presence or absence of a movement in a vertical direction of a movable body associated with the movement of said movable body;

a judging device for judging whether or not said movable body moves on an inclined surface on the basis of the presence or absence of the movement in the vertical direction detected by said vertical movement detecting device; and

a notifying device for notifying a present position of said movable body on the basis of a judgment result of said judging device,

wherein said vertical movement detecting device further comprises

(i) means for calculating Ga=Gc-Gb wherein Ga represents a component of a gravitational acceleration G in a moving direction of said movable body, Gb represents an acceleration in the moving direction obtained by differentiating a moving distance of said movable body twice with respect to time, and Gc represents an acceleration in the moving direction detected by an acceleration sensor of said movable body,

(ii) means for calculating an inclination angle of said movable body θ

=sin^-1 (|Ga|/|G|) by using the calculated Ga, and

(iii) means for comparing the calculated inclination angle θ

with a predetermined threshold value to thereby detect the presence or absence of the movement in the vertical direction.

4. A navigation apparatus according to claim 3, wherein said notifying device comprises at least one of a display device for visually notifying the present position and an acoustic reproducing device for audibly notifying the present position.

5. A navigation apparatus comprising:

a recognizing device for recognizing a present position of a movable body;

a storing device for storing map information including a region where said movable body moves; and

a vertical movement detecting device for detecting a presence or absence of a movement in a vertical direction of said movable body associated with the movement of said movable body,

wherein said recognizing device recognizes the present position of said movable body on the basis of the map information stored by said storing device and the presence or absence of the movement in the vertical direction detected by said vertical movement detecting device,

wherein said vertical movement detecting device further comprises

means for calculating Ga=Gc-Gb wherein Ga represents a component of a gravitational acceleration G in a moving direction of said movable body, Gb represents an acceleration in the moving direction obtained by differentiating a moving distance of said movable body twice with respect to time, and Gc represents an acceleration in the moving direction detected by an acceleration sensor of said movable body,

means for calculating an inclination angle of said movable body θ

=sin^-1 (|Ga|/|G|) by using the calculated Ga, and

means for comparing the calculated inclination angle θ

with a predetermined threshold value to thereby detect the presence or absence of the movement in the vertical direction.

6. A navigation apparatus according to claim 5, wherein

said movable body is a vehicle,

the map information includes altitudinal difference information indicating altitudinal differences between a plurality of roads, and

said recognizing device uses the altitudinal difference information stored by said storing device and the presence or absence of the movement in the vertical direction detected by said vertical movement detecting device to thereby recognize one of said plurality of roads on which the vehicle is traveling.

7. A navigation apparatus according to claim 6, wherein said vertical movement detecting device comprises:

an acceleration detecting device for detecting the acceleration Gc; and

a moving distance detecting device for detecting the moving distance.

8. A navigation apparatus according to claim 6, wherein

said plurality of roads comprise a plurality of roads constituting a grade separation, and

said recognizing device recognizes whether or not said vehicle is moving on one of said roads at an upper side of the grade separation or moving on another of said roads at a lower side of the grade separation.

9. A navigation apparatus according to claim 6, wherein

said plurality of roads comprise an express way and a general road other than the express way, and further

said recognizing device recognizes one of the express way and the general road on which said vehicle is moving.

10. A navigation apparatus according to claim 6, further comprising:

a display device for displaying a map corresponding to the map information; and

a display control device for controlling said display device to display the map including the present position of said movable body and display the present position recognized by said recognizing device on the road to which the present position within said displayed map corresponds.

11. A movement judging apparatus comprising:

an acceleration detecting device for detecting an acceleration Gc applied to a movable body in a moving direction of said movable body;

a moving distance detecting device for detecting a moving distance along the moving direction of said movable body; and

a judging device for judging whether or not the moving direction of said movable body is inclined,

wherein said judging device further comprises

(i) means for calculating Ga=Gc-Gb wherein Ga represents a component of a gravitational acceleration G in a moving direction of said movable body and Gb represents an acceleration in the moving direction obtained by differentiating the moving distance twice with respect to time,

(ii) means for calculating an inclination angle of said movable body θ

=sin^-1 (|Ga|/|G|) by using the calculated Ga, and

(iii) means for comparing the calculated inclination angle θ

with a predetermined threshold value to thereby judge whether or not said movable body moves on the inclined surface according to a comparison result.

12. A movement judging apparatus according to claim 11, wherein said moving distance detecting device calculates the moving distance on the basis of a speed signal corresponding to the movement of said movable body.

13. A movement judging apparatus comprising:

an acceleration detecting device for detecting an acceleration Gc applied to a movable body in a moving direction of said movable body;

a moving distance detecting device for detecting a moving distance along the moving direction of said movable body; and

a judging device for judging a presence or absence of a movement in a vertical direction of said movable body,

wherein said judging device further (i) calculates Ga=Gc-Gb wherein Ga represents a component of a gravitational acceleration G in a moving direction of said movable body and Gb represents an acceleration in the moving direction obtained by differentiating the moving distance twice with respect to time, (ii) calculates an inclination angle of said movable body θ

=sin^-1 (|Ga|/|G|) by using the calculated Ga, and (iii) compares the calculated inclination angle θ

with a predetermined threshold value to thereby judge the presence or absence of the movement in the vertical direction of said movable body according to a comparison result.

14. A movement judging apparatus according to claim 13, wherein said moving distance detecting device calculates the moving distance on the basis of a speed signal corresponding to the movement of said movable body.

15. A navigation apparatus comprising

(a) a movement judging apparatus comprising:

an acceleration detecting device for detecting an acceleration Gc applied to a movable body in a moving direction of said movable body;

a moving distance detecting device for detecting a moving distance along the moving direction of said movable body; and

a judging device for judging whether or not the moving direction of said movable body is inclined,

wherein said judging device (i) calculates Ga=Gc-Gb wherein Ga represents a component of a gravitational acceleration G in a moving direction of said movable body and Gb represents an acceleration in the moving direction obtained by differentiating the moving distance twice with respect to time, (ii) calculates an inclination angle of said movable body θ

=sin^-1 (|Ga|/|G|) by using the calculated Ga, and (iii) compares the calculated inclination angle θ

with a predetermined threshold value to thereby judge whether or not said movable body moves on the inclined surface according to a comparison result,

(b) a correcting device for correcting the moving distance detected by said moving distance detecting device, on the basis of a judgment result of said judging device, and

(c) a display device for displaying a moving condition including a present position of said movable body, on the basis of the moving distance corrected by said correcting device.

16. A navigation apparatus comprising

(a) a movement judging apparatus comprising:

an acceleration detecting device for detecting an acceleration applied to a movable body in a moving direction of said movable body;

a moving distance detecting device for detecting a moving distance along the moving direction of said movable body; and

a judging device for judging a presence or absence of a movement in a vertical direction of said movable body,

wherein said judging device (i) calculates Ga=Gc-Gb wherein Ga represents a component of a gravitational acceleration G in a moving direction of said movable body and Gb represents an acceleration in the moving direction obtained by differentiating the moving distance twice with respect to time, (ii) calculates an inclination angle of said movable body θ

=sin^-1 (|Ga|/|G|) by using the calculated Ga, and (iii) compares the calculated inclination angle θ

with a predetermined threshold value to thereby judge the presence or absence of the movement in the vertical direction of said movable body according to a comparison result,

(b) a correcting device for correcting the moving distance detected by said moving distance detecting device, on the basis of a judgment result of said judging device, and

(c) a display device for displaying a moving condition including a present position of said movable body, on the basis of the moving distance corrected by said correcting device.