Method and apparatus for navigating with correction of angular speed using azimuth detection sensor

• US 6,253,154 B1
• Filed: 11/22/1996
• Issued: 06/26/2001
• Est. Priority Date: 11/22/1996
• Status: Expired due to Term

• Current Assignee: TomTom International BV (TomTom NV)
• Original Assignee: Visteon Technologies LLC (Visteon Corporation)
• Inventors: Taniguchi, Noboru, Oshizawa, Hidekazu, Sakakibara, Toshikazu
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US08/754,484
• Time in Patent Office: 1,677 Days
• Field of Search: 701/220, 701/221, 701/216, 701/224, 702/92, 702/93, 702/145, 702/151, 342/457
• US Class Current: 701/221
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments

Abstract

An apparatus and method for more accurately determining the position of a moving object by using an azimuth detector distinct from an angular speed detector to correct the gain error and the offset error of the angular speed detector. The position of the moving body is determined using the offset error- and gain error-corrected angular speed. The correction of the offset error includes checking the azimuth and movement of the moving object for three predetermined periods of time; then checking whether the moving object was moving in a straight line each of the three predetermined periods of time. If the object was moving in a straight line each of the three predetermined periods of time, then an offset error correction value is computed using data from the second of the three predetermined periods of time. The correction of the gain error includes determining the movement of the moving object as straight; then determining the movement of the moving object as a turn; then determining the movement of the moving object as straight again. If the turn was a left turn, a left gain error correction value is computed. Similarly, if the turn was a right turn, a right gain error correction value is computed.

Claims

1. A method for determining a position of an object, comprising:

correcting a gain error associated with an angular speed detector using an azimuth detector distinct from the angular speed detector, the azimuth detector determining an azimuth based on movement of the object, wherein correcting the gain error comprises determining said gain error as an average of gain errors over a predetermined number of turns; and

after correcting the gain error, determining the position of the object using the angular speed detector.

5. The method of claim 1 wherein said step of correcting an offset error of an angular speed detector comprises:

correcting an offset error of a gyroscope.

6. The method of claim 1 wherein checking the azimuth of the object and checking whether the object was moving in a straight line are done during a third period of time.

2. A method for determining a position of an object, comprising:

correcting a gain error associated with an angular speed detector using an azimuth detector distinct from the angular speed detector the azimuth detector determining an azimuth based on movement of the object, wherein correcting the gain error comprises determining said gain error as the ratio of an angle of a turn as determined by said angular speed detector and the angle of said turn as determined by the difference between average azimuths before and after said turn as determined by said azimuth detector; and

after correcting the gain error, determining the position of the object using the angular speed detector.

3. A method for determining a position of an object, comprising:

correcting a gain error associated with an angular speed detector using an azimuth detector distinct from the angular speed detector, the azimuth detector determining an azimuth based on movement of the object, wherein correcting the gain error comprises;

determining the movement of said object as straight;

then determining the movement of said object as a turn;

then determining the movement of said object as straight again; and

computing a left gain error correction value if said turn was a left turn; and

computing a right gain error correction value if said turn was a right turn; and

after correcting the gain error, determining the position of the object using the angular speed detector.

4. A method for determining a position of an object, comprising:

correcting an offset error associated with an angular speed detector using an azimuth detector distinct from the angular speed detector, the azimuth detector determining an azimuth based on movement of the object wherein correcting the offset error comprises,

checking an azimuth of the object and movement of the object for first and second periods of time;

checking whether the object was moving in a straight line in each of the first and second periods of time by referring to an average azimuth corresponding to the first period of time; and

computing an offset error correction value using data from the second period in response to a determination that the object was moving in substantially a same direction in each of the first and second periods of time, wherein the offset error correction is not computed based upon a difference between data obtained from the first and second time periods; and

after correcting the offset error, determining the position of the object using the angular speed detector.

7. A method for determining a position of an object, comprising:

correcting a gain error associated with an angular speed detector using an azimuth detector distinct from the angular speed detector the azimuth detector determining an azimuth based on movement of the object;

correcting an offset error associated with the angular speed detector using the azimuth detector, wherein correcting the offset error comprises;

checking an azimuth of the object and movement of the object for first and second periods of time;

checking whether the object was moving in a straight line in each of the first and second periods of time by referring to an average azimuth corresponding to the first period of time; and

computing an offset error correction value using data from the second period where the object was moving in a straight line in each of the first and second periods of time; and

after correcting the gain error and the offset error, determining the position of the object using the angular speed detector.

8. A method for determining a position of an object, comprising:

correcting a gain error associated with an angular speed detector using an azimuth detector distinct from the angular speed detector, the azimuth detector determining an azimuth based on movement of the object, wherein correcting the gain error comprises;

determining the movement of said object as straight;

then determining the movement of said object as a turn;

then determining the movement of said object as straight again; and

computing a left gain error correction value if said turn was a left turn; and

computing a right gain error correction value if said turn was a right turn;

correcting an offset error associated with the angular speed detector using the azimuth detector; and

after correcting the gain error and the offset error determining the position of the object using the angular speed detector.

9. A method for correcting an offset error associated with an angular speed detector attached to an object, the method comprising:

checking an azimuth of the object and movement of the object for first and second periods of time;

checking whether the object was moving in a straight line in each of the first and second periods of time by referring to an average azimuth corresponding to the first period of time; and

computing an offset error correction value without reference to data from the first period in response to a determination that the object was moving in substantially a same direction in each of the first and second periods of time.

10. The method of claim 9 wherein checking the azimuth of the object and checking whether the object was moving in a straight line are done during a third period of time.

11. A method for detecting gain error in an angular speed detector attached to an object, said method comprising:

determining the movement of said object as straight;

then determining the movement of said object as a turn;

then determining the movement of said object as straight again; and

computing a left gain error correction value if said turn was a left turn; and

computing a right gain error correction value if said turn was a right turn.

12. A method for detecting gain error in an angular speed detector attached to an object, said method comprising:

subjecting said object to a turn;

determining an angular speed detected angle of said turn using said angular speed detector;

determining a differential of average azimuths angle of said turn as the difference between average azimuths before and after said turn; and

determining said gain error using the ratio of said angular speed detected angle and the differential average azimuth angle.

13. The method of claim 12 wherein said step of determining said gain error comprises:

determining said gain error as the ratio of said angular speed detected angle and the differential of average azimuths angle.

14. The method of claim 12 wherein said step of determining said gain error comprises:

initially setting said gain error to a first predetermined value, thereby setting a current value of said gain error;

increasing said gain error by a second predetermined value if said ratio is greater than the sum of the current value of said gain error and a first predetermined threshold, thereby resetting the current value of said gain error; and

decreasing said gain error by a third predetermined value if said ratio is less than the sum of the current value of said gain error and a second predetermined threshold, thereby resetting the current value of said gain error.

15. The method of claim 14 wherein said step of determining said gain error further comprises:

leaving said gain error unchanged if said ratio is neither more nor less than the sum of the current value of said gain error and a second predetermined threshold, thereby leaving the current value of said gain error unchanged.

16. A method for detecting straight-line movement of an object, said method comprising:

sampling azimuths for said object for a first predetermined time period; and

computing a first average azimuth;

checking whether said first average azimuth is within a first predetermined threshold;

determining the movement, if any, of said object during said first predetermined time period as not straight-line if said first average azimuth is not within said first predetermined threshold;

sampling azimuths for said object for a next predetermined time period; and

computing a next average azimuth;

checking whether said next average azimuth is within a next predetermined threshold; and

determining the movement, if any, of said object during said predetermined time periods as not straight-line if said next average azimuth is not within said next predetermined threshold;

otherwise, determining the movement of said object during said predetermined time periods as straight-line.

17. The method of claim 16 wherein said first and next predetermined thresholds are the same.

18. The method of claim 16 wherein said first and next predetermined time periods follow immediately one on the other.

19. The method of claim 16 wherein said first and next predetermined thresholds are of equal duration.

20. The method of claim 16 wherein before said step of sampling for a next predetermined time period is performed, the following steps are performed:

sampling azimuths for said object for a second predetermined time period; and

computing a second average azimuth;

checking whether said second average azimuth is within a second predetermined threshold; and

determining the movement, if any, of said object during said second predetermined time period as not straight-line if said second average azimuth is not within said second predetermined threshold.

21. A method for correcting for gain error in an angular speed detector attached to an object, the angular speed detector being associated with a system for determining a position of the object, said method comprising:

determining said gain error;

then saving said determined gain error in a nonvolatile memory;

then powering off said system; and

then powering on said system; and

using said saved determined gain error to correct the output of said angular speed detector.