Apparatus and method for measuring forward direction of vehicle

• US 5,131,155 A
• Filed: 01/05/1990
• Issued: 07/21/1992
• Est. Priority Date: 01/06/1989
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takano, Kenji, Tsuda, Hiroshi, Ueno, Hiroshi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Wirthlin, Alvin
• Application Number:
  US07/459,389
• Time in Patent Office: 928 Days
• Field of Search: 33/355 R, 33/356, 33/361, 33/357, 364/571.02, 364/571.05
• US Class Current: 33/356
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses
• CPC Class Codes: G01R 33/025 Compensating stray fields G01R33/0017 takes precedence

Abstract

An apparatus and method for measuring a forward direction of a vehicle in which to derive a coordinate position of a center (O_x, O_y) of a directional circle derived from an output of a geomagnetic direction sensor after a magnetization on a vehicle body occurs, the magnetization on the vehicle body is determined from the output of the geomagnetic direction sensor installed in the vehicle and each parameter of a peak quantity (X_max, Y_max), peak direction (D_x, D_y), and a center value of an output circle before the present disturbance occurs is calculated, optimum coefficients are selected and set according to each parameter from among the previously derived coefficients, a magnetization quantity is calculated from each parameter and each optimum coefficient using a linear combination technique, and the coordinate position of the center of the output circle after the magnetization on the vehicle body occurs from the derived magnetization quantity.

Claims

1. An apparatus for measuring a running direction of a vehicle having a body, comprising:

a) a geomagnetic direction sensor, mounted to the vehicle, which is so constructed and arranged as to detect a direction of geomagnetism in a form of two directional component data mutually orthogonal to each other on a horizontal plane of the vehicle and producing an output;

b) first means for deriving a running direction of the vehicle on the basis of a direction toward a coordinate position indicated by the two directional component data from coordinates of a center position of an output circle derived from said geomagnetic direction sensor;

c) second means for determining whether or not there is a disturbance due to magnetization on the body of the vehicle from said output of said geomagnetic direction sensor;

d) third means for calculating, when said second means determines that said disturbance exists, a peak direction and a peak quantity of said disturbance and a value of a center of an output circle derived before said disturbance and producing parameters representative of said peak direction, said peak quantity and said value of the center of the output circle derived before said disturbance, respectively;

e) fourth means for selecting and setting optimum coefficients out of previously derived coefficients for said parameters produced by said third means;

f) fifth means for combining each of said parameters produced by said third means with each of said coefficients selected and set by said fourth means to provide a quantity of magnetization on the body of the vehicle; and

g) sixth means responsive to said quantity of magnetization for deriving a coordinate value of a center of an output circle derived after said disturbance.

2. An apparatus as set forth in claim 1, wherein the second means includes seventh means for calculating an average for each of the two directional component data for each sampling period, each said average being defined as:

##EQU4## wherein X_i and Y_i denotes an X and Y coordinate directional geomagnetic component data derived from the geomagnetic direction sensor;

eighth means for deriving a difference R as a reference point between the average value (Y, Y) and selected two directional component data (X, Y), said difference R being defined as;

space="preserve" listing-type="equation">R={(X-X).sup.2 +(Y-Y).sup.2 }.sup.1/2 ; and

ninth means for determining whether the value of said difference R is equal to or less than a predetermined value which corresponds to an intensity of the geomagnetism.

3. An apparatus as set forth in claim 2, wherein the second means includes tenth means for calculating a difference R_t, between a newly input two directional data (Xn, Yn) and the reference point R, said difference Rt being defined as:

space="preserve" listing-type="equation">R.sub.t ={(X.sub.n -X).sup.2 +(Y.sub.n -Y).sup.2 }.sup.1/2 ;

eleventh means for determining whether a present value of Rt exceeds a previous value of R; and

twelfth means for updating the present value of Rt to the previous value of R and determining whether the previous value of R updated by the twelfth means is equal to or larger than another predetermined value corresponding to an intensity of the magnetization on the body of the moving object.

4. An apparatus as set forth in claim 3, wherein the third means includes thirteenth means, when the previous value of R is equal to or larger than the other predetermined value, for receiving peak point coordinates (P_x, P_y) and reference point coordinates (K_x, K_y) and calculating a peak quantity and peak direction using the following equations:

##EQU5## fourteenth means for setting base points B1, B2 at which the coordinates of a center of the directional circle moved due to magnetization of the body of the moving object do not exceed; and

fifteenth means for calculating distances LX₁, LX₂, LY₁, LY₂ of the directional circle before the present magnetization occurs;

space="preserve" listing-type="equation">LX.sub.1 =O.sub.x -B1.sub.x

space="preserve" listing-type="equation">LX.sub.2 =B2.sub.x -O.sub.x

space="preserve" listing-type="equation">LY.sub.1 =O.sub.y -B1.sub.y

space="preserve" listing-type="equation">LY.sub.2y =B2.sub.y -O.sub.y

O_x ;

X coordinate of 0

O_y ;

Y coordinate of 0

B1_x ;

X coordinate of B1

B1_y ;

Y coordinate of B1

B2_x ;

X coordinate of B2

B2_y ;

Y coordinate of B2,

wherein B1 and B2 denote minus and plus direction limits of a range in the X, Y coordinates in which the directional circle is moved and derived through experiments.

5. An apparatus as set forth in claim 4, wherein the fourth means carries out the settings of the coefficients (a_1n to a_7n ;

b_1m to b_7m), these coefficients being set according to the peak direction, peak quantity, and the coordinate values of the center of the output circle before the magnetization on the body of the moving object occurs.

6. An apparatus as set forth in claim 5, wherein the fifth means calculates the magnetization quantity using a multi-regression analysis technique:

##EQU6##

7. An apparatus as set forth in claim 6, wherein the sixth means derives a value o'"'"' of the directional circle after the body of moving object is magnetized.

8. An apparatus as set forth in claim 7, wherein the sixth means derives X coordinate and Y coordinate of the center value after the magnetization of moving object occurs which are expressed as follows:

space="preserve" listing-type="equation">O'"'"'x=O.sub.X +Δ

X,

space="preserve" listing-type="equation">O'"'"'y=O.sub.Y +Δ

Y.

9. An apparatus as set forth in claim 6, wherein each coefficient is varied according to a form of the moving object.

10. An apparatus as set forth in claim 8, wherein the moving object is a vehicle.

11. An apparatus as set forth in claim 9, wherein the predetermined value substantially corresponds to 40 milligausses (mG) and the other predetermined value substantially corresponds to 400 milligausses (mG).

12. An apparatus for measuring a running direction of a vehicle having a body, comprising:

a) a geomagnetic direction sensor for detecting geomagnetic direction components on a horizontal plane of the vehicle mutually perpendicular to each other and producing an output describing a directional circle having a center coordinate position of said directional circle and a direction from said center coordinate position to a coordinate position indicated by both geomagnetic directional components;

b) first means for determining whether or not there is a distrubance due to magnetization on the body of the vehicle from said output of said geomagnetic direction sensor;

c) second means for calculating, when said first means determines that said disturbance exists, a peak direction and a peak quantity of said disturbance, and a value of a center of an output circle derived before said distrubance and producing parameters representative of said peak direction, said peak value, and said value of the center of the output circle before said disturbance, respectively;

d) third means for selecting and setting optimum coefficients for said parameters produced by said second means out of previously derived coefficients;

e) fourth means for combining each of said parameters produced by said second means with each of said coefficients selected and set by said third means to provide a quantity of magnetization on the body of the vehicle; and

f) fifth means responsive to said quantity of magnetization for deriving a coordinate value of a center of an output circle derived after said disturbance.

13. An apparatus as set forth in claim 12, wherein the geomagnetic direction sensor includes two mutually perpendicular windings on a magnetic core, one being wound on the magnetic core in a direction parallel to a width direction of the vehicle and the other being wound on the magnetic core in a direction parallel to a length direction of the vehicle.

14. A method for measuring a running direction of a vehicle having a body, comprising the steps of:

a) providing a geomagnetic direction sensor, mounted to the vehicle, which is so constructed and arranged as to detect a direction of the geomagnetism in a form of two directional component data mutually orthogonal to each other on a horizontal plane of the vehicle and producing an output;

b) deriving a running direction of the vehicle on the basis of a direction toward a coordinate position indicated by the two directional component data from coordinates of a center position of an output circle derived from said geomagnetic direction sensor;

c) determining whether or not there is a disturbance due to magnetization on the body of the vehicle from said output of said geomagnetic direction sensor;

d) calculating, when it is determined that said disturbance exists, a peak direction and a peak quantity of said disturbance and a value of a center of an output circle derived before said disturbance and producing parameters representative of said peak direction, said peak quantity and said value of the center of the output circle derived before said disturbance, respectively;

e) selecting and setting optimum coefficients out of previously derived coefficients for said parameters produced in step d);

f) combining each of said parameters with each of said coefficients to provide a quantity of magnetization; and

g) deriving, responsive to said quantity of magnetization, a coordinate value of a center of an output circle derived after said disturbance.