Azimuth detecting device and azimuth detecting method

• US 8,527,201 B2
• Filed: 09/15/2011
• Issued: 09/03/2013
• Est. Priority Date: 10/02/2007
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Ueda, Akihiro, Maeda, Iwao, Nagamiya, Kiyomi, Shibata, Naoto
• Primary Examiner(s): Joerger, Kaitlin
• Assistant Examiner(s): SUAREZ, ERNESTO A
• Application Number:
  US13/233,087
• Publication Number:
  US 20120004843A1
• Time in Patent Office: 719 Days
• Field of Search: 701/468, 701/469, 701/472, 701/530
• US Class Current: 701/469
• CPC Class Codes: G01C 17/00 Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes using gyroscopic effect G01C19/00
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement

Abstract

An azimuth detecting device mounted in a mobile object and having: a geomagnetic sensor; GPS signal receiving means; and measuring means for measuring a position of the mobile object by using a GPS signal, the azimuth detecting device being characterized in calculating a gain correction amount by means of a method of least squares, using an output value of the geomagnetic sensor when a level of the GPS signal received by the GPS signal receiving means is lower than a predetermined level, and calculating a declination correction amount and/or an inclination correction amount on the basis of information obtained from the GPS signal and correcting the output value of the geomagnetic sensor, when the level of the GPS signal is at least the predetermined level.

Claims

1. An azimuth detecting device mounted in a mobile object, comprising:

a geomagnetic sensor;

a GPS signal receiver;

a measuring part that measures a position of the mobile object by using a GPS signal; and

a controller that statistically calculates a gain correction amount by means of a method of least squares, using an output value of the geomagnetic sensor when a level of the GPS signal received by the GPS signal receiver is lower than a predetermined level, and statistically calculates a declination correction amount and/or an inclination correction amount by means of a method of least squares on the basis of information obtained from the GPS signal, and corrects the output value of the geomagnetic sensor based on the calculated geomagnetic inclination correction amount and/or the calculated geomagnetic declination correction amount when the level of the GPS signal is at least the predetermined level.

2. The azimuth detecting device according to claim 1, wherein when the level of the GPS signal is at least the predetermined level, the controller compares reliability of position information of the mobile object with reliability of speed information of the mobile object, both information being obtained based on the GPS signal and the reliability of the position information and the speed information being determined based on a speed of the mobile object, calculates the declination correction amount and/or the inclination correction amount based on the speed information when the reliability of the speed information is higher than the reliability of the position information, and calculates the declination correction amount and/or the inclination correction amount based on the position information when the reliability of the position information is higher than the reliability of the speed information.

3. The azimuth detecting device according to claim 2, wherein the controller determines that the reliability of the speed information is higher than the reliability of the position information when the speed of the mobile object is higher than a predetermined threshold value.

4. The azimuth detecting device according to claim 2, wherein the controller determines that the reliability of the position information is higher than the reliability of the speed information when the speed of the mobile object is equal to or lower than a predetermined threshold value.

5. The azimuth detecting device according to claim 1, wherein the gain correction amount is calculated individually for respective axis of the geomagnetic sensor.

6. An azimuth detecting method, comprising the steps of:

receiving an output value of a geomagnetic sensor;

receiving, by a GPS signal receiver, a GPS signal that is used for measuring a position of a mobile object;

calculating a gain correction amount, using a processor, by means of a method of least squares by using the output value of the geomagnetic sensor and correcting the output value of the geomagnetic sensor when a level of the GPS signal is lower than a predetermined value; and

calculating a declination correction amount and/or an inclination correction amount by means of a method of least squares on the basis of information received from the GPS signal and correcting the output value of the geomagnetic sensor based on the calculated geomagnetic inclination correction amount and/or the calculated geomagnetic declination correction amount when the level of the GPS signal is at least the predetermined level.