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1. 发明授权

US08195392B2 Position detecting apparatus and method used in navigation system 有权
标题翻译：导航系统中使用的位置检测装置和方法
公开(公告)号：US08195392B2
公开(公告)日：2012-06-05
申请号：US12428182
申请日：2009-04-22
申请人： Takayuki Watanabe , Takehiko Sakagami , Kotaro Wakamatsu
发明人： Takayuki Watanabe , Takehiko Sakagami , Kotaro Wakamatsu
IPC分类号： G01C21/00
CPC分类号： G01C21/12 , G01C21/26
摘要： A position detecting apparatus and method used in a navigation system, which can improve positional accuracy and bearing accuracy even in a system equipped with few sensors, are provided. A position detecting apparatus used in a navigation system for detecting a vehicle position includes: a sensor unit including a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor; and a dead reckoning calculating unit for calculating state quantity inclusive of a current vehicle position, a vehicle speed, and a vehicle attitude angle based on a signal output from each of the sensors at a predetermined periodic interval. The dead reckoning calculating unit includes: a movement calculating unit for calculating a movement during a period from a previous state quantity calculation time up to a current state quantity calculation time; a change amount detecting unit for calculating an amount of change in vehicle attitude; a movement resolving unit for resolving the movement into a vehicle longitudinal component, a vehicle lateral component, and a vehicle vertical component based on the amount of change in vehicle attitude; and a state quantity calculating unit for determining, by calculation, a vehicle position at the current state quantity calculation time using each of the components.
摘要翻译：提供了一种在导航系统中使用的位置检测装置和方法，其即使在配备有少量传感器的系统中也能够提高位置精度和轴承精度。在用于检测车辆位置的导航系统中使用的位置检测装置包括：传感器单元，包括车速传感器，加速度传感器和角速度传感器; 以及用于以预定的周期性间隔基于从每个传感器输出的信号来计算包括当前车辆位置，车辆速度和车辆姿态角度的状态量的航位推算计算单元。航位推算计算单元包括：运动计算单元，用于计算从先前状态量计算时间直到当前状态量计算时间的期间的移动; 改变量检测单元，用于计算车辆姿态的变化量; 基于车辆姿态的变化量，将移动到车辆纵向部件中的移动分解单元，车辆侧向部件和车辆垂直部件; 以及状态量计算单元，用于通过计算使用每个部件来确定当前状态量计算时间的车辆位置。

2. 发明申请

US20090063051A1 Method And Apparatus Of Updating Vehicle Position And Orientation 审中-公开
标题翻译：更新车辆位置和方向的方法和装置
公开(公告)号：US20090063051A1
公开(公告)日：2009-03-05
申请号：US12190374
申请日：2008-08-12
申请人： Takayuki Watanabe , Takayuki Hoshizaki , Kotaro Wakamatsu , Takehiko Sakagami
发明人： Takayuki Watanabe , Takayuki Hoshizaki , Kotaro Wakamatsu , Takehiko Sakagami
IPC分类号： G01C21/28
CPC分类号： G01C21/26 , G01C21/165
摘要： A method of updating the position and orientation of a vehicle at startup of a navigation system using both a GPS receiver and a dead reckoning sensor includes the acts of storing the vehicle position and orientation when the navigation system is inoperative and setting the stored vehicle position and orientation as the initial vehicle position and orientation when the navigation system is operative; estimating a vehicle position and orientation by using a signal output from the dead reckoning sensor and the initial vehicle position and orientation after the navigation system becomes operative; determining whether the reliability of a GPS orientation obtained by the GPS receiver becomes sufficiently high after the navigation system becomes operative; and updating the current vehicle position by using the GPS orientation and the estimated vehicle position when the reliability of the GPS orientation obtained by the GPS receiver becomes sufficiently high.
摘要翻译：在使用GPS接收机和航位推算传感器的导航系统启动时，更新车辆的位置和姿势的方法包括当导航系统不工作时存储车辆位置和姿态的动作，并且设置所存储的车辆位置和方向作为导航系统运行时的初始车辆位置和方向; 在导航系统变得可操作之后，通过使用从推算传感器输出的信号和初始车辆位置和姿态来估计车辆位置和姿态; 在导航系统变得可操作之后，确定由GPS接收器获得的GPS定位的可靠性是否足够高; 并且当GPS接收机获得的GPS定位的可靠性变得足够高时，通过使用GPS定位和估计的车辆位置来更新当前车辆位置。

3. 发明申请

US20090150075A1 Angular Velocity Correcting Device, Angular Velocity Correcting Method, and Navigation Device 有权
标题翻译：角速度校正装置，角速度校正方法和导航装置
公开(公告)号：US20090150075A1
公开(公告)日：2009-06-11
申请号：US12268845
申请日：2008-11-11
申请人： Takayuki Watanabe , Kotaro Wakamatsu , Takehiko Sakagami , Koji Sewaki
发明人： Takayuki Watanabe , Kotaro Wakamatsu , Takehiko Sakagami , Koji Sewaki
IPC分类号： G01C21/00
CPC分类号： G01C21/005
摘要： Angular velocity correcting devices, angular velocity correcting methods, and navigation devices are disclosed. In some implementations, a first sensor sensitivity correcting method for considering variation of sensor sensitivity due to an oblique angle of an angular velocity detecting sensor with respect to a horizontal plane and a sensitivity error of the angular velocity detecting sensor and correcting the sensor sensitivity is enabled. A second sensor sensitivity correcting method for considering the variation of the sensor sensitivity due to the oblique angle of the angular velocity detecting sensor with respect to the horizontal plane without considering the sensitivity error and correcting the sensor sensitivity is enabled. The sensitivity error is calculated on the basis of a ratio of the sensor sensitivity obtained by the first sensor sensitivity correcting method to the sensor sensitivity obtained by the second sensor sensitivity correcting method. The angular velocity from the angular velocity detecting sensor using the sensitivity error is corrected.
摘要翻译：公开了角速度校正装置，角速度校正方法和导航装置。在一些实施方式中，使用用于考虑角速度检测传感器相对于水平面的倾斜角度的传感器灵敏度的变化和角速度检测传感器的灵敏度误差以及校正传感器灵敏度的第一传感器灵敏度校正方法。能够考虑到角速度检测传感器相对于水平面的倾斜角度的传感器灵敏度的变化而不考虑灵敏度误差和校正传感器灵敏度的第二传感器灵敏度校正方法。基于通过第一传感器灵敏度校正方法获得的传感器灵敏度与通过第二传感器灵敏度校正方法获得的传感器灵敏度的比率来计算灵敏度误差。来自角速度检测传感器的使用灵敏度误差的角速度被校正。

4. 发明授权

US08185308B2 Angular velocity correcting device, angular velocity correcting method, and navigation device 有权
标题翻译：角速度校正装置，角速度校正方法和导航装置
公开(公告)号：US08185308B2
公开(公告)日：2012-05-22
申请号：US12268845
申请日：2008-11-11
申请人： Takayuki Watanabe , Kotaro Wakamatsu , Takehiko Sakagami , Koji Sewaki
发明人： Takayuki Watanabe , Kotaro Wakamatsu , Takehiko Sakagami , Koji Sewaki
IPC分类号： G01C21/00
CPC分类号： G01C21/005
摘要： Angular velocity correcting devices, angular velocity correcting methods, and navigation devices are disclosed. In some implementations, a first sensor sensitivity correcting method for considering variation of sensor sensitivity due to an oblique angle of an angular velocity detecting sensor with respect to a horizontal plane and a sensitivity error of the angular velocity detecting sensor and correcting the sensor sensitivity is enabled. A second sensor sensitivity correcting method for considering the variation of the sensor sensitivity due to the oblique angle of the angular velocity detecting sensor with respect to the horizontal plane without considering the sensitivity error and correcting the sensor sensitivity is enabled. The sensitivity error is calculated on the basis of a ratio of the sensor sensitivity obtained by the first sensor sensitivity correcting method to the sensor sensitivity obtained by the second sensor sensitivity correcting method. The angular velocity from the angular velocity detecting sensor using the sensitivity error is corrected.
摘要翻译：公开了角速度校正装置，角速度校正方法和导航装置。在一些实施方式中，使用用于考虑角速度检测传感器相对于水平面的倾斜角度的传感器灵敏度的变化和角速度检测传感器的灵敏度误差以及校正传感器灵敏度的第一传感器灵敏度校正方法。能够考虑到角速度检测传感器相对于水平面的倾斜角度的传感器灵敏度的变化而不考虑灵敏度误差和校正传感器灵敏度的第二传感器灵敏度校正方法。基于通过第一传感器灵敏度校正方法获得的传感器灵敏度与通过第二传感器灵敏度校正方法获得的传感器灵敏度的比率来计算灵敏度误差。来自角速度检测传感器的使用灵敏度误差的角速度被校正。

5. 发明申请

US20100030471A1 POSITION DETECTING APPARATUS AND METHOD USED IN NAVIGATION SYSTEM 有权
标题翻译：在导航系统中使用的位置检测装置和方法
公开(公告)号：US20100030471A1
公开(公告)日：2010-02-04
申请号：US12428182
申请日：2009-04-22
申请人： Takayuki Watanabe , Takehiko Sakagami , Kotaro Wakamatsu
发明人： Takayuki Watanabe , Takehiko Sakagami , Kotaro Wakamatsu
IPC分类号： G01C21/12
CPC分类号： G01C21/12 , G01C21/26
摘要： A position detecting apparatus and method used in a navigation system, which can improve positional accuracy and bearing accuracy even in a system equipped with few sensors, are provided. A position detecting apparatus used in a navigation system for detecting a vehicle position includes: a sensor unit including a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor; and a dead reckoning calculating unit for calculating state quantity inclusive of a current vehicle position, a vehicle speed, and a vehicle attitude angle based on a signal output from each of the sensors at a predetermined periodic interval. The dead reckoning calculating unit includes: a movement calculating unit for calculating a movement during a period from a previous state quantity calculation time up to a current state quantity calculation time; a change amount detecting unit for calculating an amount of change in vehicle attitude; a movement resolving unit for resolving the movement into a vehicle longitudinal component, a vehicle lateral component, and a vehicle vertical component based on the amount of change in vehicle attitude; and a state quantity calculating unit for determining, by calculation, a vehicle position at the current state quantity calculation time using each of the components.
摘要翻译：提供了一种在导航系统中使用的位置检测装置和方法，其即使在配备有少量传感器的系统中也能够提高位置精度和轴承精度。在用于检测车辆位置的导航系统中使用的位置检测装置包括：传感器单元，包括车速传感器，加速度传感器和角速度传感器; 以及用于以预定的周期性间隔基于从每个传感器输出的信号来计算包括当前车辆位置，车辆速度和车辆姿态角度的状态量的航位推算计算单元。航位推算计算单元包括：运动计算单元，用于计算从先前状态量计算时间直到当前状态量计算时间的期间的移动; 改变量检测单元，用于计算车辆姿态的变化量; 基于车辆姿态的变化量，将移动到车辆纵向部件中的移动分解单元，车辆侧向部件和车辆垂直部件; 以及状态量计算单元，用于通过计算使用每个部件来确定当前状态量计算时间的车辆位置。

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