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WO2008010046A2 - Appareil de navigation - Google Patents

Appareil de navigation Download PDF

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Publication number
WO2008010046A2
WO2008010046A2 PCT/IB2007/001939 IB2007001939W WO2008010046A2 WO 2008010046 A2 WO2008010046 A2 WO 2008010046A2 IB 2007001939 W IB2007001939 W IB 2007001939W WO 2008010046 A2 WO2008010046 A2 WO 2008010046A2
Authority
WO
WIPO (PCT)
Prior art keywords
error
movable body
error variance
sensor
determination
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2007/001939
Other languages
English (en)
Other versions
WO2008010046A8 (fr
WO2008010046A3 (fr
Inventor
Norimasa Kobori
Kazunori Kagawa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of WO2008010046A2 publication Critical patent/WO2008010046A2/fr
Publication of WO2008010046A8 publication Critical patent/WO2008010046A8/fr
Publication of WO2008010046A3 publication Critical patent/WO2008010046A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems

Definitions

  • the invention relates to a navigation apparatus that detects the position of a movable body. More specifically, the invention relates to a navigation apparatus that evaluates position determination performed using inertial navigation, and the error of the position determination.
  • the position of a host vehicle is detected based on radio waves from GPS (Global Positioning System) satellites.
  • GPS Global Positioning System
  • the position of the host vehicle is detected using a behavior sensor that detects behavior of the host vehicle, such as a velocity.
  • a large or small error is included in the position determination performed using radio navigation or inertial navigation.
  • the degree of the error may influence the various vehicle controls.
  • the accuracy of the determination of the position of a host vehicle is estimated, based on the errors of the travel distance and direction of the host vehicle detected by a distance sensor and a direction sensor, respectively, an calculation error caused when the travel direction of the host vehicle is not constant, the accumulated errors of the travel distance and direction, and the accumulated calculation error.
  • the estimation is made according to the accuracy of the sensors, using probability distribution. Thus, using probability distribution, it is possible to evaluate the error of the position determined using inertial navigation.
  • the invention provides a navigation apparatus that accurately evaluates an error with regard to position determination performed using inertial navigation.
  • a first aspect of the invention relates to a navigation apparatus that detects the position of a movable body.
  • the navigation apparatus includes an autonomous sensor that detects information on behavior of the movable body; inertial position determination means for detecting an inertial position-determination position of the movable body by accumulating the information detected by the autonomous sensor; and error variance calculation means for recursively calculating an error variance of the inertial position-determination position at time point t+1, by applying the error variance, a sensor error variance due to the autonomous sensor, and a calculation error at time point t, to an updating equation based on a movement model of the movable body.
  • a dynamics model may be used as the movement model of the movable body.
  • the navigation apparatus that accurately evaluates the error with regard to the position determination performed by inertial navigation.
  • FIG. l is a diagram showing the outline of error evaluation on the position of a host vehicle
  • FIGS. 2A and 2B are schematic configuration diagrams showing a navigation apparatus
  • FIG. 3 is a diagram showing an example of a dynamics model
  • FIG. 4 is a diagram showing an example of the result of position determination performed by inertial navigation, and an error variance
  • FIG. 5 is a diagram showing the outline of the determination of the position of the host vehicle using a reliability error ellipsoid
  • FIG. 6 is a diagram showing the result of the determination as to whether the host vehicle was in the intersection of a road on which the host vehicle actually traveled, based on the reliability error ellipsoid.
  • FIG. 1 is a diagram showing the outline of the error evaluation on the position of the host vehicle.
  • an error variance is used as the error evaluation.
  • the error variance of the position of the host vehicle at time point t+1 is calculated by applying the error variance, the error variance of a sensor value, and a rounding error in calculation at time point t, to an updating equation.
  • the error variance of the position of the host vehicle is recursively derived using the updating equation. Therefore, it is possible to accurately evaluate the error of the position of the host vehicle. Also, the updating equation is set based on the dynamics model of the vehicle. Therefore, it is possible to derive the error of the position determination in accordance with the property of the movable body.
  • FIG. 2A is a schematic configuration diagram showing a navigation apparatus 1.
  • the navigation apparatus 1 is controlled by a navigation ECU (Electronic Control Unit) 10.
  • the navigation ECU 10 is configured as a computer in which a CPU that executes programs, storage devices (a hard disk drive, and ROM) that store the programs, RAM that temporarily stores data and the programs, an input/output portion to/from which data is input/output, NV-RAM (Nonvolatile-RAM), and the like are connected with each other by a bus.
  • NV-RAM Nonvolatile-RAM
  • the navigation ECU 10 is connected to a GPS receiver 11 that receives radio waves from GPS satellites; vehicle speed sensors 12 that detect the vehicle speed; a yaw-rate sensor 13 that detects the rotational angular velocity of the vehicle around a vertical axis; a map database (hereinafter, referred to as "map DB" ) 14 that stores map data; an input device 15 that is used to operate the navigation apparatus 1 ; and a display 16 that displays the current position of the host vehicle.
  • map DB map database
  • the other autonomous sensors such as a gyro sensor and a steering-angle sensor, may be provided.
  • the GPS receiver 11 outputs the position of the host vehicle based on the radio waves from the GPS satellites, using a known method.
  • the GPS receiver 11 calculates distances from the host vehicle to the GPS satellites, based on times required for the radio waves transmitted from the plurality of GPS satellites to reach the GPS receiver 11. Then, the GPS receiver 11 determines an intersection of three hyperboloids defined using the loci of the distances from the respective at least three GPS satellites to the host vehicle, as the position of the host vehicle.
  • the vehicle speed sensor 12 outputs a pulse signal according to the rotation of a tire.
  • the vehicle speed is detected based on the number of pulses detected in each sampling time period.
  • the relation between the pulse number and a travel distance is calculated in advance as a pulse coefficient using the relation "travel distance ⁇ pulse number" when the travel distance is known.
  • the air pressure in the tire the diameter of the tire
  • the pulse coefficient is changed.
  • an error may be caused.
  • the yaw-rate sensor 13 generates voltage or the like that is proportional to the rotational angular velocity of the vehicle around the vertical axis.
  • the output from the yaw-rate sensor 13 is converted from the voltage or the like, to the rotational angular velocity, using a proportional constant.
  • the proportional constant which is determined in advance, differs from an actual conversion proportion.
  • the rotational angular velocity including an error is output.
  • the yaw-rate sensor 13 is disposed such that the detection shaft extends along a predetermined direction (for example, in the direction of gravity when the vehicle is on a horizontal road), when the vehicle turns on an inclined surface, the conversion proportion is changed, and an error is caused.
  • the map DB 14 is constituted by the hard disk, CD-ROM, DVD-ROM, and the like.
  • the map DB 14 stores road map information on a road network, intersections, and the like, which is associated with the latitudes and longitudes.
  • information relating to nodes for example, points at which roads intersect with each other, and points at predetermined intervals from intersections
  • information relating to links i.e., roads which connect the nodes
  • the input device 15 is constituted by a touch panel, a press-type keyboard, buttons, a remote control, a cross key, and the like.
  • the input device 15 is an interface to which operation performed by a driver is input.
  • the input device 15 may include a microphone, and may recognize the voice of the driver using a voice recognition circuit so that operation is input to the input device 15.
  • the driver may input the destination using an address, a geographic name, the name of a landmark, a post code, and the like.
  • the display device 16 is constituted by a liquid crystal display, an organic EL display, a HUD (Head Up Display), or the like.
  • the display device 16 displays a road map showing an area around the host vehicle, or a road map showing a designated area on a designated scale.
  • the display device 16 displays the position of the host vehicle, the route to the destination, and the like on the road map, as needed.
  • the display device 16 includes a speaker, and gives voice guidance on the orientation of the vehicle along the route using the speaker, for example, at an intersection at which the vehicle turns to the right or left.
  • FIG. 2B is a function block diagram of the navigation ECU 10.
  • the CPU of the navigation ECU 10 executes a program, inertial position determination means 10a, error variance calculation means 10b, error ellipsoid calculation means 10c, and determination means 1Od are realized.
  • the inertial position determination means 10a detects the determined position of the host vehicle by accumulating information detected by the vehicle speed 12 and the yaw-rate sensor 13.
  • the error variance calculation means 10b recursively derives the error variance of the determined position based on the dynamics model.
  • the error ellipsoid calculation means 1 Oc calculates a reliability error ellipsoid.
  • the determination means 1 Od determines whether the reliability error ellipsoid overlaps a predetermined region.
  • the dynamics model and a Mahalanobis distance described later are stored in the storage device of the navigation ECU 10.
  • the inertial position determination means 1 Oa detects (estimates) the determined position of the host vehicle by accumulating the information detected by the vehicle speed 12 and the yaw-rate sensor 13, using a known method. Then, the error variance calculation means 10b calculates the error variance of the determined position.
  • the dynamics model for estimating the position of the vehicle is set.
  • the dynamics model outputs the estimated position at time point t+1.
  • the error variance of the estimated position at time point t+1 is derived from the error variance at time point t.
  • the dynamics model will be described later.
  • the true position and direction X t , and the translational velocity and rotational angular velocity U 1 are represented as follows (each of X t and U t is a vector quantity).
  • the translational velocity is not the vehicle velocity in the orientation of the vehicle.
  • the translational velocity is the vehicle velocity in a vehicle-length direction and a vehicle- width direction.
  • n t represents an error due to quantization and the rounding error in the calculation.
  • the error of X t is represented by ⁇ X t
  • the error of U t is represented by ⁇ U t
  • the estimated value (average value) of X t is represented by X ⁇ t
  • the estimated value (average value) of Ut is represented by U ⁇ t .
  • a host-vehicle position estimating equation is defined as follows. [0030] X ⁇ t+ i - f(X ⁇ , U ⁇ ,) ... (2)
  • Talor expansion is applied to linealize the equation (2).
  • J x and J 11 are represented as follows, and the relation in the equation (2) is used in the third and fourth lines. [0032]
  • the first term the amount of influence of the error of the estimated position at time point t on the error of the estimated position at time point t+1.
  • the second term the error of the sensor value.
  • FIG. 3 is a diagram showing a geometric vehicle model as one example of the dynamics model.
  • the dynamics model according to the embodiment is an example.
  • the other models appropriately set may be appropriately used to derive the error variance according to the embodiment.
  • a vehicle 20 is a four-wheel vehicle. However, for explanation, three wheels, that is, a front-side Fc (steering wheel), rear wheels Rl and Rr, are shown.
  • the vehicle velocity which is the average of the velocities of the four wheels detected by the vehicle-velocity sensors 12, is approximated to a vehicle velocity Vstr.
  • the vehicle velocity Vstr is decomposed into a velocity in the vehicle-length direction, and a velocity in the vehicle-width direction.
  • a steering angle ⁇ is detected by the steering-angle sensor.
  • V_model_x Vstr x cos ( ⁇ ) ii)
  • V_model_fy Vstr x sin ( ⁇ )
  • the translational velocity and rotational angular velocity at the gravity center are calculated. On the assumption that the translational velocity in the lateral direction at the position of the rear wheels of the vehicle is zero, the translational velocity and rotational angular velocity at the position of the gravity center are calculated according to the distance from the position of the front wheels to the gravity center. [0041] i) A coefficient set according to the distance from the position of the front wheels to the position of the gravity center.
  • K_wheelbase Lr / L ii)
  • V_model_gy V_model_fy x
  • the rotational angular velocity at the gravity center [rad/s] yaw_model_g V model fy / L
  • V t and W t are represented as follows.
  • Vt ⁇ Wt — yaw model e
  • the true position and direction X t of the vehicle is calculated from the translational velocity and rotational angular velocity. That is, the amount of change based on the translational velocity and rotational angular velocity is accumulated on the previous position and direction. Note that "S t " represents a sampling time period. [0044]
  • FIG. 4 is a diagram showing an example of the result of the position determination performed using inertial navigation, and the error variance.
  • the host vehicle is at a true position O, and travels toward an intersection P.
  • Error variance Qv which is derived by the updating equation, and shown by the dotted line, is obtained with respect to a position Q determined using inertial navigation.
  • An intersection region Pv which is a concentric region around the node P of the intersection, is shown to indicate the region of the intersection P.
  • the host vehicle is not in the intersection region Pv. However, because the determined position Q includes an error, the host vehicle may be actually in the intersection region Pv. [0048] Accordingly, for example, in the case where an alarm is provided to draw the driver's attention when the host vehicle is in the intersection, the determination based on only the determined position Q is not sufficient.
  • the region where the host vehicle may be positioned is detected.
  • the region where the host vehicle may be positioned is derived based on the dynamics model formed taking into account factors that influence the position of the movable body. Therefore, it is possible to appropriately evaluate the error of the position determination performed using inertial navigation.
  • a reliability error ellipsoid is calculated using a Mahalanobis distance D. Then, it is determined whether the host vehicle is in the intersection region Pv, based on whether the reliability error ellipsoid overlaps the intersection region Pv.
  • FIG. 5 is a diagram showing the outline of the determination of the position of the host vehicle using the reliability error ellipsoid. As shown in FIG. 5, to generate the reliability error ellipsoid, "the (estimated) position of the host vehicle", “the error variance of the position of the host vehicle” and “the existing probability of the host vehicle (Mahalanobis distance D)" are used. [0054] The equation for calculating the reliability error ellipsoid is as follows.
  • the determination means 1Od extracts the positional information on the intersection node from the map DB 14, and determines a region having a predetermined radius as the intersection region Pv, according to the width of a road, or the like. [0056] When the reliability error ellipsoid overlaps the intersection region Pv, the determination means 1 Od determines that the host vehicle is in the intersection. When the reliability error ellipsoid does not overlap the intersection region Pv, the determination means 1Od determines that the host vehicle is not in the intersection.
  • FIG. 6 is a diagram showing the result of the determination as to whether the host vehicle was in the intersection of a road on which the host vehicle actually traveled, based on the reliability error ellipsoid.
  • the host vehicle travels from an upper left region toward the intersection in the direction shown by the arrow, and the host vehicle turns to the right at the intersection, and then the host vehicle travels downward in FIG. 6.
  • the navigation ECU calculates the reliability error ellipsoid at predetermined time intervals. Therefore, a plurality of the reliability error ellipsoids is shown. Because the reliability error ellipsoid shows the error variance of the determined position as described above, the plurality of reliability error ellipsoids is calculated along the locus of the determined positions.
  • the travel experiments were conducted twenty times. For comparison, travel experiments were conducted twenty times to make the determination based on only the determined position, without taking into account the error of the determined position. [0061] In the case where the determination was made based on the reliability error ellipsoid, it was determined that the host vehicle was in the intersection region in all of the twenty travel experiments. In contrast, in the case where the determination was made based on only the determined position, without taking into account the error of the determined position, it was determined that the host vehicle was in the intersection in the fourteen travel experiments out of the twenty travel experiments. However, it was determined that the host vehicle was not in the intersection even when the host vehicle was actually in the intersection in the six travel experiments.
  • the results of the experiments show that the determination based on the reliability error ellipsoid is effective.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Instructional Devices (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un appareil de navigation (1) qui détecte une position d'un corps mobile et qui comprend un capteur autonome (12, 13) qui détecte l'information sur le comportement du corps mobile; des moyens de détermination de position inertielle (10a) servant à détecter une position de détermination de position inertielle du corps mobile par accumulation des informations détectées par le capteur autonome (12, 13); des moyens de calcul de variance d'erreur (10b) pour calculer de manière récurrente sur une variance d'erreur de la position de détermination de position inertielle au point temporel t+1, par application à l'équation de mise à jour basée sur un modèle de mouvement du corps mobile, de la variance d'erreur ainsi que d'une variance d'erreur de capteur due au capteur autonome (12, 13), et d'une erreur de calcul au point temporel t.
PCT/IB2007/001939 2006-07-13 2007-07-11 Appareil de navigation Ceased WO2008010046A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006193243A JP4345779B2 (ja) 2006-07-13 2006-07-13 ナビゲーション装置、位置検出方法
JP2006-193243 2006-07-13

Publications (3)

Publication Number Publication Date
WO2008010046A2 true WO2008010046A2 (fr) 2008-01-24
WO2008010046A8 WO2008010046A8 (fr) 2008-05-22
WO2008010046A3 WO2008010046A3 (fr) 2008-06-26

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ID=38957142

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2007/001939 Ceased WO2008010046A2 (fr) 2006-07-13 2007-07-11 Appareil de navigation

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JP (1) JP4345779B2 (fr)
WO (1) WO2008010046A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2264404A3 (fr) * 2009-06-18 2012-01-18 Clarion Co., Ltd. Appareil de détection de position et programme de détection de position

Families Citing this family (7)

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Publication number Priority date Publication date Assignee Title
JP5554560B2 (ja) * 2009-12-28 2014-07-23 川崎重工業株式会社 測位信頼度評価装置、測位信頼度評価方法、および、測位信頼度評価プログラム
US9507027B2 (en) * 2010-08-06 2016-11-29 Qualcomm Incorporated Determining location of a target device based on relative change in location information
JP5684039B2 (ja) * 2011-05-02 2015-03-11 株式会社豊田中央研究所 存在確率分布推定装置及びプログラム
WO2013146457A1 (fr) * 2012-03-27 2013-10-03 日本電気株式会社 Système, procédé et programme de détection de position
JP6836446B2 (ja) * 2017-03-30 2021-03-03 株式会社Ｓｕｂａｒｕ 車両の走行車線推定装置
KR101982181B1 (ko) * 2018-08-30 2019-05-24 국방과학연구소 관성항법데이터를 이용한 비행정보 보정 장치 및 방법
FR3102879B1 (fr) * 2019-10-30 2024-09-13 Renault Sas Système et procédé de gestion de la position d’un véhicule autonome.

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GB8501012D0 (en) * 1985-01-16 1985-02-20 Gen Electric Co Plc Automated vehicle drift correction
DE19521358C1 (de) * 1995-06-12 1996-09-05 Siemens Ag Verfahren zur Schlupfermittlung einer autonomen mobilen Einheit mit Dreiradkinematik
US6459990B1 (en) * 1999-09-23 2002-10-01 American Gnc Corporation Self-contained positioning method and system thereof for water and land vehicles
US6282496B1 (en) * 1999-10-29 2001-08-28 Visteon Technologies, Llc Method and apparatus for inertial guidance for an automobile navigation system
US6401036B1 (en) * 2000-10-03 2002-06-04 Motorola, Inc. Heading and position error-correction method and apparatus for vehicle navigation systems

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2264404A3 (fr) * 2009-06-18 2012-01-18 Clarion Co., Ltd. Appareil de détection de position et programme de détection de position
US8301369B2 (en) 2009-06-18 2012-10-30 Clarion Co., Ltd. Position detection apparatus and position detection program

Also Published As

Publication number Publication date
JP4345779B2 (ja) 2009-10-14
JP2008020365A (ja) 2008-01-31
WO2008010046A8 (fr) 2008-05-22
WO2008010046A3 (fr) 2008-06-26

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