公开(公告)号：US08965690B2

公开(公告)日：2015-02-24

申请号：US12918016

申请日：2009-01-21

申请人： Hiroyuki Toda

发明人： Hiroyuki Toda

IPC分类号： G01C21/10 ,  G01S19/49 ,  G01C21/16 ,  G01C21/28

CPC分类号： G01C21/165 ,  G01C21/28 ,  G01S19/49

摘要： Even when inertial navigation is performed, whether or not the correction of a value detected by an external sensor is appropriate can be judged, so that a dramatically degraded positioning result is prevented from being outputted. A navigation device (100) comprises a GPS receiver (11), an acceleration sensor (12) for detecting at least two-axis accelerations in an X-axis direction that is the front-back direction of a moving body and a Y-axis direction that is the right-left direction of the moving body, and a at least one-axis angular velocity sensor (13) for detecting the angular velocity in an azimuth direction around a Z-axis orthogonal to the X-axis direction and the Y-axis direction. A sensor detection value appropriate correction judgment module (22) of an integrated calculation module (30) having a CPU or the like finds the product of the value (velocity) obtained by integrating the acceleration detection value in the X-axis direction and the angular velocity detection value in the azimuth direction, acquires the error between the value of the product and the acceleration detection value in the Y-axis direction, and judges whether or not corrections made by the acceleration sensor and the angular velocity sensor are appropriate by judging whether or not the error exceeds a predetermined threshold value.

摘要翻译： 即使进行惯性导航，也可以判断由外部传感器检测到的值的校正是否适当，从而防止定位结果的显着劣化被输出。 导航装置（100）包括GPS接收器（11），加速度传感器（12），用于检测作为移动体的前后方向的X轴方向的至少两轴加速度，Y轴 方向为移动体的左右方向，以及至少一个轴角速度传感器（13），用于检测围绕与X轴方向正交的Z轴方位角方向的角速度，Y轴 方向。 具有CPU等的综合计算模块（30）的传感器检测值适当的校正判断模块（22）找到通过将加速度检测值积分在X轴方向和角度上而获得的值（速度）的乘积 方位角方向的速度检测值取得乘积值与Y轴方向的加速度检测值之间的误差，判断加速度传感器和角速度传感器的修正是否合适 或者不是误差超过预定阈值。