Hybrid processing method and apparatus, navigation system, program storage device and computer data signal embodied in carrier wave
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-021/00
G08G-001/123
출원번호
US-0138479
(2002-05-06)
우선권정보
JP-0137805 (2001-05-08)
발명자
/ 주소
Suda, Hiroyuki
출원인 / 주소
Pioneer Corporation
대리인 / 주소
Morgan, Lewis & Bockius LLP
인용정보
피인용 횟수 :
9인용 특허 :
9
초록▼
A hybrid processing apparatus outputs current position data, indicating a current position of a movable body, on the basis of self-contained positioning data from a self-contained positioning apparatus ( 10 ) and GPS measurement data from a GPS receiver ( 18 ). In the hybrid apparatus, a judging dev
A hybrid processing apparatus outputs current position data, indicating a current position of a movable body, on the basis of self-contained positioning data from a self-contained positioning apparatus ( 10 ) and GPS measurement data from a GPS receiver ( 18 ). In the hybrid apparatus, a judging device ( 20 ) judges whether or not an estimated error of the self-contained positioning data is greater than a predetermined threshold value. A first calculation device ( 20 ) calculates the current position by combining the GPS measurement data with the self-contained positioning data or a second calculation device ( 20 ) calculates the current position without combining the GPS measurement data, depending upon a judgment result of the judging device.
대표청구항▼
1. A hybrid processing method of outputting current position data, which indicate a current position of a movable body on which a self-contained positioning device and a GPS device are mounted, on the basis of self-contained positioning data from the self-contained positioning device and GPS measure
1. A hybrid processing method of outputting current position data, which indicate a current position of a movable body on which a self-contained positioning device and a GPS device are mounted, on the basis of self-contained positioning data from the self-contained positioning device and GPS measurement data from the GPS device,said method comprising:a judgment process of judging whether or not an estimated error of the self-contained positioning data is greater than a predetermined threshold value;a first calculation process of calculating the current position by combining the GPS measurement data with the self-contained positioning data if the estimated error is judged not greater than the predetermined threshold value;a second calculation process of calculating the current position from the GPS measurement data without combining the GPS measurement data with the self-contained positioning data if the estimated error is judged greater than the predetermined threshold value; andan output process of outputting the current position calculated by said first or second calculation process as the current position data which indicate the current position of the movable body, whereinsaid judgement process performs the judgement before elapsing a predetermined period from a time of switching on a power of the self-contained positioning device, andif the judgement is not performed, the present position is calculated by the first calculation process. 2. A hybrid processing method according to claim 1, wherein estimated error data, which indicate the estimated error, are outputted from the self-contained positioning device and said judgment process performs the judgment on the basis of the estimated error data. 3. A hybrid processing method according to claim 1, further comprising an estimated error calculation process of calculating the estimated error on the basis of the self-contained positioning data. 4. A hybrid processing method according to claim 1,wherein said first calculation process (i) calculates the n-th measurement position from the GPS measurement data outputted for the n-th time (n is a natural number) by the GPS device, (ii) estimates the n+1-th measurement position as an estimated position depending on the self-contained positioning data with using the n-th measurement position as a standard, (iii) calculates the n+1-th measurement position from the GPS measurement data outputted for the n+1-th time by the GPS device, and (iv) performs an error correction based on the estimated position with respect to the n+1-th measurement position, to thereby calculate the n+1-th corrected measurement position as the current position, andsaid second calculation process (v) calculates the n-th measurement position from the GPS measurement data outputted for the n-th time by the GPS device, (vi) estimates the n+1-th measurement position as an estimated position depending on the GPS measurement data with using the n-th measurement position as a standard, (vii) calculates the n+1-th measurement position from the GPS measurement data outputted for the n+1-th time by the GPS device, and (viii) performs an error correction based on the estimated position with respect to the n+1-th measurement position, to thereby calculate the n+1-th corrected measurement position as the current position. 5. A hybrid processing method according to claim 1, whereinsaid judgment process does not perform the judgment after elapsing the predetermined period. 6. A hybrid processing apparatus for outputting current position data, which indicate a current position of a movable body on which a self-contained positioning device and a GPS device are mounted, on the basis of self-contained positioning data from the self-contained positioning device and GPS measurement data from the GPS device,said apparatus comprising:a judgment device for judging whether or not an estimated error of the self-contained positioning data is greater than a predetermined threshold value; a first calculation device for calculating the current position by combining the GPS measurement data with the self-contained positioning data if the estimated error is judged not greater than the predetermined threshold value;a second calculation device for calculating the current position from the GPS measurement data without combining the GPS measurement data with the self-contained positioning data if the estimated error is judged greater than the predetermined threshold value; andan output device for outputting the current position calculated by said first or said second calculation device as the current position data which indicate the current position of the movable body, whereinsaid judgement device performs the judgement before elapsing a predetermined period from a time of switching on a power of the self-contained positioning device, andif the judgement is not performed, the present position is calculated by the first calculation device. 7. A hybrid processing apparatus according to claim 6, wherein estimated error data, which indicate the estimated error, are outputted from the self-contained positioning device and said judgment device performs the judgment on the basis of the estimated error data. 8. A hybrid processing apparatus according to claim 6, further comprising an estimated error calculation device for calculating the estimated error on the basis of the self-contained positioning data. 9. A hybrid processing apparatus according to claim 6,wherein said first calculation device (i) calculates the n-th measurement position from the GPS measurement data outputted for the n-th time (n is a natural number) by the GPS device, (ii) estimates the n+1-th measurement position as an estimated position depending on the self-contained positioning data with using the n-th measurement position as a standard, (iii) calculates the n+1-th measurement position from the GPS measurement data outputted for the n+1-th time by the GPS device, and (iv) performs an error correction based on the estimated position with respect to the n+1-th measurement position, to thereby calculate the n+1-th corrected measurement position as the current position, andsaid second calculation device (v) calculates the n-th measurement position from the GPS measurement data outputted for the n-th time by the GPS device, (vii) estimates the n+1-th measurement position as an estimated position depending on the GPS measurement data with using the n-th measurement position as a standard, (vii) calculates the n+1-th measurement position from the GPS measurement data outputted for the n+1-th time by the GPS device, and (viii) performs an error correction based on the estimated position with respect to the n+1-th measurement position, to thereby calculate the n+1-th corrected measurement position as the current position. 10. A hybrid processing apparatus according to claim 6, wherein said judgment device does not perform the judgment after elapsing the predetermined period. 11. An on-vehicle navigation system comprising:(i) a hybrid processing apparatus for outputting current position data, which indicate a current position of a movable body on which a self-contained positioning device and a GPS device are mounted, on the basis of self-contained positioning data from the self-contained positioning device and GPS measurement data from the GPS device, said apparatus comprising: a judgment device for judging whether or not an estimated error of the self-contained positioning data is greater than a predetermined threshold value; a first calculation device for calculating the current position by combining the GPS measurement data with the self-contained positioning data if the estimated error is judged not greater than the predetermined threshold value; a second calculation device for calculating the current position from the GPS measurement data without combining the GPS measurement data with the self-contained positioning data if the estimated error is judged g reater than the predetermined threshold value; and an output device for outputting the current position calculated in said first or second calculation device as the current position data which indicate the current position of the movable body, whereinsaid judgement device performs the judgement before elapsing a predetermined period from a time of switching on a power of the self-contained positioning device, andif the judgement is not performed, the present position is calculated by the first calculation device,(ii) the self-contained positioning device and the GPS device, and(iii) a display device for displaying the current position data outputted from said output device on map data in a predetermined format. 12. A program storage device readable by a computer, tangibly embodying a program of instructions executable by the computer to perform method processes of outputting current position data which indicate a current position of a movable body, on which a self-contained positioning device and a GPS device are mounted, on the basis of self-contained positioning data from the self-contained positioning device and GPS measurement data from the GPS device,said method processes comprising:a judgment process of judging whether or not an estimated error of the self-contained positioning data is greater than a predetermined threshold value;a first calculation process of calculating the current position by combining the GPS measurement data with the self-contained positioning data if the estimated error is judged not greater than the predetermined threshold value;a second calculation process of calculating the current position from the GPS measurement data without combining the GPS measurement data with the self-contained positioning data if the estimated error is judged greater than the predetermined threshold value; andan output process of outputting the current position calculated by said first or second calculation process as the current position data which indicate the current position of the movable body, whereinsaid judgement process performs the judgement before elapsing a predetermined period from a time of switching on a power of the self-contained positioning device, andif the judgement is not performed, the present position is calculated by the first calculation process. 13. A computer data signal embodied in a carrier wave and representing a series of instructions which cause a computer to perform method processes of outputting current position data which indicate a current position of a movable body, on which a self-contained positioning device and a GPS device are mounted, on the basis of self-contained positioning data from the self-contained positioning device and GPS measurement data from the GPS device,said method processes comprising:a judgment process of judging whether or not an estimated error of the self-contained positioning data is greater than a predetermined threshold value;a first calculation process of calculating the current position by combining the GPS measurement data with the self-contained positioning data if the estimated error is judged not greater than the predetermined threshold value;a second calculation process of calculating the current position from the GPS measurement data without combining the GPS measurement data with the self-contained positioning data if the estimated error is judged greater than the predetermined threshold value; andan output process of outputting the current position calculated by said first or second calculation process as the current position data which indicate the current position of the movable body, whereinsaid judgement process performs the judgement before elapsing a predetermined period from a time of switching on a power of the self-contained positioning device, andif the judgement is not performed, the present position is calculated by the first calculation process.
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이 특허에 인용된 특허 (9)
Matsuzaki Shinichi (Osaka JPX), Apparatus for estimating current heading using magnetic and angular velocity sensors.
Kobayashi Yoshiyuki (Zama JPX) Hirayama Yoshikazu (Sagamihara JPX), Navigation equipment which determines current position dependent on difference between calculated value of self-containe.
Geier George J. (Santa Clara CA) Heshmati Ardalan (Campbell CA) Johnson Kelly G. (Milpitas CA) McLain Patricia W. (Sunnyvale CA), Position and velocity estimation system for adaptive weighting of GPS and dead-reckoning information.
Kmiecik, Marcin Michal; Miksa, Krzysztof, Arrangement for and method of two dimensional and three dimensional precision location and orientation determination.
Venkatraman, Sai Pradeep; Gao, Weihua; Werner, Benjamin A.; Zhang, Gengsheng, Mobile device positioning responsive to externally generated regional candidate position fix mode selection.
Venkatraman, Sai Pradeep; Gao, Weihua; Werner, Benjamin A.; Zhang, Gengsheng, Server-based mobile device regional candidate position fix mode selection.
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