200946871 九、發明說明： 【發明所屬之技術領域】 本發明係有關於-種回饋校正方法，尤指—種以地圖 ^度資訊整合處理慣性導航系統提供的資料，用以進行 块差修正之慣性導航系統地圖回饋校正方法。 【先前技術】 按’衛星導航系統為目前載具所經常使用的定位系統 ❹ ❹ ^，如第—圖所示，f知衛星導航⑽包含有-輸入裝 a、—a G P 8接收裝置2a、—平面電子地圖資料庫3 6 ^徑選擇裝置、—導航軟财置5 a 一通訊裝置 6a與一顯示裝置7a。 接收裝置13是用來提供功能的選擇，而該G Μ 位用來接收衛星信號而定位汽車目前所在的 匕=!關=給該導航軟體裝置5a以及 平面電子地圖資料庫“係存有 十面電子地圖以及相關的座標、屬性等資料。 2選擇裝置4a可以依據輸入襞置^之指令要 擷取!Ϊ:面電子地圖資料庫3a中所儲存的龐大資料中 依要的rrf著再由_ 費f小主叫曰不》、疋起點與一終點，並尋找一侔从 取〉、時間與距離’而能由起點到終點的導引路_ ”化 該通訊裝置6a則是能夠與—行控中心進行：: 導航軟體裝W耻物啦^^位二 200946871 :面！子地圖等相關資料後’就能夠產生-結果影像並傳 、、、至以顯不裝置7a上加以顯示，藉此引導駕驶人。、 定位星:ΐ系統外，另—經常使用的定位系統為慣性 嶋定位系統設有一慣性量測單 t貝，早元量測載具的位置，提供駕駛位 f 目前的魏導航系統與慣鍵位系統皆有缺點 然’ 1輪星導㈣統料受地形影響，—旦彳 ❹ =的=星導航系統就無法提供定位的功能，喪 2失靈， 差愈遠，因此必須時常作修正。卞疋立的精準度愈 如台灣專利申請案號第 5定位系統與方法」之發明號「載具之 CGp's)^ (，Ns)下-時刻之ΐ位=方:二:慣性導航系統 定位後，便利用全球定位系 =球定位系統再次 統的定位輪出，因此可修 二科來扣正慣性導叙系 可是上述專利案命有灯缺^^統之累積誤差。 問題，可是一旦碰到長、然解決累積誤差的 慣性導航系統將會無法進“Cs訊號時，則該 緣是，本發明人有€上述缺失訂出修正的誤差。 理五有效改善上述缺失之本發明可改善，提出—種合 200946871 f發明内容】 圖二i要;=供:種慣性嶋-訊，來校料供經緯度資 系統【的供一種慣性導航 以航軟體模組中利用=圖;=: =;=資訊;藉由-慣性感二= Γ生r^r—微控制處理單元賢 供該路徑二透過t導航軟體模組提 導航路徑點資訊與料徑規3ίι，比較該慣性 :訊，產生出-修正值資訊;以該修:值 基準，校正之播&丨资 貝〇fL作為才父正 &之後的慣性導航路徑點資訊。 本發明具有以下有益效果： 1、藉由該修正值資訊校正 資訊’即時校正消除因該慣性:== 所導致的偏移。 』早几之累積δ吳差 ====進行修正誤差的動作，僅利用電 貧料庫hi、予導航軟 劃出的路徑規劃點經緯度資訊即可進二^所規 欠到GPS訊號，只要藉由該導 體模組k供的路徑規劃點資訊之經緯度資 2 ❹ ❹ 200946871 4、Ϊ二I對該慣性導航路徑點資訊進行校正。 間無GPS訊號仍可提供高信賴的行車導航 5 緯度資訊進行校正，增加該慣性 6 1駛人可享受到積準的道路導航，不再誤判行進路 丧，使能更進—步瞭解本發明之特徵 參閱以下有關本發明之詳細說明 汁内谷㉔ 僅提供參考盥一附圖，然而所附圖式 航系二圖所示’第二圖顯示出本發明之慣性導 括有：—微慣性處理子M ，糸统架構包 該微慣蛙卢J 1與一導航處理子系統2， 性連接。另該導航處理子系統2彼此電 统2亦可h 4慣性處理子系統1與該導航處理子系 於續汽ΐ無線電性連接的方式傳送接收資訊，亦即 !·貝性處理子系統i及料 射單元及接收單元（圖上未示）。子糸，充2各叹有發 Μ /·貝丨生處理子系統1具有一微控制處理單元1200946871 IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a method for correcting feedback, in particular to integrating data provided by an inertial navigation system with map information for use in performing inertia of block correction Navigation system map feedback correction method. [Prior Art] According to the 'satellite navigation system' is a positioning system frequently used in current vehicles, as shown in the first figure, the satellite navigation (10) includes an input device a, a GP 8 receiving device 2a, - Planar electronic map database 3 6 ^ path selection device, - navigation soft wealth 5 a a communication device 6a and a display device 7a. The receiving device 13 is used to provide a function selection, and the G-position is used to receive the satellite signal to locate the car currently located !=!Off=to the navigation software device 5a and the plane electronic map database "there are ten sides Electronic maps and related coordinates, attributes, etc. 2 The selection device 4a can be retrieved according to the instructions of the input device ^Ϊ: The large data stored in the electronic map database 3a depends on the rrf and then _ Fee f small caller 曰不》, 疋 starting point and one end point, and looking for a guide from the beginning, the distance and the distance from the starting point to the end point _ ” The communication device 6a is able to The control center carries out:: Navigation software installed W shame thing ^^ bit two 200946871: face! After the sub-map and the like, the image can be generated and transmitted, and displayed on the display device 7a, thereby guiding the driver. Positioning star: outside the system, another - often used positioning system for the inertia 嶋 positioning system with an inertial measurement single t shell, early measurement of the position of the vehicle, providing the driving position f current Wei navigation system and the habitual key The bit system has its own disadvantages. The 1st round of the star guide (4) is affected by the terrain. If the star navigation system cannot provide the positioning function, the funeral 2 is out of order, and the farther the difference is, so it must be corrected frequently. The accuracy of the standing is more like the invention number of the fifth patent system and method of Taiwan Patent Application No. "CGp's of the vehicle" ^ (, Ns) - the position of the moment = square: two: after the positioning of the inertial navigation system It is convenient to use the global positioning system = ball positioning system to re-align the positioning round, so it is possible to repair the second section to buckle the inertial navigation system. However, the above patent case has a cumulative error of the lack of lights. However, once it encounters a long However, if the inertial navigation system that solves the cumulative error will not be able to enter the "Cs signal, then the reason is that the inventor has the error of the above-mentioned missing correction. The fifth invention can effectively improve the above-mentioned defects, and the present invention can be improved, and the present invention is proposed in the context of 200946871 f. Figure 2 i wants; = for: kind of inertia 讯--, the school supplies for the latitude and longitude system [for an inertial navigation to sail In the software module, use = map; =: =; = information; by - inertia sense two = twin r ^ r - micro control processing unit for the path two through the t navigation software module to provide navigation path point information and materials The diameter gauge 3 ίι, compares the inertia: the signal, generates the - correction value information; with the repair: value benchmark, the corrected broadcast & 丨 〇 〇 〇 L L L L L 作为 作为 作为 作为 作为 作为 作为 作为 作为 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性 惯性The present invention has the following beneficial effects: 1. The correction information is corrected by the correction value information to eliminate the offset caused by the inertia: ==. The accumulation of δ 吴 差 = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = The latitude and longitude information of the path planning point information provided by the conductor module k is corrected by the latitude and longitude information of the inertial navigation path point. No GPS signal can still provide high-reliability driving navigation 5 latitude information to correct, increase the inertia 6 1 people can enjoy the accumulated road navigation, no longer misjudge the road, make it more advanced - understand the invention DETAILED DESCRIPTION OF THE INVENTION The following is a detailed description of the present invention. The juice valley 24 is only provided with reference to the drawings. However, the second diagram showing the inertial guidance of the present invention includes: - microinertia The processing sub-M, the 架构 system architecture package, the micro-individual frog Lu J 1 and a navigation processing subsystem 2, are sexually connected. In addition, the navigation processing subsystem 2 can also transmit and receive information in a manner that the inertial processing subsystem 1 and the navigation processing subsystem are in a continuous wireless connection, that is, the shell processing subsystem i and The injection unit and the receiving unit (not shown).糸 糸, charge 2 sighs and sighs Μ /·Beiyusheng processing subsystem 1 has a micro control processing unit 1
收模心)二慣性感測單元12與一 GPS訊號接 i該微控制處理單元1 1電性連接該慣 微與該GP s訊號接收模組1 3，俾藉該 工處理單701 1處理該慣性感測單元1 2與該G 200946871 y s訊號接收额丨3所提供的轉。娜性 1 2係用以量測車輛運動狀態，並將所量測到 送給該微控制處理單元i i處理。 、’4傳 該GP S訊號接收模組i 3係用以接 .收的GPS訊號傳送進入該微控制以 航處理子系統2具有一導航軟體模盥 ❹：=圖資料庫2 2 ’其中該導航軟體模組2 1電性 連微控制處理單元i玉與該電子地圖資料庫 、’並且^導航軟體模組2 1與該微控制處理單元1 1係進行資料的雙向溝通傳輸。 ^電子地圖資料庫2 2係為提供—輯度資訊之 :料庫’且該電子地圖資料庫2 2電性連接該導r 且2 1 ’藉此該電子地圖資料庫2 2傳送經緯度 ―貝訊至該導航软體模組2 2處理。 又 1參閱第二圖所示’依據上述系統架構，本發明提 導航系統地圖回饋校正方法，其步驟包括 (㈣同時參閲第二圖）： (a) 依據起點與終點，於該導航軟體模組21中依該 電子地圖資料庫2 2的地圖資訊建立一路徑規 劃點資訊。 (b) 在該GPS訊號接收模組2接收不到任何Gp S訊號時，由該慣性感測單元i 2提供一量測資 訊，並且將該量測資訊傳送至該微控制處理單元 200946871 二 1中整合處理，而得到一慣性導航路徑點資 (d) 藉由該導航軟體模組2 2据供 訊上目前的經緯度資訊。…x徑見畫點資 依據該路徑規劃點資訊上目前的經 該慣性導·始'败_-处、’ X資.3孔與 訊射生導航路徑點貧訊’經比較產生—修正值資 e ❹ j:修正值資訊，以校正之後的慣性導航路徑點 (f) 校正後的慣性導航路徑點資訊經處理產生一 車導航資訊’藉此駕駛人得到道路方向的導航: 為了幫助熟習此項技術人員明白並實施本發 庫2 2的地圖資訊在該導般軟體模組 =1中依據起點與終點去設定導航路徑，建立該路徑 =資訊，藉由該路徑規劃點資訊以進行車輛的導航， 引導駕駛人到達目的地，其中車輛的導航係藉由該G p ::以模組13與該慣性感測單元12相互搭配 可是由於G P S訊號易受地形的影響而被遮蔽，因 此會使得該G P S訊號接收模組1 3接收不到任何G P S訊號；一旦G p s訊號接收模組丄3無法運作時， 於是藉由該慣性感測單元12不間斷地量測車輛運動 狀態，以產生該量測資訊，而該量測資訊再傳送至該微 200946871 · ψ · f制處理單元i i中處理，其中該慣性感測單元 度計或一陀，，亦或為該加速度計與該陀螺 、裝置之搭配，而本實施例中該慣性感測單元丄 =度計與該陀螺儀，故該量測資訊係指由該加速度 虛踩該if簡理單元1 1接㈣量測資訊後，經整合 ❹物資孔Γ以導航路徑點資訊，其令該慣性導航 二積誤差，故連帶使得該慣性感測單St 理單元m:文到累積誤差影響，進而使該微控制處 正確的慣降塞ί的慣性導航路徑點資訊持續偏移，遠離 表正點如第四圖所示’圖令Α代 性導航路徑點訊’而射β代表偏移的慣 ⑩的影單元12之累積誤差所帶來 點資m上日Λ導體模組21提供該路徑規劃 中虚理 别的經緯度資訊至該微控制處理單元1工 :=與；=處理單元11依據該慣性導航路徑 比較而產生該;正以訊上目前的經緯度資訊，進行 校正C處理單元11以該修正值資訊為 偏移的慣“ 藉此校正 仏點貝讯，使该慣性導航路徑點資訊 12 200946871 與該路徑規劃點資訊一致（如第五辦_ 路徑規劃點資訊，而圖中乃代 不’圖中「代表 點資訊）。 ”代表枚正後的慣性導航路徑 慣性==二=元11傳送校正後的 該導航軟體模組2 1最“產生：模組2 1中處理，而 提供駕駛人精確無偏移的路：：車導航資訊，藉此 ❹=訊的產生亦可= 丁 Μ又正後的慣性導航路徑點 進 理單元η處理’產生出該行車導:直資接訊由該微控制處 另於本實施例中，該修正傕 導航軟體模組2 1_進杆的產生也可以於該 有該路徑規劃點ί訊上曰，即該導航軟體模組2 1中 處理單元1 1脾吁險 剛的經緯度資訊，而該微控制 軟體模組21中=性於，路徑點資訊傳駐^ 慣性導航軟體模組21依據該 ® 緯度資m，進行比較產二广規畫;^點資訊上目前的經 軟體模組21將該修正值貢訊；然後’該導航 點資，路使該慣性導航路徑 1、#彳用2發日狀5法具有如τ述之㈣及功能： 地圖資料庫提供的經緯度資訊進行校 13 200946871 2The second inertial sensing unit 12 is connected to a GPS signal, and the micro control processing unit 1 is electrically connected to the MEMS s signal receiving module 1 3, and the processing unit 701 1 processes the The inertial sensing unit 12 and the G 200946871 ys signal receive the turn provided by the amount 丨3. The Na 2 1 system is used to measure the motion state of the vehicle, and the measured measurement is sent to the micro control processing unit i i for processing. The '4 transmission GP S signal receiving module i 3 is used to receive and receive the GPS signal to enter the micro control. The navigation processing subsystem 2 has a navigation software module: = map database 2 2 ' The navigation software module 2 1 electrically connects the micro control processing unit i jade with the electronic map database, and the navigation software module 2 1 and the micro control processing unit 1 1 perform bidirectional communication transmission of data. ^ Electronic map database 2 2 is to provide - information information: the library 'and the electronic map database 2 2 electrically connected to the guide r and 2 1 'by the electronic map database 2 2 transmission latitude and longitude - shell The navigation software module 2 2 is processed. 1) According to the second system, according to the above system architecture, the navigation system map feedback correction method of the present invention includes the steps ((4) refer to the second figure at the same time): (a) according to the starting point and the end point, in the navigation software model In the group 21, a route planning point information is established according to the map information of the electronic map database 22. (b) When the GPS signal receiving module 2 does not receive any Gp S signal, the inertial sensing unit i 2 provides a measurement information, and transmits the measurement information to the micro control processing unit 200946871. In the integrated processing, an inertial navigation path point is obtained (d) by the navigation software module 2 2 according to the current latitude and longitude information on the communication. ...x path sees the point of drawing according to the path planning point information on the current inertia guide, the beginning of the 'failure _-, 'X capital. 3 hole and the communication student navigation path point poor news' comparison produced - correction value e ❹ j: correction value information to correct the inertial navigation path point (f) The corrected inertial navigation path point information is processed to generate a vehicle navigation information 'by taking the driver to get the direction of the navigation: To help familiar with this The technician understands and implements the map information of the database 2 in the software module=1 to set the navigation path according to the start point and the end point, establish the path=information, and use the path to plan the point information for the vehicle. Navigating, guiding the driver to the destination, wherein the navigation of the vehicle is matched with the inertial sensing unit 12 by the Gp:: the GPS signal is easily obscured by the terrain, thus making The GPS signal receiving module 13 does not receive any GPS signal; once the GPS signal receiving module 丄3 is inoperable, the inertial sensing unit 12 continuously measures the motion state of the vehicle to generate Measuring information, and the measurement information is transmitted to the micro 200946871 · ψ · f processing unit ii, wherein the inertial sensing unit or a gyro, or the accelerometer and the gyro, the device In the present embodiment, the inertial sensing unit 度=the meter and the gyroscope, the measurement information refers to the acceleration of the if-simple unit 1 1 (four) measurement information, after integration ❹ Γ Γ Γ 导航 导航 Γ Γ Γ 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航 导航The inertial navigation path point information is continuously offset, away from the table punctual point, as shown in the fourth figure, 'the order of the generation of the navigation path point', and the point where β is the offset of the accumulated error of the shadow unit 12 of the habit 10 The tuna conductor module 21 provides the latitude and longitude information in the path plan to the micro control processing unit: == and the processing unit 11 generates the information according to the inertial navigation path; Current latitude and longitude information, corrected C The processing unit 11 uses the correction value information as an offset of the habit of "adjusting the defect point information, so that the inertial navigation path point information 12 200946871 is consistent with the path planning point information (such as the fifth office_path planning point information, and In the figure, it is not the "representative point information" in the figure. "Inertial navigation path inertia after the representative of the positive == two = yuan 11 transmission of the corrected navigation software module 2 1 "generate: module 2 1 Processing, and providing the driver with accurate and non-offset road:: car navigation information, by which the generation of the signal can also be = Ding and then the inertial navigation path point processing unit η processing 'generate the driving guide: The direct control communication is performed by the micro control unit. In this embodiment, the modification of the navigation software module 2 1_the entry can also be performed on the path planning point, that is, the navigation software module 2 1 processing unit 1 1 spleen suspicion of the latitude and longitude information, and the micro-control software module 21 = sex, the path point information transmission ^ inertial navigation software module 21 according to the ® latitude m, for comparative production Second wide-format painting; ^ point information on the current software module 21 will Correction value tribute information; and 'the waypoint owned road so that the inertial navigation route 1, # left foot with 2 Departure Date like 5 method has (iv) and functions as τ later of: latitude and longitude information map database provided by the correction 132009468712
正，解決累積誤差所造成的偏移，因此 P S訊號進行誤差修正的動作。 “、、需利用G =即時修正消除因該慣性感測單元之 導致的偏移，反應速度快。 、積决差所 :使長時間無法接收到G p s訊號，藉由 二=提供的路徑規劃點之經緯度資 = 4 十貝性導航路徑點資訊進行校正。 . 料形影響而長時間無GPS訊號下，駕駛 可享受到高信賴的行車導航資訊。 又 5、 Z再ΐ導航f訊與實際道料吻合的情形發生，駕 駛人享受到精準的道路導航。 *’、、 6、 利用電子地圖之經緯度資 崎元的可信度。以進盯杈正，增加該慣性 准以上所述僅為本發明之較佳實施例，音 式=之專利保護範圍，故舉凡運用本發明說ί書及圖 ❹：護均同理皆包含於本發明之權利 【圖式簡單說明】 第圖係習知導航系統之架構示意圖。 Ϊ:f係本發明之慣性導航系統地圖回饋校正方法之 承統架構示意圖。 ^二圖係本發明之慣性導航系統地圖回饋校正方法之 步驟流程圖。 14Positive, to solve the offset caused by the accumulated error, so the P S signal performs the error correction action. ",, need to use G = immediate correction to eliminate the offset caused by the inertial sensing unit, the reaction speed is fast., the difference is: the long-term can not receive the G ps signal, the path planning provided by the second = The latitude and longitude of the point = 4 ten-point navigation path point information for correction. The influence of the shape shape and long time without GPS signal, the driver can enjoy the high-reliance driving navigation information. 5, Z again ΐ navigation f news and actual The situation of the matching of the materials occurs, and the driver enjoys accurate road navigation. *', 6, and the credibility of the latitude and longitude of the electronic map, the latitude and longitude of the Ziqiyuan. To increase the inertia, the above is only the present. The preferred embodiment of the invention, the sound protection = the scope of patent protection, so the use of the present invention and the use of the same: the same is included in the present invention [simplified description of the drawing] Schematic diagram of the architecture of the system. Ϊ: f is a schematic diagram of the architecture of the map feedback correction method of the inertial navigation system of the present invention. The second diagram is a flow chart of the steps of the map feedback correction method of the inertial navigation system of the present invention.
200946871 =圖係本發明之校正前的慣性導航路徑點資訊之示 =圖係本發明之校正後的慣性導航路徑點訊之示 蒽圖。 【主要元件符號說明】 (習知） 1 a輸入装置 2a GPS接收裝置 3 a 平面電子地圖資料庫 4a 路徑選擇裝置 5a 導航軟體裝置 6 a 通訊裝置 7 a顯示裝置 (本發明） 1 微慣性處理子系統 11 微控制處理單元 1 2 慣性感測單元 13 G P S訊號接收模組 2 導航處理子系統 21 導航軟體模組 2 2 電子地圖資料庫 15200946871=Graphic information of the inertial navigation path point information before correction according to the present invention = Figure is a schematic diagram of the corrected inertial navigation path point information of the present invention. [Main component symbol description] (conventional) 1 a input device 2a GPS receiving device 3 a planar electronic map database 4a path selecting device 5a navigation software device 6 a communication device 7 a display device (invention) 1 micro inertial processor System 11 Micro Control Processing Unit 1 2 Inertial Sensing Unit 13 GPS Signal Receiving Module 2 Navigation Processing Subsystem 21 Navigation Software Module 2 2 Electronic Map Database 15