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WO2008010046A3 - Navigation apparatus - Google Patents

Navigation apparatus Download PDF

Info

Publication number
WO2008010046A3
WO2008010046A3 PCT/IB2007/001939 IB2007001939W WO2008010046A3 WO 2008010046 A3 WO2008010046 A3 WO 2008010046A3 IB 2007001939 W IB2007001939 W IB 2007001939W WO 2008010046 A3 WO2008010046 A3 WO 2008010046A3
Authority
WO
WIPO (PCT)
Prior art keywords
movable body
error variance
determination
sensor
autonomous sensor
Prior art date
Application number
PCT/IB2007/001939
Other languages
French (fr)
Other versions
WO2008010046A8 (en
WO2008010046A2 (en
Inventor
Norimasa Kobori
Kazunori Kagawa
Original Assignee
Toyota Motor Co Ltd
Norimasa Kobori
Kazunori Kagawa
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 Co Ltd, Norimasa Kobori, Kazunori Kagawa filed Critical Toyota Motor Co Ltd
Publication of WO2008010046A2 publication Critical patent/WO2008010046A2/en
Publication of WO2008010046A8 publication Critical patent/WO2008010046A8/en
Publication of WO2008010046A3 publication Critical patent/WO2008010046A3/en

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

Landscapes

  • 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)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Instructional Devices (AREA)

Abstract

A navigation apparatus (1) that detects a position of a movable body includes an autonomous sensor (12, 13) that detects information on behavior of the movable body; inertial position determination means (10a) for detecting an inertial position-determination position of the movable body by accumulating the information detected by the autonomous sensor (12, 13); and error variance calculation means (10b) 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 (12, 13), and a calculation error at time point t, to an updating equation based on a movement model of the movable body.
PCT/IB2007/001939 2006-07-13 2007-07-11 Navigation apparatus WO2008010046A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2006193243A JP4345779B2 (en) 2006-07-13 2006-07-13 Navigation device and position detection method
JP2006-193243 2006-07-13

Publications (3)

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

Family

ID=38957142

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2007/001939 WO2008010046A2 (en) 2006-07-13 2007-07-11 Navigation apparatus

Country Status (2)

Country Link
JP (1) JP4345779B2 (en)
WO (1) WO2008010046A2 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4934167B2 (en) * 2009-06-18 2012-05-16 クラリオン株式会社 Position detection apparatus and position detection program
JP5554560B2 (en) * 2009-12-28 2014-07-23 川崎重工業株式会社 Positioning reliability evaluation apparatus, positioning reliability evaluation method, and positioning reliability evaluation program
US9507027B2 (en) * 2010-08-06 2016-11-29 Qualcomm Incorporated Determining location of a target device based on relative change in location information
JP5684039B2 (en) * 2011-05-02 2015-03-11 株式会社豊田中央研究所 Existence probability distribution estimation apparatus and program
WO2013146457A1 (en) * 2012-03-27 2013-10-03 日本電気株式会社 Position detection system, method, and program
JP6836446B2 (en) * 2017-03-30 2021-03-03 株式会社Ｓｕｂａｒｕ Vehicle lane estimation device
KR101982181B1 (en) * 2018-08-30 2019-05-24 국방과학연구소 Method and apparatus for compensating air data using inertial navigation data
FR3102879B1 (en) * 2019-10-30 2024-09-13 Renault Sas System and method for managing the position of an autonomous vehicle.

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4847769A (en) * 1985-01-16 1989-07-11 The General Electric Company, P.L.C. Automated vehicle drift correction
US5794166A (en) * 1995-06-12 1998-08-11 Siemens Aktiengesellschaft Method for determining slippage of an autonomous mobile unit with three-wheel kinematics
EP1096230A2 (en) * 1999-10-29 2001-05-02 Visteon Global Technologies, Inc. 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
US6459990B1 (en) * 1999-09-23 2002-10-01 American Gnc Corporation Self-contained positioning method and system thereof for water and land vehicles

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4847769A (en) * 1985-01-16 1989-07-11 The General Electric Company, P.L.C. Automated vehicle drift correction
US5794166A (en) * 1995-06-12 1998-08-11 Siemens Aktiengesellschaft Method for determining slippage of an autonomous mobile unit with three-wheel kinematics
US6459990B1 (en) * 1999-09-23 2002-10-01 American Gnc Corporation Self-contained positioning method and system thereof for water and land vehicles
EP1096230A2 (en) * 1999-10-29 2001-05-02 Visteon Global Technologies, Inc. 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

Also Published As

Publication number Publication date
WO2008010046A8 (en) 2008-05-22
JP4345779B2 (en) 2009-10-14
WO2008010046A2 (en) 2008-01-24
JP2008020365A (en) 2008-01-31

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