EP0391647A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Calibration apparatus of angular velocity sensor in self-contained navigational system
Assignee: Sumitomo Electric Industries Ltd
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Filing: 1990-04-03
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Granted: —
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Expires: 2010-04-03
Abstract
Abstract In a self-contained navigational system wherein the location and heading of a vehicle on road are detected with the aid of location and heading detection means using map matching, a calibration apparatus of an angular-velocity sensor used in the self-contained navigational system, comprising: an angular-velocity detection sensor (15) for detecting a heading of the vehicle; angular-velocity detection means (1) for calculating an angular velocity from an output signal of the angular-velocity detection sensor (15); integration means (2) for calculating a current heading of the vehicle by integrating the angular velocity and by adding the integrated angular velocity to the previous heading of the vehicle; and heading correction means (4) for calculating a difference between a heading output (ϑr) of the integration means (2) and a heading output (ϑe) of the location and heading detection means (3), for calculating a correction value (δϑ) for correcting the heading output (ϑr) of the integration means (2), from the difference or accumulated value of the difference, and for feeding the correction value (δϑ) back to the integration means (2).
Inventors
- 👤 Osamu Osaka Works Of Sumitomo Shimizu
- 👤 Kenji Osaka Works Of Sumitomo Tenmoku
- 👤 Yoichi Osaka Works Of Sumitomo Doi
- 👤 Kunihiko Osaka Works Of Sumitomo Mito
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-03 20:44
CPC Classifications
G; G01; G01C; G01C17/00; G01C17/38; G01C21/00; G01C21/26; G01C21/28; G01C21/30
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
209 words
In a self-contained navigational system wherein the location of a vehicle is estimated with the aid of heading and distance sensors on the vehicle, the estimated location is compared with road network data obtained from a road map memory, and the location and heading of the vehicle on road are detected from the comparison with the aid of location and heading detection means, a calibration apparatus of an angular-velocity sensor used in said self-contained navigational system, comprising: an angular-velocity detection sensor (15) for detecting a heading of the vehicle; angular-velocity detection means (1) for calculating an angular velocity from an output signal of said angular-velocity detection sensor (15); integration means (2) for calculating a current heading of the vehicle by integrating said angular velocity and by adding the integrated angular velocity to the previous heading of the vehicle; and heading correction means (4) for calculating a difference between a heading output (ϑr) of said integration means (2) and a heading output (ϑe) of said location and heading detection means (3), for calculating a correction value (δϑ) for correcting said heading output (ϑr) of said integration means (2), from said difference or accumulated value of said difference, and for feeding said correction value (δϑ) back to said integration means (2).
Claim 2
Dependent Claim
209 words
In a self-contained navigational system wherein the location of a vehicle is estimated with the aid of heading and distance sensors on the vehicle, the estimated location is compared with road network data obtained from a road map memory, and the location and heading of the vehicle on road are detected from the comparison with the aid of location and heading detection means, a calibration apparatus of an angular-velocity sensor used in said self-contained navigational system, comprising: an angular-velocity detection sensor (15) for detecting a heading of the vehicle; angular-velocity detection means (1) for calculating an angular velocity from an output signal of said angular-velocity detection sensor (15); integration means (2) for calculating a current heading of the vehicle by integrating said angular velocity and by adding the integrated angular velocity to the previous heading of the vehicle; and heading correction means (4) for calculating a difference between a heading output (ϑr) of said integration means (2) and a heading output (ϑe) of said location and heading detection means (3), for calculating a correction value (δϑ) for correcting said heading output (ϑr) of said integration means (2), from said difference or accumulated value of said difference, and for feeding said correction value (δϑ) back to said integration means (2).
Claim 3
Dependent Claim
237 words
In a self-contained navigational system wherein the location of a vehicle is estimated with the aid of heading and distance sensors on the vehicle, the estimated location is compared with road network data obtained from a road map memory, and the location and heading of the vehicle on road are detected from the comparison with the aid of location and heading detection means, a calibration apparatus of an angular-velocity sensor used in said self-contained navigational system, comprising: an angular-velocity detection sensor (15) for detecting a heading of the vehicle; angular-velocity detection means (1) for calculating an angular velocity from an output signal of said angular-velocity detection sensor (15); integration means (2) for calculating a current heading of the vehicle by integrating said angular velocity and by adding the integrated angular velocity to the previous heading of the vehicle; and heading correction means (7) which, when it has detected a turning of the vehicle, calculates a first change (δϑr) of a heading output (ϑr) obtained from said integration means (2) and a second change (δϑe) of a heading output (ϑe) obtained from said location and heading detection means (3), and which calculates a correction value (δφ) for correcting said angular velocity of said angular-velocity detection means (1), with the aid of said first and second changes (δϑr, δϑe) or accumulated value of said changes, and which feeds said correction value (δφ) back to said angular-velocity detection means (1).
Claim 4
Dependent Claim
237 words
In a self-contained navigational system wherein the location of a vehicle is estimated with the aid of heading and distance sensors on the vehicle, the estimated location is compared with road network data obtained from a road map memory, and the location and heading of the vehicle on road are detected from the comparison with the aid of location and heading detection means, a calibration apparatus of an angular-velocity sensor used in said self-contained navigational system, comprising: an angular-velocity detection sensor (15) for detecting a heading of the vehicle; angular-velocity detection means (1) for calculating an angular velocity from an output signal of said angular-velocity detection sensor (15); integration means (2) for calculating a current heading of the vehicle by integrating said angular velocity and by adding the integrated angular velocity to the previous heading of the vehicle; and heading correction means (7) which, when it has detected a turning of the vehicle, calculates a first change (δϑr) of a heading output (ϑr) obtained from said integration means (2) and a second change (δϑe) of a heading output (ϑe) obtained from said location and heading detection means (3), and which calculates a correction value (δφ) for correcting said angular velocity of said angular-velocity detection means (1), with the aid of said first and second changes (δϑr, δϑe) or accumulated value of said changes, and which feeds said correction value (δφ) back to said angular-velocity detection means (1).
Claim 5
Dependent Claim
46 words
A calibration apparatus as set forth in claim 1, which further comprises initial-heading set means (25) for setting an initial heading (ϑo) of said vehicle, when said vehicle starts travelling, and drift calibration means (26) for calibrating an angular-velocity drift error of said angular-velocity sensor (15).
Claim 6
Dependent Claim
46 words
A calibration apparatus as set forth in claim 2, which further comprises initial-heading set means (25) for setting an initial heading (ϑo) of said vehicle, when said vehicle starts travelling, and drift calibration means (26) for calibrating an angular-velocity drift error of said angular-velocity sensor (15).
References Cited (Backward Citations)
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