Patent EP0607654A2 successfully refreshed from Google Patents.
EP0607654A2
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Method of correcting distance error of navigation apparatus
Assignee: Pioneer Corp
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Filing: 1993-10-19
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Granted: —
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Expires: 2013-10-19
Abstract
Abstract A navigation apparatus displays a present position and an advance direction of a movable body on map information including road position information, and includes a measuring device for detecting a travelling distance and the advance direction and periodically measuring an advanced position, to update the present position. A method of correcting a distance error of the navigation apparatus includes the steps of : setting the present position as a first present position candidacy (S1) ; positioning a plurality of second present position candidacies on positions corresponding to the road forward and backward of the first present position candidacy (S1) ; measuring the advanced position with respect to each of the first and second present position candidacies as a standard position, on the basis of the detected travelling distance and advance direction (S2) ; calculating a correction amount of each measured advanced position, to correct each measured advanced position onto a position corresponding to the road according to the road position information (S3) ; selecting one of the first and second present position candidacies, which calculated correction amount is the minimum (S4) ; and updating the present position by the corrected advanced position of the selected one candidacy (S4).
Inventors
- 👤 Satoshi C/O Pioneer Elec. Corp. Odagawa
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-05 07:49
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/26; G01C21/28; G01C21/30
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
216 words
A method of correcting a distance error of a navigation apparatus for displaying at least a present position and an advance direction of a movable body on map information including road position information, said apparatus including a measuring means for detecting a travelling distance and the advance direction and periodically measuring an advanced position, to which the movable body is assumed to have advanced from the present position, to update the present position by the advanced position, characterized in that said method comprises the steps of: setting the present position as a first present position candidacy (S1); positioning a plurality of second present position candidacies on positions corresponding to the road forward and backward of the first present position candidacy (S1); measuring the advanced position with respect to each of the first and second present position candidacies as a standard position, on the basis of the detected travelling distance and advance direction (S2); calculating a correction amount of each measured advanced position, to correct each measured advanced position onto a position corresponding to the road according to the road position information (S3); selecting one of the first and second present position candidacies, which calculated correction amount is the minimum (S4); and updating the present position by the corrected advanced position of the selected one candidacy (S4).
Claim 2
Independent Claim
216 words
A method of correcting a distance error of a navigation apparatus for displaying at least a present position and an advance direction of a movable body on map information including road position information, said apparatus including a measuring means for detecting a travelling distance and the advance direction and periodically measuring an advanced position, to which the movable body is assumed to have advanced from the present position, to update the present position by the advanced position, characterized in that said method comprises the steps of: setting the present position as a first present position candidacy (S1); positioning a plurality of second present position candidacies on positions corresponding to the road forward and backward of the first present position candidacy (S1); measuring the advanced position with respect to each of the first and second present position candidacies as a standard position, on the basis of the detected travelling distance and advance direction (S2); calculating a correction amount of each measured advanced position, to correct each measured advanced position onto a position corresponding to the road according to the road position information (S3); selecting one of the first and second present position candidacies, which calculated correction amount is the minimum (S4); and updating the present position by the corrected advanced position of the selected one candidacy (S4).
Claim 3
Dependent Claim
78 words
A method according to claim 1, characterized in that said method further comprises the step of judging whether or not the movable body has travelled for a predetermined distance after a map-matching is performed on the basis of an azimuth change of the movable body at a crossing or corner, the first present position candidacy being set and the second present position candidacies being positioned if the movable body is judged to have travelled for the predetermined distance.
Claim 4
Dependent Claim
80 words
A method according to claim 1, characterized in that said method further comprises the step of judging whether or not the movable body has travelled for a predetermined time period after a map-matching is performed on the basis of an azimuth change of the movable body at a crossing or corner, the first present position candidacy being set and the second present position candidacies being positioned if the movable body is judged to have travelled for the predetermined time period.
Claim 5
Independent Claim
58 words
A method according to any one of claims 1 to 3, characterized in that said calculating step comprises the steps of: obtaining a travelling vector consisting of the travelling distance and the advance direction with respect to each candidacy; and calculating the correction amount according to a positional relationship of the travelling vector with respect to the road.
Claim 6
Independent Claim
35 words
A method according to any one of claims 1 to 4, characterized in that, in said calculating step, the correction amount is calculated by drawing a perpendicular line form the advanced position to the road.
Claim 7
Independent Claim
62 words
A method according to any one of claims 1 to 5, characterized in that said selecting step comprises the steps of: periodically sampling the correction amount for each candidacy; obtaining a deviation or average value of the correction amount for each candidacy; and selecting one of the candidacies, which correction amount is the minimum according to the obtained deviation or average value.
Claim 8
Independent Claim
44 words
A method according to any one of claims 1 to 6, characterized in that said method further comprises the step of erasing the measured advanced position and the calculated correction amount of the candidacies other than the selected one candidacy after the selecting step.
Claim 9
Independent Claim
65 words
A method according to any one of claims 1 to 7, characterized in that said method further comprises the step of correcting the detected travelling distance by multiplying a distance correction coefficient, which is increased if the second present position candidacy backward of the present position is selected, and which is decreased if the second present position candidacy forward of the present position is selected.
Claim 10
Dependent Claim
193 words
A navigation apparatus comprising: a memory means (10) for storing map information including road position information; a display means (11, 12, 13, 15) for displaying at least a present position and an advance direction of a movable body on the map information; a detecting means (1, 2, 3, 4) for detecting a travelling distance and the advance direction; and a controlling means (5) for setting the present position as a first present position candidacy, positioning a plurality of second present position candidacies on positions corresponding to the road forward and backward of the first present position candidacy, measuring an advanced position to which the movable body is assumed to have advanced from each of the first and second present position candidacies as a standard position on the basis of the detected travelling distance and advance direction, calculating a correction amount of each measured advanced position to correct each measured advanced position onto a position corresponding to the road according to the road position information, selecting one ofthefirstand second present position candidacies, which calculated correction amount is the minimum, and updating the present position by the corrected advanced position of the selected one candidacy.
Claim 11
Dependent Claim
193 words
A navigation apparatus comprising: a memory means (10) for storing map information including road position information; a display means (11, 12, 13, 15) for displaying at least a present position and an advance direction of a movable body on the map information; a detecting means (1, 2, 3, 4) for detecting a travelling distance and the advance direction; and a controlling means (5) for setting the present position as a first present position candidacy, positioning a plurality of second present position candidacies on positions corresponding to the road forward and backward of the first present position candidacy, measuring an advanced position to which the movable body is assumed to have advanced from each of the first and second present position candidacies as a standard position on the basis of the detected travelling distance and advance direction, calculating a correction amount of each measured advanced position to correct each measured advanced position onto a position corresponding to the road according to the road position information, selecting one ofthefirstand second present position candidacies, which calculated correction amount is the minimum, and updating the present position by the corrected advanced position of the selected one candidacy.
Claim 12
Dependent Claim
40 words
A navigation apparatus according to claim 9, characterized in that said detecting means comprises at least one of an earth magnetism sensor (1), a gyroscope (2), a travelling distance sensor (3) and a GPS (Global Positioning system) measuring device (4).
References Cited (Backward Citations)
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