JPH11295100A - Self-locating device for moving objects - Google Patents

Abstract

PROBLEM TO BE SOLVED: To locate self-position with stability and high accuracy, by calculating self-position from navigation data received from airplanes or vehicles moving in the surroundings of the self-position and arrival time for data. SOLUTION: To a position of a mobile body located by inertial navigation apparatus of an airplane 2 and a vehicle 4 of transmitting stations, time information is added by a transmitting station to transmit to a receiving station. Then, the information is received by the receiving station mounted on a guidance system of a flying body 3. Using navigation data of a plurality of transmitting stations and time information, and self-position is located by calculating, by a computing device of the receiving station, a specified equation to be satisfied. Thus, providing a means transmitting the navigation data at the transmitting station, a means receiving the navigation data from a plurality of transmitting stations at the receiving station, and a means locating self-position of the receiving station by the navigation data and arrival time of data, can be guided to an object with stability and high accuracy since self-position of the flying body can be accurately located.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for locating a mobile object. Here, for convenience of description, a flying object guidance device will be described.

[0002]

2. Description of the Related Art Conventionally, an inertial navigation device having a built-in accelerometer and a gyro has been used to determine the position of a mobile object. In the inertial navigation device, its own position is determined by integrating the acceleration and angular velocity of a moving object detected by a gyro and an accelerometer with the passage of time.

[0003] In addition, GPS (Global Position)
In the self-localization method using the Ioning System, signals are received from three or more GPS satellites to calculate a pseudo distance, and the self-localization is performed based on the pseudo distance.
However, since a positioning error occurs due to a radio wave propagation delay time, selection availability, and the like, DGPS (Differ
initial Global Positioning
In System, in order to correct this error, an orientation position error is calculated at a reference station whose position is known,
And transmitting to the user station. The user station performs a correction based on the received location error to calculate a more accurate self-location.

[0004]

However, in the method of locating the self-position of the moving object by the inertial navigation system,
Due to the error of the built-in inertial sensor, the localization error of the self-position increases with time, and there is a problem that the self-localization accuracy of the moving object is greatly deteriorated.

[0005] This is because the inertial sensor itself in the inertial navigation device built in the moving body has an error, and an error occurs in a self-position calculated by integrating the output thereof, and the error increases with time. That is, in principle, an inevitable problem.

[0006] In the case of locating the self-location of a mobile unit by GPS, since a signal from an artificial satellite under the management and operation of the United States is received and located, a system configured using this is used. Does not guarantee its GPS operation or location accuracy from the United States.

SUMMARY OF THE INVENTION It is an object of the present invention to enable a highly accurate localization of a self-position that can be used stably regardless of the time for localizing the self-position.

[0008]

According to a first aspect of the present invention, there is provided a moving object self-localization apparatus, comprising: an aircraft flying around a self-position in a self-localizing system of a moving body incorporating an inertial navigation device; A means for transmitting the navigation data output from an inertial navigation device built into a moving object such as an aircraft or a vehicle, while a transmitting device is mounted on a vehicle traveling on the ground, and a receiving device mounted on the moving object. The apparatus comprises means for receiving navigation data from a plurality of mobile units, and means for calculating a self-position from the received navigation data and data arrival time.

The self-positioning device according to the second invention converts the data of the built-in inertial navigation device into navigation data and adds a time signal so that the transmitting device can determine the self-position on the receiving device side. It has means for transmitting.

Further, a self-positioning device according to a third aspect of the present invention is a mobile receiving device, which receives navigation data from a plurality of mobiles transmitted from the transmitting device, and stores data of the built-in inertial navigation device. And means for calculating the own position from the received navigation data.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 shows an embodiment of a self-positioning device according to the present invention, which includes a navigation device for a flying object equipped with a receiving station that receives navigation data from a plurality of moving objects and locates its own position. And a mobile unit having a transmitting station that transmits navigation data located therearound.

As a transmitting station for transmitting navigation data, for example, a mobile station provided with an inertial navigation device inside the balloon 1, the aircraft 2, the vehicle 4, or the like, or a self-position that is installed at a known location on the ground. There is a fixed station 5 that transmits It is preferable that the inertial navigation device is also mounted on the receiving station, but even if the inertial navigation device is not mounted, the self-position can be located by receiving navigation data from three or more transmitting stations.

The position of the moving object located by the inertial navigation device of the aircraft 2 or the vehicle 4 which is the transmitting station is added with time information by the transmitting device and transmitted to the receiving station. Then, using the navigation data and the time information of the plurality of transmitting stations received by the receiving station mounted on the guidance device of the flying object 3, the arithmetic unit 32 of the receiving station determines the self-position satisfying “Equation 1”. Orient by calculation. Thus, the transmitting station includes means for transmitting the navigation data, the receiving station receiving the navigation data of the plurality of transmitting stations, and means for locating the position of the receiving station based on the navigation data and the arrival time. Thus, the self-position of the flying object can be accurately located, so that the flying object can be guided to the target with high accuracy.

Further, a positioning error of the receiving station occurs due to a positioning error of the inertial navigation device built in each mobile unit. However, the self-position determined by the inertial navigation device built in the receiving station and the moving position of the mobile unit are different. By calculating the difference between the relative distance between the vehicle and the relative distance calculated from the arrival time of the navigation data from each vehicle, for each vehicle, and estimating and correcting the error amount of the self-position, the improvement of the positioning accuracy is improved. Plan and improve the guidance accuracy of the flying object.

As described above, by using the present invention,
It is possible to operate the transmitting station only when it is desired to use the satellite navigation system without being restricted by the operation of the satellite navigation system of another country, and it is not necessary to operate the artificial satellite at all times, so that the operation cost can be reduced. In addition, since it can be independently operated in a limited specific area, it can be used stably.

[0016]

(Equation 1)

Embodiment 2 FIG. FIG. 2 is a diagram showing a transmitting station 10 according to one embodiment of the present invention. The transmitting device 13 adds time information to the self-position data located by the inertial navigation device 11 built in the transmitting station 10 such as the aircraft 2 or the vehicle 4 and transmits the data from the transmitting antenna 12. The position of the receiving station can be located by receiving the position and the transmission time of the mobile unit from the transmitting stations of the plurality of mobile units at the receiving station. When the transmitting station 10 is installed at a known point on the ground, the inertial navigation device 1
1 need not be built-in.

Embodiment 3 FIG. 3 is a diagram of a receiving station 30 showing an embodiment of the present invention. In the receiving station 30, a plurality of transmitting stations 10 are received by the receiving device 33 through the receiving antenna 34.
Receive navigation data from. Then, the arithmetic unit 32 calculates "Equation 1" from the self-position determined by the inertial navigation device 31 incorporated in the receiving station 30, the received navigation data and the arrival time.
Locates the self-position of the receiving station 30.

The transmitting station 10 serving as the aircraft 2 or the vehicle 4
However, the receiving station 34 and the receiving device 33 are mounted to receive navigation data and time information from other transmitting stations, and the arithmetic unit 34 locates the self-position by “Equation 1”, whereby the receiving station 3
It can be 0.

[0020]

According to the present invention, the localization error of the self-position, which has increased with time, can always be kept within a certain precision, and the high-precision self-localization can be performed stably. .

As the number of transmitting stations increases, it is possible to improve the localization accuracy of the receiving station.

[Brief description of the drawings]

FIG. 1 is a diagram showing a schematic configuration of an embodiment of the present invention.

FIG. 2 is a block diagram showing the internal configuration of the transmitting station shown in FIG.

FIG. 3 is a block diagram showing the internal configuration of the receiving station shown in FIG. 1;

[Explanation of symbols]

1 balloon, 2 aircraft, 3 flying objects, 4 vehicles, 5
Fixed station, 10 transmitting station, 11 inertial navigation system, 12
Transmitting antenna, 13 transmitting device, 30 receiving station, 31
Inertial navigation device, 32 arithmetic unit, 33 receiving device, 34
Receiving antenna.

Claims (3)

[Claims] A self-positioning device for a moving object incorporating an inertial navigation device, in which a transmitting device is mounted on an aircraft flying around its own position or a vehicle traveling on the ground, Means for transmitting navigation data output from an inertial navigation device built in a moving body such as a vehicle, means for receiving navigation data from a plurality of moving bodies with a receiving device mounted on the moving body, and navigation received A self-positioning apparatus for a mobile object, comprising: means for calculating a self-position from data and a data arrival time. 2. The transmitting device according to claim 1, further comprising means for converting data of a built-in inertial navigation device into navigation data, adding a time signal, and transmitting the data so that the receiving device can determine its own position. The mobile object self-positioning device according to claim 1. 3. The receiving device receives navigation data from a plurality of moving objects transmitted from the transmitting device, and locates its own position by calculation from data of a built-in inertial navigation device and the received navigation data. The self-positioning device for a moving object according to claim 1, wherein: