WO1988005155A1 - Procede de navigation pour vehicules equipes d'un compas electronique - Google Patents

Procede de navigation pour vehicules equipes d'un compas electronique Download PDF

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Publication number
WO1988005155A1
WO1988005155A1 PCT/DE1987/000559 DE8700559W WO8805155A1 WO 1988005155 A1 WO1988005155 A1 WO 1988005155A1 DE 8700559 W DE8700559 W DE 8700559W WO 8805155 A1 WO8805155 A1 WO 8805155A1
Authority
WO
WIPO (PCT)
Prior art keywords
locus
values
data buffer
mean values
measured values
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/DE1987/000559
Other languages
German (de)
English (en)
Inventor
Heinz Ewinger
Reinhard HELLDÖRFER
Ulrich Kanzler
Hans Rauch
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO1988005155A1 publication Critical patent/WO1988005155A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
    • G01C17/38—Testing, calibrating, or compensating of compasses

Definitions

  • the invention is based on a method for determining the locus of a magnetic field on a magnetometer which is permanently arranged in a vehicle, according to the preamble of the main claim. Such a method is known from DE-OS 35 09 548.
  • the aim is to determine the locus of the magnetic field effective on the magnetometer or a magnetic field meter with increased accuracy with a circle or rotation of the vehicle when calibrating an electronic compass, in order to determine the direction on the display of the electronic compass during the subsequent navigation to improve.
  • the method according to the invention with the characterizing features of the main claim has the advantage that, by averaging a plurality of measured values recorded in succession, measured value tolerances when determining the elliptical. Locus curve are taken into account and compensated, so that the mean values obtained in this way enable the elliptical locus curve and its parameters to be calculated much more precisely. Another advantage is that with this method, a considerably more accurate directional display of the electronic compass can be realized after the calibration run.
  • FIG. 1 shows a navigation system for a motor vehicle in a block diagram
  • FIG. 2 shows the schematic representation of a data buffer for forming the mean values
  • FIG. 3 shows the division of the elliptical locus into angle segments
  • FIG. 4 shows the elliptical locus for calculating its parameters.
  • FIG. 1 shows a dead reckoning navigation system for motor vehicles, with which the driver can find the desired destination in a foreign environment by specifying the direction of travel and the air line distance (destination finding system). It consists of an input and output unit 10, a microprocessor 11 with a data memory 12 and a displacement sensor 13 and a travel direction sensor 14. The microprocessor 11 is usually included in the input and output unit 10 together with the data memory 12. Pulse generators of a tachometer generator or corresponding transmitters can be used as displacement transmitters 13 the vehicle wheels are used, which may already be in the vehicle. A magnetometer or a magnetic field meter should be used as the direction indicator. The microprocessor with its periphery and the data memory 12 is connected both to the displacement sensor 13, the magnetometer 14 and also to the control buttons and a liquid crystal display 15 of the unit 10.
  • the navigation system is operated with five control buttons. Numerical values can be changed in the direction larger and smaller on the LCD 15 using a rocker button 16. With the actuation of an acknowledgment key 17, the current numerical value displayed on the LCD 15 is stored, which appears in the lower area of the LCD 15 on the display 18. With a function selection key 19, the navigation system is switched within an offered menu, in accordance with a label 25 on the left edge area of the unit 10, the information displayed on the LCD 15 being indicated by an arrow 20 on the LCD 15 at the level of the label 25 . Another key switch 21 is used to switch the dead reckoning system on and off. Another display 22 in the upper LCD area is used to identify targets. A rosette 23 of the LCD 15 with sixteen different invisible arrow segments is used for directional information, the controlled directional arrow 24 representing either the north direction, the direction of travel or the direction of the destination to be approached.
  • the navigation system is designed in such a way that it can be installed in any motor vehicle. To calibrate the navigation system, it is first necessary to take a circular drive with the vehicle to determine the size, shape and position of the elliptical locus. During the subsequent navigation trips, the measured values transmitted from the magnetometer 14 to the microprocessor 11 can then each be assigned to a point on the local curve on the basis of the determined and stored locus curve, and the north direction or the direction of travel of the vehicle can be calculated and displayed therefrom.
  • FIG. 2 shows a data buffer 12a with a fixed memory length, which forms part of the data memory 12 from FIG. 1.
  • the data buffer 12a In the data buffer 12a, during the calibration of the navigation system, averages are formed from the large number of measured values which are output by the magnetometer 14 during the circular movement and recorded by the evaluation circuit by averaging a plurality of measured values which are read in cyclically and one after the other and are temporarily stored in the data buffer 12a . Since the data buffer 12a has a fixed length, only a certain number of mean values can be temporarily stored in it. The number of measured values of the magnetometer recorded during the circular travel of the vehicle is not predetermined, since the measured values occur in a fixed cycle time of approximately 100 ms and thus the total number of measured values recorded from the driving speed or rotational speed of the vehicle during the circular travel or the full one Vehicle rotation depends.
  • the display of the measured values used for averaging is therefore determined by the evaluation circuit from the ratio of the total number of all measured values recorded during the circular drive and the number of storage locations in the data buffer 12a. For this purpose, mean values formed several times in succession or previously are read into the data buffer 12a, these are then averaged in pairs and the new mean values are then temporarily stored in the data buffer 12a instead of the previous values.
  • the procedure shown in the schematic illustration in FIG. 2 is advantageous. There, averaging must be carried out in several passes whenever the data buffer 12a is filled beforehand during the calibration run. At the beginning of the calibration run, a first part of the measured values P1 to P50 is read into the data buffer 12a and buffered until it is fully loaded. This can be seen from the left column of the schematic illustration in FIG. 2.
  • the first averaging follows, in which two successive measurements are made from the stored measured values evaluate z. B.
  • P1, P2 a mean ml is formed.
  • the mean values ml to m25 obtained in this way are now temporarily stored in the data buffer 12a instead of the previous measured values P1 to P50, which are now only half full.
  • measured values are first averaged in pairs in front of the data buffer 12a and then these mean values, e.g. P51 / 2 + P52 / 2 entered in the data buffer 12a until it is refilled.
  • This first averaging can be seen in column 2 of the schematic illustration in FIG. 2.
  • two mean values are again formed in the data buffer 12a and these are then stored in the data buffer 12a instead of the previous mean values. For example, they result from m1 / 2 + m2 / 2.
  • the data buffer 12a is again only half full and it is again filled up with mean values from a corresponding number of further measured values P100 / 4 to P104 / 4 etc.
  • a third mean is again used to form a new mean from two successive mean values. It corresponds to the mean value from the first eight measured values P1 ... P8 or from the first four mean values m1 ... m4.
  • the data buffer 12a which is then only half full, is then refilled with further mean values from a corresponding number of further measured values. This averaging and filling of the data buffer 12a is continued until, at the end of the first circular travel of the vehicle, all measured values P recorded with the same averaging are temporarily stored in the data buffer 12a as the final average values m.
  • the large and the small semiaxis, the rotation and the displacement of the elliptical locus curve with respect to the origin of the coordinates are determined in the evaluation circuit as parameters.
  • FIG. 3 and FIG. 4 it is explained how the parameters for the elliptical locus curve to increase the measurement accuracy of the navigation system are checked several times at the end of the circular drive and corrected if necessary.
  • the maximum and minimum values on the X and Y axes of the coordinate system are acquired from the mean values m stored in the data buffer 12a and a first center point M of the locus O is calculated therefrom.
  • the elliptical locus O is now divided into a certain number of, for example, 24 equally large angle segments w with the segment angle ⁇ .
  • the mean values m stored in the data buffer 12a are now assigned to these angle segments w.
  • a so-called real value e of the elliptical locus curve O is then formed by a further averaging of these values and this is temporarily stored in the data memory 12.
  • a new center point Mo is now determined from the real values e of the locus curve O thus obtained for each angle segment w.
  • the locus O is broken down again into the angle segments w and new real values e of the locus O are formed from the mean values m assigned to them in the data buffer 12a and temporarily stored.
  • the evaluation circuit then repeats the determination of a further center point and new real values of the locus curve until the center point Mo is no longer shifted in two successive calculation runs.
  • individual mean values m in the data memory 12a can be counted in the successive calculation runs first to one angle segment and then to another, adjacent angle segment. It is essential for increasing the accuracy of measurement that the real values e found now represent the locus O at uniform angular intervals.
  • the first point Pa is chosen arbitrarily by the evaluation circuit.
  • the semiaxes a1, a2, b1 and b2 of these points to the center are calculated.
  • a difference value is then determined in pairs from the semiaxes of these points (a1-a2, b1-b2) and this difference value is temporarily stored in the data memory 12.
  • a further four points of the locus curve O each offset by 90 ° to one another, are determined, and here too the difference value of their semiaxes is calculated and compared with the stored difference value.
  • These process steps are now continued by the evaluation circuit and the difference values are compared with one another until a minimal difference value is present. This results at the four points E1, E2, E3 and E4, which are assigned to the large and the small semiaxis of the elliptical locus 0. It is advisable not to simply add the difference values of the large and small semiaxes of four points on the locus to form a total difference value, but rather to form this difference value D of four points on the locus according to the following algorithm:
  • Weighting factors of ⁇ 1 are chosen with x1 and x2.
  • the values a1, a2, b1, b2 form the semiaxes of the four points, each offset by 90 ° to the center point Mo of the locus O.
  • the calibration phase for determining the center point of the ellipse can be shortened by first averaging all of them mean values standing in the data buffer 12a and is determined in the further calculation runs by averaging the real values e found previously. It is also possible to add up all the X and Y measured values recorded during the circular drive, to divide the sum by the number of measured values and thus to form a first X and Y value for the center M of the locus curve O.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)

Abstract

Un procédé permet d'indiquer la direction de déplacement d'un vécicule par la détermination du lieu géométrique d'un champ magnétique sur un magnétomètre fixé sur le véhicule. Ce magnétomètre comporte deux sondes perpendiculaires l'une à l'autre et est relié à un circuit d'évaluation qui saisit cycliquement sous forme de valeurs électriques les composantes du champ magnétique actif à cet endroit-là, mesurées par les sondes. On traite les valeurs mesurées (P) pour déterminer l'orientation du champ magnétique terrestre, le nord ou la direction de déplacement du véhicule, en traitant une pluralité de valeurs (P) mesurées, lors d'un premier parcours circulaire du véhicule, afin de déterminer les paramètres du lieu géométrique. Le calcul de la moyenne de plusieurs valeurs (P1, P2) mesurées cycliquement les unes après les autres à partir de la pluralité de valeurs de mesure (P) saisies lors du parcours circulaire du véhicule permet d'établir des valeurs moyennes (m1) qui sont stockées temporairement dans une mémoire-tampon (12a) de capacité fixe, en vue de la détermination ultérieure des paramètres du lieu géométrique.
PCT/DE1987/000559 1986-12-30 1987-11-28 Procede de navigation pour vehicules equipes d'un compas electronique Ceased WO1988005155A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DEP3644682.3 1986-12-30
DE19863644682 DE3644682A1 (de) 1986-12-30 1986-12-30 Navigationsverfahren fuer fahrzeuge mit elektronischem kompass

Publications (1)

Publication Number Publication Date
WO1988005155A1 true WO1988005155A1 (fr) 1988-07-14

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Application Number Title Priority Date Filing Date
PCT/DE1987/000559 Ceased WO1988005155A1 (fr) 1986-12-30 1987-11-28 Procede de navigation pour vehicules equipes d'un compas electronique

Country Status (5)

Country Link
EP (1) EP0340219A1 (fr)
JP (1) JPH02501856A (fr)
AU (1) AU599727B2 (fr)
DE (1) DE3644682A1 (fr)
WO (1) WO1988005155A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4989333A (en) * 1986-12-30 1991-02-05 Robert Bosch Gmbh Navigation method for vehicles with electronic compass
EP0451839A3 (en) * 1990-04-12 1992-12-09 Matsushita Electric Industrial Co., Ltd. Direction finding apparatus
EP0512317A3 (en) * 1991-05-10 1993-03-17 Mannesmann Kienzle Gmbh Method for determining the track of a vehicle using less memory
US7225551B2 (en) * 2004-04-07 2007-06-05 Siemens Vdo Automotive Corporation Electronic compass and method for tracking vehicle rotation

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2098764C1 (ru) * 1996-05-29 1997-12-10 Русланов Александр Семенович Способ определения местоположения подвижных объектов и устройство для его реализации
JP4650150B2 (ja) * 2005-07-29 2011-03-16 富士ゼロックス株式会社 マグネットロールの磁力データ補正方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3509548A1 (de) * 1985-03-16 1986-09-18 Robert Bosch Gmbh, 7000 Stuttgart Verfahren zur ermittlung der fahrtrichtung eines fahrzeuges mit elektronischem kompass

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2484079A1 (fr) * 1980-06-05 1981-12-11 Crouzet Sa Procede de compensation des perturbations magnetiques dans la determination d'un cap magnetique, et dispositif pour la mise en oeuvre de ce procede
DE3341347A1 (de) * 1983-11-15 1985-05-23 Siemens AG, 1000 Berlin und 8000 München Koppelnavigationsverfahren fuer strassenfahrzeuge und einrichtung zur durchfuehrung des verfahrens
DE3644683A1 (de) * 1986-12-30 1988-07-14 Bosch Gmbh Robert Navigationsverfahren fuer fahrzeuge mit elektronischem kompass
DE3644681A1 (de) * 1986-12-30 1988-07-14 Bosch Gmbh Robert Navigationsverfahren fuer fahrzeuge mit elektronischem kompass

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3509548A1 (de) * 1985-03-16 1986-09-18 Robert Bosch Gmbh, 7000 Stuttgart Verfahren zur ermittlung der fahrtrichtung eines fahrzeuges mit elektronischem kompass

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4989333A (en) * 1986-12-30 1991-02-05 Robert Bosch Gmbh Navigation method for vehicles with electronic compass
EP0451839A3 (en) * 1990-04-12 1992-12-09 Matsushita Electric Industrial Co., Ltd. Direction finding apparatus
US5276626A (en) * 1990-04-12 1994-01-04 Matsushita Electric Industrial Co., Ltd. Direction finding method and apparatus for correcting magnetization of a vehicle
EP0512317A3 (en) * 1991-05-10 1993-03-17 Mannesmann Kienzle Gmbh Method for determining the track of a vehicle using less memory
US7225551B2 (en) * 2004-04-07 2007-06-05 Siemens Vdo Automotive Corporation Electronic compass and method for tracking vehicle rotation

Also Published As

Publication number Publication date
JPH02501856A (ja) 1990-06-21
AU8238787A (en) 1988-07-27
AU599727B2 (en) 1990-07-26
DE3644682A1 (de) 1988-07-14
EP0340219A1 (fr) 1989-11-08

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