| 摘要 |
PURPOSE:To calculate a new bearing after correction and to make it a basic data for subsequent travel by calculating a calculated bearing of a bearing sensor and a bearing by map information by deviation correction input of a road and a travel locus and calculating a new center of the bearing sensor from this. CONSTITUTION:First, a vehicle is turned around once and central values Ax0 and Ay0 of a direction sensor are read and a movement quantity sensor starts counting pulses to calculate the travelled distance l and the bearing theta= tan<-1>{(N-Ay0)/(N-Ax0)}, and a traveling direction components X=-lcostheta, Y=lsintheta are calculates. On the other hand, the true bearing thetaAC and the actual moving bearing thetaAB are calculated from a map and the new center HI=-R' costhetaAB+RcosthetaAC, GI=R' sinthetaAB-RsinthetaAC is calculated with terrestrial magnetism levels in the thetaAB direction before and after correction as R' and R respectively. Lastly, the correct bearing after correction theta=tan<-1>{(N+Ay0+GI)/(N+Ax0+HI)}, A'x0=Ax0+HI, A'y0=Ay0+GI is calculated. Even if a deviation between the travel locus and the road takes place by magnetization, etc., the bearing sensor is also corrected at the same time by correction for coincidence and easily corrected while traveling, and navigation with high accuracy can be made by this constitution. |
