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Movement detecting device
| Details |
Inventors: Tano, Michiyasu; Miyasaka, Tsutomu;
Assignee: Data Tec Co., Ltd. (JP)
Primary Examiner: Shah; Kamini
Assistant Examiner:
Attorney, Agent or Firm: Bachman & LaPointe, P.C.
A movement detecting device capable of accurately measuring the position, the speed and the azimuth of a moving object, such as a vehicle, by using GPS signals without applying a particular alteration to the moving object, is purposed. For realizing it, in an arithmetic control section 3, especially in a speed arithmetic processing section 41, an azimuth arithmetic processing section 42 and a position arithmetic processing section 43, data about relationship between the absolute speed, etc. based on the GPS signals and the relative speed, etc. based on an inertia sensor 5 are derived when the GPS signals are normally received, and data about the actual speed and azimuth of the moving object are derived using the foregoing data about the relationship and the relative speed, etc. when the GPS signals are not received. |
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DETAILED DESCRIPTION We claim: 1.
A movement detecting device comprising: GPS arithmetic means for producing first movement data based on GPS signals, said first movement data including variation components of an absolute position, an absolute speed and an absolute azimuth of a moving object; an inertia sensor for detecting an acceleration generated in a traveling direction of the moving object and an angular velocity generated about an axis having a fixed inclination relative to the traveling direction; means for producing second movement data from the acceleration and the angular velocity measured by said inertia sensor, said second movement data including variation components of a relative position, a relative speed and a relative azimuth of the moving object; and arithmetic control means for correcting said first and second movement data based on the mutual data and producing actual movement data including an actual position, an actual speed and an actual azimuth of the moving object through calculation, wherein said arithmetic control means comprises a speed arithmetic processing section which comprises: (1) means for deriving a first motion acceleration (EGX) from a variation of a combined speed obtained through a filter combination of said absolute speed (VGX) and said relative speed (VX), and means for deriving a first gravitational acceleration (.
alpha.
) by subtracting the first motion acceleration (EGX) from acceleration data (AX); (2) means for converting angular data (.
theta.
) obtained by integrating angular velocity data (q) into a second gravitational acceleration (.
beta.
); (3) means for converting a third gravitational acceleration (ax) obtained through a filter combination of the first and second gravitational accelerations (.
alpha.
, .
beta.
) into a fourth gravitational acceleration (.
beta.
x) based on a reference inclination; (4) means for deriving an error (.
epsilon.
) between the first gravitational acceleration (.
alpha.
) and the fourth gravitational acceleration (.
beta.
x); and (5) means for correcting the second gravitational acceleration (
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Navigation and GPS 
