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    • 2. 发明授权
    • Velocity detection, position detection and navigation system
    • 速度检测,位置检测和导航系统
    • US07505865B2
    • 2009-03-17
    • US11510689
    • 2006-08-28
    • Masashi OhkuboTomohisa Takaoka
    • Masashi OhkuboTomohisa Takaoka
    • G06F19/00G01P3/50
    • G01C21/28G01P3/62G01P7/00
    • As an embodiment of the present invention, in a navigation system using an acceleration sensor, when position information cannot be obtained from a GPS processing section, a velocity detecting unit performs an operation using detected acceleration αG, a measurement time mt, a velocity V0 at a time t0, gravity acceleration g and an amount of height change Dh, according to Expression (11). By using the relationship among a gravity acceleration component gf, the gravity acceleration g, the amount of height change Dh and distance Dm shown in Expression (4), the gravity acceleration component gf can be offset by the amount of height change Dh. Therefore, velocity V can be calculated with high accuracy without receiving the effect of the gravity acceleration component gf.
    • 作为本发明的实施方式,在使用加速度传感器的导航系统中,当不能从GPS处理部获取位置信息时,速度检测部使用检测加速度αG,测量时间mt,速度V0在 时间t0,重力加速度g和高度变化量Dh,根据式(11)。 通过使用重力加速度分量gf,重力加速度g,表达式(4)所示的高度变化量Dh和距离Dm之间的关系,重力加速度分量gf可以抵消高度变化量Dh。 因此,可以高精度地计算速度V,而不会受到重力加速度分量gf的影响。
    • 3. 发明授权
    • Velocity calculating device, velocity calculation method, and navigation device
    • 速度计算装置,速度计算方法和导航装置
    • US08649978B2
    • 2014-02-11
    • US12846179
    • 2010-07-29
    • Tomohisa Takaoka
    • Tomohisa Takaoka
    • G01C21/16G01P15/00
    • G01P3/50G01C21/165G01P3/22
    • Provided is a velocity calculating device including a vertical acceleration detector that detects a vertical acceleration generated due to an undulation of a contact surface; a horizontal angular velocity detector that detects a horizontal angular velocity generated due to the undulation; a correlation coefficient calculator that calculates a correlation coefficient that represents a degree to which an acceleration in the direction of travel is mixed into the vertical acceleration in accordance with an attachment angle; a true vertical acceleration detector that calculates a true vertical acceleration by subtracting the acceleration in the direction of travel mixed into the vertical acceleration from the vertical acceleration, the acceleration in the direction of travel mixed into the vertical acceleration being calculated using the correlation coefficient; and a velocity calculator that calculates a velocity of a moving body on the basis of the true vertical acceleration and the horizontal angular velocity.
    • 提供一种速度计算装置,包括:垂直加速度检测器,其检测由于接触面的起伏而产生的垂直加速度; 水平角速度检​​测器,其检测由于波动产生的水平角速度; 相关系数计算器,其根据安装角度计算表示行进方向上的加速度与垂直加速度混合的程度的相关系数; 通过从垂直加速度中减去混入垂直加速度的行进方向的加速度,使用相关系数计算混合在垂直加速度中的行进方向的加速度,计算出真正的垂直加速度; 以及速度计算器,其基于真实的垂直加速度和水平角速度来计算移动体的速度。
    • 5. 发明申请
    • Offset detection of acceleration sensor and navigation system
    • 加速度传感器和导航系统的偏移检测
    • US20070067096A1
    • 2007-03-22
    • US11510690
    • 2006-08-28
    • Masashi OhkuboTomohisa Takaoka
    • Masashi OhkuboTomohisa Takaoka
    • G01C21/00
    • G01C21/28G01P7/00
    • To accurately detect a zero gravity offset in an acceleration sensor. As an embodiment of the present invention, in the case where position information can be obtained from a GPS processing section, a velocity detecting unit performs an operation according to Expression (15), using real detected acceleration αGr that was actually obtained from the acceleration sensor, vehicle acceleration αP based on the position information, distance Dm, an amount of height change Dh based on pressure PR, and gravity acceleration g. Therefore, offset acceleration αo can be accurately calculated, and an acceleration detection signal can be converted into detected acceleration αG with high accuracy, based on a zero gravity offset value Vzgo by that the above offset acceleration αo was converted.
    • 准确检测加速度传感器中的零重力偏移。 作为本发明的一个实施方式,在从GPS处理部获取位置信息的情况下,速度检测部使用从加速度传感器实际获得的实际检测加速度αGr进行根据式(15)的动作 ,基于位置信息的车辆加速度αP,距离Dm,基于压力PR的高度变化量Dh和重力加速度g。 因此,通过上述偏移加速度αo被转换,基于零重力偏移值Vzgo,可以精确地计算偏移加速度αo,并且可以高精度地将加速度检测信号转换为检测加速度αG。
    • 6. 发明授权
    • Navigation apparatus and position detection method
    • 导航装置和位置检测方法
    • US07945384B2
    • 2011-05-17
    • US11846827
    • 2007-08-29
    • Tomohisa TakaokaYoshitaka Suga
    • Tomohisa TakaokaYoshitaka Suga
    • G01C21/16
    • G01C21/28G01C21/265
    • A navigation apparatus includes: a main unit to be attached to a mobile object through a base section, the main unit detecting a current position of the mobile object based on positioning information; a section that calculates acceleration applied to the mobile object based on the mobile object's speed; an acceleration sensor that observes acceleration applied to the main unit; a section that calculates an attachment inclination of the acceleration sensor with respect to the mobile object; a section that estimates, while the positioning information is not being supplied, a speed and position of the mobile object; a section that detects whether the main unit is mounted on the base section; and a section that forces the above section to stop estimating the speed when the main unit is not mounted on the base section.
    • 一种导航装置,包括:主单元,其通过基部附接到移动体,所述主单元基于定位信息检测所述移动体的当前位置; 基于移动对象的速度来计算应用于移动对象的加速度的部分; 加速度传感器,其观察施加到主单元的加速度; 计算加速度传感器相对于移动体的附着倾斜度的部分; 当没有提供定位信息时估计移动对象的速度和位置的部分; 检测主体是否安装在基部上的部分; 以及当主单元未安装在基座部分时迫使上述部分停止估计速度的部分。
    • 7. 发明申请
    • Navigation Apparatus and Position Detection Method
    • 导航装置和位置检测方法
    • US20080114545A1
    • 2008-05-15
    • US11846827
    • 2007-08-29
    • Tomohisa TakaokaYoshitaka Suga
    • Tomohisa TakaokaYoshitaka Suga
    • G01C21/00
    • G01C21/28G01C21/265
    • A navigation apparatus includes: a main unit to be attached to a mobile object through a base section, the main unit detecting a current position of the mobile object based on positioning information; a section that calculates acceleration applied to the mobile object based on the mobile object's speed; an acceleration sensor that observes acceleration applied to the main unit; a section that calculates an attachment inclination of the acceleration sensor with respect to the mobile object; a section that estimates, while the positioning information is not being supplied, a speed and position of the mobile object; a section that detects whether the main unit is mounted on the base section; and a section that forces the above section to stop estimating the speed when the main unit is not mounted on the base section.
    • 一种导航装置,包括:主单元,其通过基部附接到移动体,所述主单元基于定位信息检测所述移动体的当前位置; 基于移动对象的速度来计算应用于移动对象的加速度的部分; 加速度传感器,其观察施加到主单元的加速度; 计算加速度传感器相对于移动体的附着倾斜度的部分; 当没有提供定位信息时估计移动对象的速度和位置的部分; 检测主体是否安装在基部上的部分; 以及当主单元未安装在基座部分时迫使上述部分停止估计速度的部分。
    • 8. 发明申请
    • Navigation Apparatus and Navigation Information Calculation Method
    • 导航仪和导航信息计算方法
    • US20080109166A1
    • 2008-05-08
    • US11846748
    • 2007-08-29
    • Tomohisa TakaokaMasashi Ohkubo
    • Tomohisa TakaokaMasashi Ohkubo
    • G01C21/16G06F17/10
    • G01C21/28G01C5/06
    • A navigation apparatus includes: a section that calculates a mobile object's acceleration in the direction of the motion, based on the mobile object's speed calculated from information received from a satellite; a section that calculates lateral acceleration whose direction is perpendicular to the mobile object's motion, based on the mobile object's speed and direction calculated from information received from the satellite; an acceleration sensor that observes motion acceleration of the mobile object and gravity acceleration; a section that calculates an altitude difference of road based on an atmospheric pressure value supplied from a barometric sensor; a section that calculates an inclination angle of the road in the direction of the motion, based on the altitude difference and a travel distance corresponding to the mobile object's speed; and a section that calculates an attachment angle of the acceleration sensor with respect to the mobile object by using a multidimensional function formula.
    • 导航装置包括:基于从从卫星接收的信息计算出的移动对象的速度,计算移动对象在运动方向上的加速度的部分; 根据从卫星接收的信息计算出的移动体的速度和方向,计算方向与移动体的运动垂直的横向加速度的部分; 观察移动物体的运动加速度和重力加速度的加速度传感器; 基于从气压传感器提供的大气压力值计算道路的高度差的部分; 基于与所述移动体的速度对应的高度差和行驶距离,计算所述道路在所述运动方向上的倾斜角度的部分; 以及通过使用多维函数式计算加速度传感器相对于移动体的附着角度的部分。
    • 9. 发明申请
    • Velocity detection, position detection and navigation system
    • 速度检测,位置检测和导航系统
    • US20070067137A1
    • 2007-03-22
    • US11510689
    • 2006-08-28
    • Masashi OhkuboTomohisa Takaoka
    • Masashi OhkuboTomohisa Takaoka
    • G01P3/64G01C23/00G01C21/12
    • G01C21/28G01P3/62G01P7/00
    • As an embodiment of the present invention, in a navigation system using an acceleration sensor, when position information cannot be obtained from a GPS processing section, a velocity detecting unit performs an operation using detected acceleration αG, a measurement time mt, a velocity V0 at a time t0, gravity acceleration g and an amount of height change Dh, according to Expression (11). By using the relationship among a gravity acceleration component gf, the gravity acceleration g, the amount of height change Dh and distance Dm shown in Expression (4), the gravity acceleration component gf can be offset by the amount of height change Dh. Therefore, velocity V can be calculated with high accuracy without receiving the effect of the gravity acceleration component gf.
    • 作为本发明的实施例,在使用加速度传感器的导航系统中,当不能从GPS处理部获取位置信息时,速度检测部使用检测加速度αG,测量时间mt,速度V 0 在时刻t 0,重力加速度g和高度变化量Dh,根据式(11)。 通过使用重力加速度分量gf,重力加速度g,表达式(4)所示的高度变化量Dh和距离Dm之间的关系,重力加速度分量gf可以抵消高度变化量Dh。 因此,可以高精度地计算速度V,而不会受到重力加速度分量gf的影响。