DE10031244A1 - Position and location determination system for e.g. truck with trailer, has computerized evaluation unit to evaluate measurement values of single differential GPS navigation receiver, compass and bend angle sensor - Google Patents

Position and location determination system for e.g. truck with trailer, has computerized evaluation unit to evaluate measurement values of single differential GPS navigation receiver, compass and bend angle sensor

Info

Publication number
DE10031244A1
DE10031244A1 DE2000131244 DE10031244A DE10031244A1 DE 10031244 A1 DE10031244 A1 DE 10031244A1 DE 2000131244 DE2000131244 DE 2000131244 DE 10031244 A DE10031244 A DE 10031244A DE 10031244 A1 DE10031244 A1 DE 10031244A1
Authority
DE
Germany
Prior art keywords
trailer
truck
compass
navigation receiver
evaluation unit
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.)
Withdrawn
Application number
DE2000131244
Other languages
German (de)
Inventor
Wolf-Dietrich Bauer
Albert Kirchmann
Andreas Schwarzhaupt
Gernot Spiegelberg
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.)
Mercedes Benz Group AG
Original Assignee
DaimlerChrysler AG
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 DaimlerChrysler AG filed Critical DaimlerChrysler AG
Priority to DE2000131244 priority Critical patent/DE10031244A1/en
Publication of DE10031244A1 publication Critical patent/DE10031244A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

A single differential GPS (DGPS) satellite navigation receiver (3) and an electronically readable compass (4), are provided in a truck (1) while a bend angle sensor (6) and an electronically readable compass (5) are provided in a trailer (2). A computerized evaluation unit determines the position and location of truck and trailer, by evaluating the respective measurement values.

Description

Die Erfindung betrifft ein Positions- und Lagebestimmungssystem für Lastkraftwagen gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a position and attitude determination system for trucks according to the preamble of claim 1.

Zum automatischen Fortbewegen eines Lastkraftwagens mit Anhän­ ger ist es notwendig, sowohl die Position und Lage des Last­ kraftwagens als auch die Position und Lage des Anhängers zu erfassen. Es ist bekannt, zur Lösung dieser Aufgabe auf dem Lastkraftwagen zwei und auf dem Anhänger einen differentiellen GPS-Satellitennavigationsempfänger(DGPS) zu installieren und die Messergebnisse dieser drei DGPS-Empfänger mit einem Rechner auszuwerten. Die Verwendung von drei DGPS-Empfängern ist aber relativ kostenaufwendig.For automatically moving a truck with a trailer ger it is necessary both the position and location of the load motor vehicle as well as the position and location of the trailer to capture. It is known to solve this problem on the Two trucks and a differential on the trailer Install and install GPS satellite navigation receiver (DGPS) the measurement results of these three DGPS receivers with one computer evaluate. The use of three DGPS receivers is however relatively expensive.

Der Erfindung liegt die Aufgabe zugrunde, ein preiswertes Positions- und Lagebestimmungssystem für einen Lastkraftwagen mit Anhänger zu schaffen.The invention has for its object an inexpensive Position and position determination system for a truck to create with trailers.

Diese Aufgabe wird erfindungsgemäß durch die Merkmale des Patentanspruchs 1 gelöst. Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.This object is achieved by the features of Claim 1 solved. Developments of the invention are in specified in the subclaims.

Mit der erfindungsgemäßen Lösung können zwei der drei DGPS- Empfänger eingespart werden. Erfindungsgemäß werden zur Lage­ bestimmung von LKW und Anhänger jeweils ein elektronisch auslesbarer Kompass verwendet. Die Position des Lastkraftwagens wird mit einem DGPS-Empfänger messtechnisch ermittelt. Die Position des Anhängers wird durch eine Auswertung der voran­ gehend genannten Messmittel und durch eine Auswertung eines Knickwinkelsensors in einem Mikroprozessor rechnerisch ermittelt. Mit dem Knickwinkelsensor wird der horizontale Verdrehwinkel der Anhängerdeichsel messtechnisch erfasst.With the solution according to the invention, two of the three DGPS Receiver saved. According to the situation determination of truck and trailer one electronically readable compass used. The position of the truck is measured using a DGPS receiver. The Position of the trailer is advanced by evaluating the measuring equipment and by evaluating a Computational angle sensor in a microprocessor  determined. With the articulation angle sensor the horizontal The torsion angle of the trailer drawbar is measured.

Die erfindungsgemäße Lösung läßt sich auch vorteilhaft auf Sattelschlepper anwenden, wobei in diesem Anwendungsfall kein Knickwinkelsensor benötigt wird. Der Knickwinkel zwischen Zugmaschine und Anhänger ergibt sich einfach aus einer Aus­ wertung der beiden Kompasse.The solution according to the invention can also be used advantageously Use articulated lorries, but in this application none Articulation angle sensor is required. The kink angle between Tractor and trailer simply result from an off evaluation of the two compasses.

Anhand der Zeichnung werden nachstehend Ausführungsbeispiele der Erfindung näher erläutert.Exemplary embodiments are shown below with the aid of the drawing the invention explained in more detail.

Fig. 1 zeigt einen Lastkraftwagen mit den erfindungsgemäß ver­ wendeten Meßmitteln zur Positions- und Lagebestimmung und Fig. 1 shows a truck with the measuring means used according to the invention for position and position determination and

Fig. 2 zeigt einen Sattelschlepper mit dementsprechenden Mess­ mitteln. Fig. 2 shows a semitrailer with the corresponding measuring means.

An den in Fig. 1 gezeigten Lastkraftwagen 1 ist ein Anhänger 2 mittels seiner Deichsel 7 gehängt. Der Lastkraftwagen 1 ist mit einem Satellitennavigationsempfänger 3 und einem elektronisch auslesbaren Kompass 4 und der Anhänger 2 ist mit einem elek­ tronisch auslesbaren Kompass 5 und mit einem Knickwinkelsensor 6 ausgerüstet.At the locations shown in FIG. 1 lorry 1, a tag 2 is suspended by means of its tongue. 7 The truck 1 is equipped with a satellite navigation receiver 3 and an electronically readable compass 4 and the trailer 2 is equipped with an electronically readable compass 5 and with an articulation angle sensor 6 .

Als Satellitennavigationsempfänger 3 ist beispielsweise ein differentieller GPS-Satellitenemfänger (DGPS) verwendet, der eine für die erfindungsgemäße Lösung geeignete Genauigkeit bei der Positionsbestimmung aufweist. Die gegenüber einem normalen GPS-Satellitenemfänger erhöhte Genauigkeit wird bei diesem Navigationssystem bekannterweise durch zusätzliche ortsfeste, erdgebundene Receiver erreicht, mit denen aufgrund ihrer bekannten Position die Fehlergröße der aus dem Weltall empfangenen, normalen GPS-Signale ermittelbar ist und zur Fehlerkompensation an den DGPS-Empfänger gesendet wird. A differential GPS satellite receiver (DGPS), for example, is used as the satellite navigation receiver 3 and has an accuracy in determining the position that is suitable for the solution according to the invention. The increased accuracy compared to a normal GPS satellite receiver is known to be achieved in this navigation system by additional fixed, earthbound receivers with which, based on their known position, the error size of the normal GPS signals received from space can be determined and for error compensation to the DGPS receiver is sent.

Bei den Kompassen 4, 5 handelt es sich beispielsweise um elek­ tronische Kompasse, die unter dem Handelsnamen "Fluxgate-Kom­ pass" bekannt sind. Es können aber auch andere Kompasse Ver­ wendung finden, z. B. der bekannte Kompass mit der Magnetfeld­ nadel, der zusätzlich eine elektronische Auslesung für die Ausrichtung der Magnetfeldnadel im Erdmagnetfeld aufweist. Die Inklination des Erdmagnetfeldes und die Deklination des Erdmag­ netfeldes für die spezifischen Fahrzeuge und Anhänger ist zur Fehlerkompensation in dem Rechner abgespeichert, der zur Aus­ wertung der Messergebnisse verwendet wird.The compasses 4 , 5 are, for example, electronic compasses which are known under the trade name "Fluxgate-Kom pass". However, other compasses can also be used, e.g. B. the known compass with the magnetic field needle, which additionally has an electronic readout for the alignment of the magnetic field needle in the earth's magnetic field. The inclination of the earth's magnetic field and the declination of the earth's magnetic field for the specific vehicles and trailers is stored in the computer for error compensation, which is used to evaluate the measurement results.

Die Positionierung des Satellitenempfängers 3 und der Kompasse 4, 5 kann auf den Fahrzeugen und Anhängern an beliebigen, geeigneten Orten erfolgen, die dem Rechner zur Auswertung der Positions- und Lagebestimmung aber bekannt sein müssen.The positioning of the satellite receiver 3 and the compasses 4 , 5 can take place on the vehicles and trailers at any suitable location, which must be known to the computer in order to evaluate the position and position determination.

Mit dem Knickwinkelsensor 6 wird eine horizontale Verdrehung der Deichsel 7 des Anhängers 2 in Bezug auf eine körperfeste Koordinate des Anhängers ermittelt, z. B. in Bezug auf seine Längsachse.With the articulation angle sensor 6 , a horizontal rotation of the drawbar 7 of the trailer 2 is determined in relation to a body-fixed coordinate of the trailer, for. B. in relation to its longitudinal axis.

In einer rechnerunterstützten Auswerteeinheit wird erfindungs­ gemäß aus den ermittelten Messwerten für die Position des Lastkraftwagens, für die Lagen und für den Verdrehwinkel und aus in der Auswerteeinheit abgespeicherten Daten über die Abmessungen des Lastkraftwagens und des Anhängers und Instal­ lationsorte aller Messmittel die Position des Anhängers durch eine für den Fachmann einfach herleitbare geometrische Berechnung ermittelt.In a computer-aided evaluation unit, fiction according to the measured values determined for the position of the Truck, for the positions and for the angle of rotation and from data stored in the evaluation unit via the Dimensions of the truck and trailer and instal locations of all measuring devices the position of the trailer a geometric one that is easy to derive for the expert Calculation determined.

Die Auswerteeinheit kann sich an Bord des Lastkraftwagens befinden oder als externe Einheit telemetrisch mit dem Last­ wagen über Kabel oder Funk verbunden sein. In ihr sind ebenfalls die relevanten Daten zu der Inklination und Deklination des Erdmagnetfeldes abgespeichert, die zur Korrektur der gemessenen Lagen benötigt werden. The evaluation unit can be on board the truck located or as an external unit telemetric with the load car connected via cable or radio. Are in it also the relevant data on inclination and Declination of the earth's magnetic field is stored, which for Correction of the measured positions are required.  

Fig. 2 zeigt die Anwendung der erfindungsgemäßen Lösung bei einem Sattelschlepper mit einer Zugmaschine 8 und einem Sattel­ schlepperanhänger 9. Die Zugmaschine ist mit einem Satelliten­ navigationsempfänger 3 und einem Kompass 4 und der Sattel­ schlepperanhänger mit einem Kompass 5 ausgerüstet. Fig. 2 shows the application of the solution according to the invention in a semi-trailer with a tractor 8 and a semi-trailer 9 . The tractor is equipped with a satellite navigation receiver 3 and a compass 4 and the semitrailer tractor trailer with a compass 5 .

Die Messergebnise werden wie in dem vorangehend beschriebenen Ausführungsbeispiel in einer rechnerunterstützten Auswerte­ einheit im Fahrzeug oder extern zur Postions- und Lagebestim­ mung von Zugmaschine und Sattelschlepperanhänger ausgewertet.The measurement results are as described in the above Embodiment in a computer-aided evaluation unit in the vehicle or external to the position and position determination evaluation of tractor and semi-trailer.

LegendeLegend

11

Lastkraftwagen
Lorry

22

Anhänger
pendant

33

Satellitennavigationsempfänger
Satellite navigation receiver

44

Kompass
compass

55

Kompass
compass

66

Knickwinkelsensor
Articulation angle sensor

77

Deichsel
shaft

88th

Zugmaschine
tractor

99

Sattelschlepperanhänger
Articulated lorry trailer

Claims (4)

1. Positions- und Lagebestimmungssystem für einen Lastkraft­ wagen mit Anhänger mit mindestens einem in dem Lastkraftwagen fest installierten Satellitennavigationsempfänger, dadurch gekennzeichnet, dass der Lastkraftwagen (1) einen Satelliten­ navigationsempfänger (3) und einen elektronisch auslesbaren Kompass (4)aufweist, dass der Anhänger (2) einen Knickwinkel­ sensor (6) und einen elektronisch auslesbaren Kompass (5) aufweist und dass die mit diesen Geräten ermittelten Messwerte einer rechnerunterstützten Auswerteeinheit zugeführt sind, welche daraus die Positionen und Lagen für den Lastkraftwagen und Anhänger fortlaufend ermittelt.1. Position and position determination system for a truck with trailer with at least one satellite navigation receiver permanently installed in the truck, characterized in that the truck ( 1 ) has a satellite navigation receiver ( 3 ) and an electronically readable compass ( 4 ) that the trailer ( 2 ) has an articulation angle sensor ( 6 ) and an electronically readable compass ( 5 ) and that the measured values determined with these devices are fed to a computer-assisted evaluation unit, which continuously determines the positions and positions for the truck and trailer. 2. Positions- und Lagebestimmungssystem für einen Sattel­ schlepper mit mindestens einem fest installierten Satelliten­ navigationsempfänger, dadurch gekennzeichnet, dass die Zugma­ schine (8) des Sattelschleppers einen Satellitennavigations­ empfänger (3) und einen elektronisch auslesbaren Kompass (4) aufweist, dass der Sattelschlepperanhänger (9) einen elektro­ nisch auslesbaren Kompass (5) aufweist und dass die mit diesen Geräten ermittelten Messwerte einer rechnerunterstützten Auswerteeinheit zugeführt sind, welche daraus die Positionen und Lagen für die Zugmaschine und den Sattelschlepperanhänger fortlaufend ermittelt.2. Position and position determination system for a semitrailer tractor with at least one permanently installed satellite navigation receiver, characterized in that the tractor ( 8 ) of the semitrailer tractor has a satellite navigation receiver ( 3 ) and an electronically readable compass ( 4 ) that the semitrailer trailer ( 9 ) has an electronically readable compass ( 5 ) and that the measured values determined with these devices are fed to a computer-aided evaluation unit, which continuously determines the positions and positions for the tractor and the semitrailer trailer. 3. Positions- und Lagebestimmungssystem nach Patentanspruch 1 oder 2, dadurch gekennzeichnet, dass der Satellitennavigations­ empfänger (3) ein DGPS-Satellitennavigationsempfänger ist. 3. Position and orientation system according to claim 1 or 2, characterized in that the satellite navigation receiver ( 3 ) is a DGPS satellite navigation receiver. 4. Positions- und Lagebestimmungssystem nach einem der voran­ gehenden Patentansprüche 1 bis 3, dadurch gekennzeichnet, dass es sich bei den elektronisch auslesbaren Kompassen (4, 5) um einen Fluxgate-Kompass handelt.4. Position and position determination system according to one of the preceding claims 1 to 3, characterized in that it is in the electronically readable compasses ( 4 , 5 ) is a fluxgate compass.
DE2000131244 2000-06-27 2000-06-27 Position and location determination system for e.g. truck with trailer, has computerized evaluation unit to evaluate measurement values of single differential GPS navigation receiver, compass and bend angle sensor Withdrawn DE10031244A1 (en)

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