WO1999005474A1 - Locating device for ground vehicles - Google Patents

Locating device for ground vehicles Download PDF

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Publication number
WO1999005474A1
WO1999005474A1 PCT/DE1998/001642 DE9801642W WO9905474A1 WO 1999005474 A1 WO1999005474 A1 WO 1999005474A1 DE 9801642 W DE9801642 W DE 9801642W WO 9905474 A1 WO9905474 A1 WO 9905474A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
locating device
sensors
vehicle
locating
Prior art date
Application number
PCT/DE1998/001642
Other languages
German (de)
French (fr)
Inventor
Günter NOETZEL
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
Priority to EP98939476A priority Critical patent/EP0998657A1/en
Priority to JP2000504416A priority patent/JP2001511512A/en
Publication of WO1999005474A1 publication Critical patent/WO1999005474A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P1/00—Details of instruments
    • G01P1/02—Housings
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/185—Compensation of inertial measurements, e.g. for temperature effects for gravity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses

Definitions

  • the invention relates to a locating device for land vehicles with a receptacle to be installed in the land vehicle, for sensors for detecting movement components of the land vehicle for the purpose of determining the location.
  • Locating devices for land vehicles which are intended to support navigation on roads in particular by means of visual and / or acoustic signals, must enable reliable location determination. Stand for a rough location
  • Satellite navigation methods are available, which however do not allow the required accuracy.
  • the movement of the land vehicle can take place with the aid of the ABS sensors present in modern motor vehicles.
  • the present invention is based on the problem of reducing the variety of types for the locating devices to be installed in different types of land vehicles and of improving the position determination using the locating devices.
  • a locating device of the type mentioned at the outset in which at least one sensor is movably mounted in the receptacle and can be tracked into a measuring position of the sensor.
  • the inventive movable mounting of the sensor in the receptacle offers greater freedom for the installation of the locating device, which can be part of a navigation device, in a land vehicle, since - at least to a certain extent - the sensor is independent of that provided by a housing or an assembly platform formed recording can be brought into a measuring position that enables reliable results.
  • the sensor can be automatically adjusted to the measurement position if the sensor is mounted with at least one degree of freedom to form a stable balance under the influence of the
  • Gravity is realized because the sensor always brings itself into the appropriate measuring position due to its weight. It is it is possible to compensate for a required inclined installation of the locating device, for example in a dashboard which is arranged at an angle to the direction of travel, by being suspended on an essentially horizontal axis of rotation. For more complicated installation positions, a gimbal with several degrees of freedom can be useful.
  • the tracking can be carried out with a controllable bearing, wherein a gravitational acceleration sensor can preferably be provided as part of a regulation for the bearing of the sensor.
  • the invention is particularly suitable for locating devices with a rotation rate sensor and / or an acceleration sensor for determining movement components of the land vehicle.
  • FIG. 1 shows a suspension of the sensor of a locating device that enables the sensor to be automatically aligned in a measuring position
  • Figure 2 an embodiment for a sensor-controlled tracking of the measuring position of the sensor.
  • a sensor S x is shown, which is used to determine a movement component of a land vehicle.
  • the schematically represented sensor S x can be an acceleration sensor, a rotation rate sensor, a combination of both, or a combination of several acceleration sensors and several rotation rate sensors.
  • the sensor S x is mounted on a mounting platform M serving as a receptacle with U-shaped legs, which in turn is mounted on corresponding legs of a vehicle-mounted holder F in the form of an inverted U with the aid of an axis of rotation A.
  • the vehicle-mounted holder F which is part of a (not shown) housing of the navigation device, is such that the axis of rotation A is perpendicular to the longitudinal axis of the vehicle, but possibly also obliquely in this orientation, so that the sensor S x automatically adjusts to a horizontal position due to its weight.
  • dynamic damping D is provided, for example in the form of an eddy current brake or with the aid of a highly viscous liquid.
  • the mounting platform M is rotatably mounted on a corner L on a bearing.
  • the mounting with actuator ren AI and A2 adjustable in height, so that there is a three-point bearing, with which the horizontal for the assembly platform M is adjustable.
  • the position of the mounting platform M on which the sensor S x is located is determined by a gravitational acceleration sensor S1, the output signal of which is at a maximum when the mounting platform M is aligned horizontally.
  • the output signal of the sensor S1 reaches a controller R, which controls the actuators AI and A2 accordingly.
  • the sensor S x is thus given a horizontal reference plane by the assembly platform M.
  • the exemplary embodiment according to FIG. 2 enables any inclined installation of the housing.
  • the exemplary embodiment according to FIG. 1 would have to be modified while maintaining the self-adjusting principle, which realizes a gimbal that enables adjustment in several degrees of freedom.

Abstract

The invention enables different assembly positions of a locating device for ground vehicles with a support (M) arranged in said vehicle to accommodate the sensors (Sx) to detect the movement components of the ground vehicle so as to determine its position. For improved locating reliability of the sensors (Sx), at least one sensor (Sx) is displaceably arranged in the support (M) and the measuring position of the sensor (Sx) can be readjusted.

Description

Ortungsgerät für LandfahrzeugeLocator for land vehicles
Die Erfindung betrifft ein Ortungsgerät für Landfahrzeuge mit einer in das Landfahrzeug einzubauenden Aufnahme, für Sensoren zur Erfassung von Bewegungskomponenten des Landfahrzeugs zum Zwecke der Standortbestimmung.The invention relates to a locating device for land vehicles with a receptacle to be installed in the land vehicle, for sensors for detecting movement components of the land vehicle for the purpose of determining the location.
Ortungsgeräte für Landfahrzeuge, die insbesondere die Navigation auf Straßen durch optische und/oder akustische Hinweise unterstützen sollen, müssen eine zuverlässige Standortbestim- mung ermöglichen. Für eine grobe Standortbestimmung stehenLocating devices for land vehicles, which are intended to support navigation on roads in particular by means of visual and / or acoustic signals, must enable reliable location determination. Stand for a rough location
Satelliten-Navigationsverfahren zur Verfügung, die jedoch die benötigte Genauigkeit nicht ermöglichen. Für eine genauere Ortsbestimmung ausgehend von einem bekannten Ausgangspunkt ist es bekannt, die Bewegung des Fahrzeugs zu sensieren und hier- aus jeweils einen neuen Standort zu errechnen. Die Bewegung des Landfahrzeugε kann mit Hilfe der in moderneren Kraftfahrzeugen vorhandenen ABS-Sensoren erfolgen. Dies ist aber nur sinnvoll, wenn eine Ortungseinrichtung für das Kraftfahrzeug mit der Erstausrüstung erstellt wird, da eine nachträgliche Ausrüstung einen aufwendigen Eingriff in die Elektronik des Kraftfahrzeugs erfordert, wenn die vorhandenen ABS-Sensoren für die Ortsbestimmung ausgenutzt werden sollen.Satellite navigation methods are available, which however do not allow the required accuracy. For a more precise location determination based on a known starting point, it is known to sense the movement of the vehicle and to calculate a new location from each. The movement of the land vehicle can take place with the aid of the ABS sensors present in modern motor vehicles. However, this only makes sense if a locating device for the motor vehicle is created with the original equipment, since retrofitting requires complex intervention in the electronics of the motor vehicle if the existing ABS sensors are to be used for the location determination.
Es ist daher bekannt, Ortungsgeräte, die Teil eines Naviga- tionsgeräts sein können, als autarke Geräte mit eigenen Sensoren herzustellen und in das Landfahrzeug einzubauen. Dabei ergibt sich allerdings das Problem, daß das Gerät in unterschiedlichen Kraftf hrzeugtypen in unterschiedlicher Weise eingebaut werden muß. Die in den Ortungsgeräten üblicherweise vorhandenen Sensoren, wie Beschleunigungssensoren und Drehratensensoren, benötigen jedoch eine definierte Ausrichtung relativ zur Horizontalen, da der Beschleunigungssensor möglichst genau die Horizontalkomponente der Bewegung des Kraftfahrzeugs erfassen muß und der Drehratensensor die Drehbewegung um die lotrechte Achse erfassen soll. Dies führt dazu, daß Ortungsgeräte, die in verschiedenen Kraftfahrzeugtypen eingebaut werden sollen, in entsprechenden unterschiedlichen Gerätetypen hergestellt werden müssen, um eine möglichst an den Idealzustand angenäherte Ausrichtung der Sensoren beim Einbau zu gewährleisten. Lageungenauigkeiten beim Einbau des Gehäuses des Ortungsgeräts können dabei zu systemmatischen Fehlern bei der Standortbestimmung durch die Sensorsignale führen.It is therefore known to locate devices that can be part of a navigation device as autonomous devices with their own sensors and to install them in the land vehicle. The problem arises, however, that the device in different types of motor vehicles in different ways must be installed. However, the sensors usually present in the locating devices, such as acceleration sensors and rotation rate sensors, require a defined orientation relative to the horizontal, since the acceleration sensor must record the horizontal component of the movement of the motor vehicle as precisely as possible and the rotation rate sensor should record the rotary movement about the vertical axis. This means that locating devices that are to be installed in different types of motor vehicles have to be manufactured in corresponding different types of devices in order to ensure that the sensors are aligned as close as possible to the ideal state during installation. Positional inaccuracies when installing the housing of the locating device can lead to systematic errors in the location determination by the sensor signals.
Der vorliegenden Erfindung liegt das Problem zugrunde, die Typenvielfalt für die in verschiedene Landfahrzeugtypen einzubauenden Ortungsgeräte zu verringern und die Standortbestimmung mit den Ortungsgeräten zu verbessern.The present invention is based on the problem of reducing the variety of types for the locating devices to be installed in different types of land vehicles and of improving the position determination using the locating devices.
Dieses Problem wird erfindungsgemäß mit einem Ortungsgerät der eingangs erwähnten Art gelöst, bei dem wenigstens ein Sensor beweglich in der Aufnahme gelagert und in eine Meßlage des Sensors nachführbar ist.This problem is solved according to the invention with a locating device of the type mentioned at the outset, in which at least one sensor is movably mounted in the receptacle and can be tracked into a measuring position of the sensor.
Durch die erfindungsgemäße bewegliche Lagerung des Sensors in der Aufnahme besteht eine größere Freiheit für den Einbau des Ortungsgeräts, das Teil eines Navigationsgeräts sein kann, in ein Landfahrzeug, da - zumindest in einem gewissen Rahmen - der Sensor unabhängig von der durch ein Gehäuse oder eine Montageplattform gebildeten Aufnahme in eine zuverlässige Ergebnisse ermöglichende Meßlage bringbar ist. Die Nachführung des Sensors in die Meßlage kann selbsttätig erfolgen, wenn die Lagerung des Sensors mit wenigstens einem Freiheitsgrad zur Ausbildung eines stabilen Gleichgewichts unter Einfluß derThe inventive movable mounting of the sensor in the receptacle offers greater freedom for the installation of the locating device, which can be part of a navigation device, in a land vehicle, since - at least to a certain extent - the sensor is independent of that provided by a housing or an assembly platform formed recording can be brought into a measuring position that enables reliable results. The sensor can be automatically adjusted to the measurement position if the sensor is mounted with at least one degree of freedom to form a stable balance under the influence of the
Erdanziehung realisiert ist, da sich der Sensor aufgrund seines Gewichtes immer in die geeignete Meßlage bringt. Dabei ist es möglich, einen erforderlichen Schrägeinbau des Ortungsgeräts, beispielsweise in einem senkrecht zur Fahrtrichtung abgeschrägt angeordneten Armaturenbrett, durch Aufhängung an einer im wesentlichen horizontalen Drehachse auszugleichen. Bei komplizierteren Einbaulagen kann eine kardanische Aufhängung mit mehreren Freiheitsgraden zweckmäßig sein.Gravity is realized because the sensor always brings itself into the appropriate measuring position due to its weight. It is it is possible to compensate for a required inclined installation of the locating device, for example in a dashboard which is arranged at an angle to the direction of travel, by being suspended on an essentially horizontal axis of rotation. For more complicated installation positions, a gimbal with several degrees of freedom can be useful.
Alternativ zur selbsttätigen Ausrichtung des Sensors kann die Nachführung mit einer regelbaren Lagerung vorgenommen werden, wobei vorzugsweise ein Erdbeschleunigungssensor als Teil einer Regelung für die Lagerung des Sensors vorgesehen werden kann.As an alternative to the automatic alignment of the sensor, the tracking can be carried out with a controllable bearing, wherein a gravitational acceleration sensor can preferably be provided as part of a regulation for the bearing of the sensor.
Die Erfindung eignet sich insbesondere für Ortungsgeräte mit einem Drehratensensor und/oder einem Beschleunigungssensor für die Ermittlung von Bewegungskomponenten des Landfahrzeugs . The invention is particularly suitable for locating devices with a rotation rate sensor and / or an acceleration sensor for determining movement components of the land vehicle.
Die Erfindung soll im folgenden anhand von in der Zeichnung dargestellten Ausführungsbeispielen näher erläutert werden. Es zeigen:The invention will be explained in more detail below with reference to exemplary embodiments shown in the drawing. Show it:
Figur 1 - eine die selbsttätige Ausrichtung des Sensors in einer Meßlage ermöglichenden Aufhängung des Sensors eines Ortungsgeräts,FIG. 1 shows a suspension of the sensor of a locating device that enables the sensor to be automatically aligned in a measuring position,
Figur 2 - ein Ausführungsbeispiel für eine sensorgesteu- erte Nachführung der Meßlage des Sensors .Figure 2 - an embodiment for a sensor-controlled tracking of the measuring position of the sensor.
In der Zeichnung ist ein Sensor Sx dargestellt, der zur Bestimmung einer Bewegungskomponente eines Landfahrzeugs dient. Der schematisch dargestellte Sensor Sx kann ein Beschleunigungssen- sor, ein Drehratensensor, eine Kombination von beiden oder auch eine Kombination von mehreren Beschleunigungssensoren und mehreren Drehratensensoren sein. Der Sensor Sx ist auf einer als Aufnahme dienenden Montageplattform M mit U-förmigen Schenkeln gelagert, die ihrerseits an entsprechenden Schenkeln einer fahrzeugfesten Halterung F in Form eines umgekehrten U mit Hilfe einer Drehachse A gelagert ist. Für dieses Ausführungsbeispiel wird davon ausgegangen, daß die fahrzeugfeste Halterung F, die Teil eines (nicht dargestellten) Gehäuses des Navigationsgeräts ist so erfolgt, daß die Drehachse A senk- recht zur Fahrzeuglängsachse liegt, aber möglicherweise in diese Ausrichtung im übrigen schräg erfolgt, so daß sich der Sensor Sx aufgrund seines Gewichtes in eine waagerechte Lage selbsttätig einstellt.In the drawing, a sensor S x is shown, which is used to determine a movement component of a land vehicle. The schematically represented sensor S x can be an acceleration sensor, a rotation rate sensor, a combination of both, or a combination of several acceleration sensors and several rotation rate sensors. The sensor S x is mounted on a mounting platform M serving as a receptacle with U-shaped legs, which in turn is mounted on corresponding legs of a vehicle-mounted holder F in the form of an inverted U with the aid of an axis of rotation A. For this exemplary embodiment, it is assumed that the vehicle-mounted holder F, which is part of a (not shown) housing of the navigation device, is such that the axis of rotation A is perpendicular to the longitudinal axis of the vehicle, but possibly also obliquely in this orientation, so that the sensor S x automatically adjusts to a horizontal position due to its weight.
Zur Vermeidung von Schaukelbewegungen durch die Fahrzeugbewegung ist eine dynamische Dämpfung D, beispielsweise in Form einer Wirbelstrombremse oder mit Hilfe einer hochviskosen Flüssigkeit vorgesehen.In order to avoid rocking movements due to the vehicle movement, dynamic damping D is provided, for example in the form of an eddy current brake or with the aid of a highly viscous liquid.
Bei dem in Figur 2 dargestellten Ausführungsbeispiel ist die Montageplattform M an einer Ecke auf einem Lager L drehbar gelagert. An zwei anderen Ecken ist die Lagerung mit Aktuato- ren AI und A2 höhenverstellbar, so daß eine Dreipunktlagerung gegeben ist, mit der die Waagerechte für die Montageplattform M einstellbar ist. Die Lage der Montageplattform M, auf der sich der Sensor Sx befindet, wird durch einen Erdbeschleuni- gungssensor Sl bestimmt, dessen Ausgangssignal maximal ist, wenn die Montageplattform M in der Waagerechten ausgerichtet ist. Das Ausgangssignal des Sensor Sl gelangt auf einen Regler R, der die Aktuatoren AI und A2 entsprechend steuert. Der Sensor Sx erhält somit durch die Montageplattform M eine horizon- tale Bezugsebene.In the embodiment shown in Figure 2, the mounting platform M is rotatably mounted on a corner L on a bearing. At two other corners, the mounting with actuator ren AI and A2 adjustable in height, so that there is a three-point bearing, with which the horizontal for the assembly platform M is adjustable. The position of the mounting platform M on which the sensor S x is located is determined by a gravitational acceleration sensor S1, the output signal of which is at a maximum when the mounting platform M is aligned horizontally. The output signal of the sensor S1 reaches a controller R, which controls the actuators AI and A2 accordingly. The sensor S x is thus given a horizontal reference plane by the assembly platform M.
Es ist ohne weiteres erkennbar, daß das Ausführungsbeispiel gemäß Figur 2 einen beliebigen Schrägeinbau des Gehäuses ermöglicht. Für einen Schrägeinbau bezüglich mehrerer Achsen müßte das Ausführungsbeispiel gemäß Figur 1 unter Beibehaltung des selbstjustierenden Prinzips dahingegen modifiziert werden, das eine kardanische Aufhängung realisiert wird, die eine Justierung in mehreren Freiheitsgraden ermöglicht. It can easily be seen that the exemplary embodiment according to FIG. 2 enables any inclined installation of the housing. For an inclined installation with respect to several axes, the exemplary embodiment according to FIG. 1 would have to be modified while maintaining the self-adjusting principle, which realizes a gimbal that enables adjustment in several degrees of freedom.

Claims

Patentansprüche claims
1. Ortungsgerät für Landfahrzeuge mit einer in das Landfahrzeug einzubauenden Aufnahme (M) für Sensoren (Sx) zur Erfassung von Bewegungskomponenten des Landfahrzeugs zum Zweck der StandortbeStimmung, dadurch gekennzeichnet, daß wenigstens ein Sensor (Sx) beweglich in der Aufnahme (M) gelagert und in eine Meßlage des Sensors (Sx) nachführbar ist.1. Locating device for land vehicles with a receptacle (M) to be installed in the land vehicle for sensors (S x ) for detecting movement components of the land vehicle for the purpose of determining the location, characterized in that at least one sensor (S x ) is movable in the receptacle (M) stored and in a measuring position of the sensor (S x ) can be tracked.
2. Ortungsgerät nach Anspruch 1, dadurch gekennzeichnet, daß zur Nachführung des Sensors (Sx) die Lagerung (L, AI, A2 ) regelbar ausgebildet ist.2. Locating device according to claim 1, characterized in that for tracking the sensor (S x ) the bearing (L, AI, A2) is designed to be adjustable.
3. Ortungsgerät nach Anspruch 2, gekennzeichnet durch einen Erdbeschleunigungssensor (Sl) als Teil einer Regelung (R) für die Lagerung des Sensors (Sx).3. Locating device according to claim 2, characterized by a gravitational acceleration sensor (Sl) as part of a control (R) for the storage of the sensor (S x ).
4. Ortungsgerät nach Anspruch 1, gekennzeichnet durch eine Lagerung (A) mit wenigstens einem Freiheitsgrad zur Aus- bildung eines stabilen Gleichgewichts unter Einfluß der Erdanziehung. 4. Locating device according to claim 1, characterized by a bearing (A) with at least one degree of freedom to form a stable balance under the influence of gravity.
5. Ortungsgerät nach Anspruch 4, gekennzeichnet durch einen Aufhängung des Sensors (Sx) an einer im wesentlichen horizontalen Drehachse (A) .5. Locating device according to claim 4, characterized by a suspension of the sensor (S x ) on a substantially horizontal axis of rotation (A).
6. Ortungsgerät nach Anspruch 4, gekennzeichnet durch eine kardanische Aufhängung des Sensors (Sx).6. Locating device according to claim 4, characterized by a gimbal suspension of the sensor (S x ).
7. Ortungsgerät nach einem der Ansprüche 4 bis 6, gekennzeichnet durch ein dynamisches Dämpfungselement (D) für die Bewegung des Sensors (Sx) .7. Locating device according to one of claims 4 to 6, characterized by a dynamic damping element (D) for the movement of the sensor (S x ).
8. Ortungsgerät nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, daß der beweglich gelagerte Sensor (Sx) ein Drehratensensor und/oder Beschleunigungssensor ist. 8. Locating device according to one of claims 1 to 7, characterized in that the movably mounted sensor (S x ) is a rotation rate sensor and / or acceleration sensor.
PCT/DE1998/001642 1997-07-22 1998-06-17 Locating device for ground vehicles WO1999005474A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP98939476A EP0998657A1 (en) 1997-07-22 1998-06-17 Locating device for ground vehicles
JP2000504416A JP2001511512A (en) 1997-07-22 1998-06-17 Position measuring device for land vehicles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19731360A DE19731360A1 (en) 1997-07-22 1997-07-22 Locator for land vehicles
DE19731360.4 1997-07-22

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WO1999005474A1 true WO1999005474A1 (en) 1999-02-04

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PCT/DE1998/001642 WO1999005474A1 (en) 1997-07-22 1998-06-17 Locating device for ground vehicles

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JP (1) JP2001511512A (en)
DE (1) DE19731360A1 (en)
WO (1) WO1999005474A1 (en)

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AT515511A1 (en) * 2014-02-25 2015-09-15 Siemens Ag Oesterreich Toll collection device of a satellite-based toll collection system

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DE19925434C2 (en) * 1999-06-02 2001-09-27 Bosch Gmbh Robert Navigation system and method for detecting the installation position of a navigation system in a motor vehicle
DE19943341A1 (en) * 1999-09-10 2001-03-15 Nokia Mobile Phones Ltd Gyro sensor for fitting in vehicles includes a holder for the gyro sensor for determining location and detecting motional components.
WO2010043537A1 (en) * 2008-10-17 2010-04-22 Continental Teves Ag & Co. Ohg Sensor arrangement and method for easy installation into a vehicle

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US4505054A (en) * 1983-05-25 1985-03-19 Prince Corporation Magnetic sensor mounting system
US5339529A (en) * 1992-12-14 1994-08-23 Prince Corporation Magnetic sensor mount
EP0744622A1 (en) * 1995-05-26 1996-11-27 Murata Manufacturing Co., Ltd. Acceleration sensor

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
US4505054A (en) * 1983-05-25 1985-03-19 Prince Corporation Magnetic sensor mounting system
US5339529A (en) * 1992-12-14 1994-08-23 Prince Corporation Magnetic sensor mount
EP0744622A1 (en) * 1995-05-26 1996-11-27 Murata Manufacturing Co., Ltd. Acceleration sensor

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT515511A1 (en) * 2014-02-25 2015-09-15 Siemens Ag Oesterreich Toll collection device of a satellite-based toll collection system
AT515511B1 (en) * 2014-02-25 2015-10-15 Siemens Ag Oesterreich Toll collection device of a satellite-based toll collection system
AT515511B8 (en) * 2014-02-25 2015-11-15 Siemens Ag Oesterreich Toll collection device of a satellite toll system

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DE19731360A1 (en) 1999-01-28
JP2001511512A (en) 2001-08-14
EP0998657A1 (en) 2000-05-10

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