JPH05272965A - Attitude angle display method and display device for mobile body - Google Patents

Abstract

(57) [Summary] [Object] The present invention relates to a posture angle display method and a display device for a mobile body, and in particular, by combining an angle detector and an angular velocity detector, a correct posture angle can be obtained even when the mobile body is swaying. The feature is that it can be displayed. According to the present invention, there is provided a mobile body posture angle display method and a display device, wherein an angular velocity signal (12a, 12a,
13a) and the angle detection signals (1a, 3a) are arithmetically processed and then displayed as an angle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture angle display device for a moving body, and more particularly, to a correct posture even when the moving body is shaken by combining an angle detector such as an inclinometer or an accelerometer and an angular velocity detector. It relates to a new improvement for allowing the display of corners.

[0002]

2. Description of the Related Art There are various types of posture angle display devices for moving bodies that have been conventionally used. A typical one of them is shown in FIG. Can be mentioned. That is, what is denoted by reference numeral 1 in FIG. 5 is a first angle detector including an inclinometer or an accelerometer that detects a pitch angle, and the first angle detection signal 1a from the first angle detector 1 is The pitch angle is displayed by being input to the 1-angle display 2. Further, the second angle detection signal 3a from the second angle detector 3 including an inclinometer or an accelerometer for detecting the roll angle is input to the second angle display 4 and the roll angle is displayed.

[0003]

Since the conventional posture angle display device for a mobile body is configured as described above, there are the following problems. That is, since the posture angle is displayed only by the signal from the inclinometer or the accelerometer, for example, the correct posture can be detected when the vehicle is stopped, but the vehicle moves to perform acceleration / deceleration or turning motion. At times, it was impossible to display the correct posture angle due to the influence of acceleration due to acceleration / deceleration or turning.

The present invention has been made to solve the above problems, and in particular, by combining an angle detector such as an inclinometer or an accelerometer and an angular velocity detector, even when the moving body is swaying. An object of the present invention is to provide a method and apparatus for displaying a posture angle for a mobile body, which is capable of displaying a correct posture angle.

[0005]

A method for displaying a posture angle for a moving body according to the present invention is a method for displaying a posture angle for a moving body, wherein an angle is displayed by an angle detection signal from the angle detector. Is a method of displaying an angle after the angular velocity signal and the angle detection signal are arithmetically processed.

More specifically, the angle detection signal is subjected to a subtraction process, then a low-pass process, and then input to a first calculation unit, and a first step of performing the high-pass process on the angular velocity signal and then input to a second calculation unit. A second step, a third step of converting the angle detection signal after the low-pass processing from the acceleration signal into a velocity signal by the first arithmetic unit, the velocity signal and a second angular velocity signal from the second arithmetic unit Is added to perform an integration calculation, and then the fourth calculation step of detecting an angle signal in the first calculation unit is performed.

More specifically, the angle signals are a pitch angle and a roll angle.

More specifically, the angle signal is subtracted from the angle detection signal.

A posture angle display device for a mobile body according to the present invention comprises:
In a posture angle display device for a mobile body, which displays an angle according to an angle detection signal from an angle detector, a first subtraction unit connected to the angle detector and a first subtraction unit connected to the first subtraction unit. A low-pass filter, a first calculation unit connected to the first low-pass filter, a first integration unit connected to the first calculation unit, a pitch angle indicator connected to the first integration unit, and A configuration including a second arithmetic unit connected to the first arithmetic unit, a first high-pass filter connected to the second arithmetic unit, and a first angular velocity detector connected to the first high-pass filter. ..

More specifically, a second angular velocity detector connected to the second arithmetic unit via a second high-pass filter, a third arithmetic unit connected to the second arithmetic unit, and the third arithmetic unit. A second subtraction unit connected to the second section via a second low-pass filter, a second angle detector connected to the second subtraction section, and a third integration section connected to the third calculation section via a second integration section. This is a configuration including a second angle indicator.

[0011]

In the mobile body posture angle display method and display device according to the present invention, since the gyro is added, the posture angle is detected by the integrated value of the gyroscope for comparatively fast dynamic motion, and comparison is made. For static slow static movements, by detecting the attitude angle with an inclinometer or acceleration detector and combining both,
Even when the moving body is accelerating and decelerating and turning, the influence of the acceleration due to the movement can be sufficiently reduced, and the correct posture angle can be displayed regardless of the movement and the stop of the moving body.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A preferred embodiment of a method and apparatus for displaying a posture angle for a moving body according to the present invention will be described in detail below with reference to the drawings. It should be noted that the same or equivalent portions as those of the conventional example will be described by attaching the same reference numerals. 1 to 4 show a method and apparatus for displaying a posture angle for a moving body according to the present invention. FIG. 1 is a block diagram, FIG. 2 is a block diagram showing another embodiment, FIG.
FIG. 4 is a configuration diagram showing a display example.

A reference numeral 1 in FIG. 1 denotes a first angle detector composed of a pinch angle inclinometer or an accelerometer. A first angle detection signal 1 from the first angle detector 1 is shown.
a is input to the first subtraction unit 5.

The first subtraction section 5 is connected to a first calculation section 7 via a first low pass filter 6, and the first calculation section 7 is connected to the first calculation section 7.
Is the first angle indicator 2 for the pitch angle via the first integrator 8.
The first angle signal 8a of the first integrator 8 is fed back to the first subtractor 5.

A second arithmetic unit 9 is connected to the first arithmetic unit 7, and the second arithmetic unit 9 is connected to the second arithmetic unit 9 via the first and second high pass filters 10 and 11 for the pitch axis. First angular velocity detector 12 and roll shaft second angular velocity detector 13
Are connected.

A third calculator 14 is connected to the second calculator 9, and a roll angle inclinometer is connected to the third calculator 14 via a second subtractor 15 and a second low-pass filter 16. Alternatively, the second angle detector 3 including an accelerometer is connected, and the second angle detector 3 for the roll angle is connected via the second integrating unit 17.
The angle indicator 4 is connected.

A case of actually operating the above-mentioned configuration will be described. First, after the power supply (not shown) is turned on, the angle detection signals 1a and 3a of the angle detectors 1 and 3 are subtracted by the subtractors 5 and 15 from the current detected angle, and the low pass filter 6 is subtracted. , 16 sent to. The low-pass filters 6 and 16 remove the influence of a signal component and acceleration due to a relatively fast motion of a moving body (not shown) such as a car and a ship, and send the signals to the calculation units 7 and 14.

Also, the angular velocity signals 12a and 13a detected by the angular velocity meters 12 and 13 are sent to the second computing unit 9 after the high-pass filters 10 and 11 remove the zero point offset and drift components.

Since the angular velocity signals 12a and 13a sent to the second computing unit 9 are angular velocity signals around the pitch axis or roll axis of the moving body (machine axis system), the second computing unit 9 uses absolute values. Converted to angular velocity signals in the coordinate system and converted into the respective calculation units 7, 1
Sent to 4.

In each of the arithmetic units 7 and 14, g sin θ (where g is a dynamic acceleration) from the angle detection signals 1a and 3a of the required angle θ sent from the low-pass filters 6 and 16, respectively.
Is calculated and converted into an acceleration signal.

After that, the gain constant k is multiplied and the value is integrated to calculate the velocity signal. This velocity signal and the angular velocity signals 12aA and 13aA from the second computing unit 9 are added, and the computing units 7 and 14 perform integral computation, and the integrating units 8 and 17
Angle signals 8a and 17a as angle signals 2 and
It is sent to 4 and displayed.

On the other hand, the angle signals 8a and 17a are fed back to the subtraction units 5 and 15, and the angle detectors 1 and 3 are supplied.
Is subtracted from the angle detection signals 1a and 3a. By forming this feedback loop 30, the outputs of the low-pass filters 6 and 16 do not change in response to fast movements, so the angular velocity signals 12aA and 13aA of the second arithmetic unit 9 are integrated by the arithmetic units 7 and 14, respectively. The detected angle is the detected angle, and for very loose static movements, the angle detection signals 1a from the angle detectors 1 and 3 output from the low-pass filters 6 and 16,
3a is the detection angle.

Each of the above-mentioned indicators 2 and 4 is constructed as shown in FIG. 3 or 4, and in the case of FIG. 3, the angle is displayed numerically and the pitch is determined by using a pair of lamps 40 and 41. The positive angle and the negative pitch angle, the positive roll angle and the negative roll angle can be lit and displayed.

Further, in the case of FIG. 4, it has numbers and polarity display parts 50 and 51 of each corner.

Further, FIG. 2 shows a configuration in the case where the configuration of FIG. 1 is performed by an arithmetic processing by a microcomputer, and since it is the same as that of FIG. Omit it.

In the present embodiment, the combined configuration of the hardware circuits is shown in FIG. 1 and the software configuration by the CPU is shown in FIG. 2, but the same operation can be obtained in any configuration. Further, in the present embodiment, the case where the pitch and the roll are simultaneously displayed has been described, but it is possible to display only one of them.

[0027]

Since the method and apparatus for displaying a posture angle for a mobile body according to the present invention are configured as described above, the following effects can be obtained. That is, since the angle detection signal from the angle detector and the angular velocity detection signal from the angular velocity detector are used, the angle detection signal is used when the movement is slow, and the influence of acceleration due to the movement is sufficiently used when the movement is fast. The correct posture angle can be displayed irrespective of the movement of the vehicle, etc., or when the vehicle is stopped.

[Brief description of drawings]

FIG. 1 is a block diagram showing a posture angle display method and device for a mobile body according to the present invention.

FIG. 2 is a block diagram showing another embodiment of FIG.

FIG. 3 is a configuration diagram showing a display device.

FIG. 4 is a configuration diagram showing a display device.

FIG. 5 is a block diagram showing a conventional configuration.

[Explanation of symbols]

 1,3 Angle detector 1a, 3a Angle detection signal 7 First calculator 5 First subtractor 9 Second calculator 8a, 17a Angle signal 6 First low-pass filter 10 First high-pass filter 11 Second high-pass filter 12 First Angular velocity detector 13 Second angular velocity detector 14 Third calculation unit 15 Second subtraction unit 16 Second low-pass filter 17 Second integration unit

Claims (6)

[Claims] 1. An angle detection signal (1) from an angle detector (1, 3).
a, 3a) in the posture angle display method for a mobile body to perform the angle display, the angular velocity signal (12a, 13a) from the angular velocity detector (12, 13) and the angle detection signal (1a, 3a). A posture angle display method for a mobile body, which is characterized in that an angle is displayed after calculation processing. 2. The angle detection signal (1a) is subjected to a subtraction process, then a low-pass process, and then, a first step of inputting it to a first calculation section (7), and a high-pass process of the angular velocity signal (12a), followed by a first process. 2) a second step of inputting to the arithmetic unit (9); a third step of converting the angle detection signal (1a) after the low-pass processing from the acceleration signal into a velocity signal by the first arithmetic unit (7); The velocity signal and the angular velocity signal (12aA) from the second computing unit (9) are added and integrated, and then the first computing unit (7) calculates the angle signal.
A method for displaying a posture angle for a moving body, comprising the fourth step of detecting (8a). 3. The posture angle display device for a moving body according to claim 1, wherein the angle signal (8a) is a pitch angle and a roll angle. 4. The posture angle display device for a moving body according to claim 2, wherein the angle signal (8a) is fed back and subtracted from the angle detection signal (1a). 5. An angle detection signal (1a) from the angle detector (1).
In a posture angle display device for a mobile body, which displays an angle by means of a first subtraction unit (5) connected to the angle detector (1) and a first subtraction unit (5) connected to the first subtraction unit (5). A first low-pass filter (6), a first calculation unit (7) connected to the first low-pass filter (6), a first integration unit (8) connected to the first calculation unit (7), The first connected to the first integrator (8)
An angle indicator (2) and a second unit connected to the first computing unit (7)
A calculation unit (9), a first high-pass filter (10) connected to the second calculation unit (9), and a first angular velocity detector (12) connected to the first high-pass filter (10). A posture angle display device for a mobile body, which is provided. 6. A second angular velocity detector (13) connected to the second arithmetic unit (9) via a second high-pass filter (11),
A third calculation unit (14) connected to the second calculation unit (9) and a second subtraction unit (15) connected to the third calculation unit (14) via a second low-pass filter (16). And a second angle detector (3) connected to the second subtraction unit (15) and a second angle display connected to the third calculation unit (14) via a second integration unit (17). Bowl (4)
The posture angle display device for a mobile body according to claim 5, further comprising: