O
`
`Ulllt?d States Patent [19]
`Yokouchi et a1.
`
`[11] Patent Number:
`[45] Date of Patent:
`
`4,903,212
`Feb. 20, 1990
`
`[54] GPS/SELF-CONTAINED COMBINATION
`TYPE NAVIGATION SYSTEM
`
`[75] Inventors: Kazuhiro Yokouchi; Tatsumi
`Kl ama, both f H ; Ch 0
`sogia, Tokyo;
`Hui‘?
`Tokyo; Koji Yamada, Tokyo;
`Makoto Mikuriya; Seiichiro Hirata,
`both of Hyogo, all of Japan
`
`_
`[73] Ass1gnees: Mitsubishi Denki Kabushiki Kaisha;
`Japan Radio Co" Ltd" both of
`Tokyo, Japan
`
`[21] App]. No.: 167,093
`[22] Filed:
`Mar. 11, 1988
`[30]
`Foreign Application Priority Data
`M . 13, 1987 JP
`.1
`................................ .. 62-56683
`M: 22, 1987 lJPl
`1:52: .............................. .. 62-125139
`[51] Int. Cl.4
`G06F 15/50; G01C 21/00
`[52] U.S. Cl. .................................. .. 364/449; 364/443;
`364/460; 364/ 571-01; 342/ 357; 342/451;
`342/461
`[58] Field of Search ............. .. 364/449, 450, 452, 454,
`364/457, 424.01, 424.02, 459, 571.01; 340/988,
`989, 990, 995; 342/450, 451, 457, 357, 461
`
`[56]
`
`References Cited
`
`U-S~ PATENT DOCUMENTS
`
`4,335,433 6/1982 Bauer et a1. ....................... .. 364/450
`4,459,667 7/1984 Takeuchi
`.
`4,713,767 12/1987 Sato et a1. ..
`4,731,613 3/1988 Endo et a1. ........................ .. 364/450
`FOREIGN PATENT DOCUMENTS
`0111143 5/1986 Japan ................................. .. 340/988
`0138113 6/1986 Japan .... ..
`.. 340/988
`0138114 6/1986 Japan .... ..
`340/988
`0167813 7/1986 Japan ................................. .. 340/988
`_
`.
`Primary Exammer-Parshotam S. Lall
`Assistant Examiner—V. Trans
`Attorney, Agent, or Firm—Lowe, Price, Leblanc, Becker
`& Shur
`'
`[57]
`ABSTRACI
`In a global positioning system (GPS)/self-contained
`c°mbina?°n type navigatim‘ System I“ a vehicle’ the
`GPS “"1849”! data are recei‘fed by the?” antenna
`of the nav1gat1on system whlch are slmultaneously
`transmitted from more than 3 pieces of satellites inclu
`sively, From the GPS navigation data, GPS type veloc
`ity data is calculated, whereas self-contained type, ve
`locity data is calculated from self-contained type navi
`gation data such as azimuth data and drive-distance data
`of the vehicle. Only when a difference between the
`self-contained type velocity data and the GPS type
`velocity data exceeds a threshold velocity, the GPS
`.
`.
`.
`a
`.
`type veloc1ty data 15 voided so as to determine the pres
`ent position of the vehicle.
`
`3,940,597 2/ 1976 DiMatteo .......................... .. 364/454
`4,024,382 5/1977 Fowler .............................. .. 364/449
`
`_
`16 Claims, 8 Drawing Sheets
`
`//
`\21
`
`\IO
`
`24
`/
`AZIMUTH
`SENSOR
`l
`
`25
`DRIVE-DISTANCE
`SENSOR
`
`I
`IT
`SELF-CONTAINED /26
`TYPE POSITIONING
`UNIT
`
`‘
`
`22
`/
`G p 5
`RECEIVER
`27
`I
`23
`l
`PRESENT-POSITION
`GPS
`-»
`DETERMINING
`POSITIONING
`UN IT
`CALCULATOR
`
`‘CORRECTING
`UNIT
`
`\
`28
`
`29
`
`DISPLAY
`CONTROLLER
`
`31
`MAP DATA /
`MEMORY
`
`Y
`DISPLA
`\
`3O
`
`Apple Inc. Exhibit 1010 Page 1
`
`

`
`US. Patent Feb. 20, 1990
`Sheet 1 0f8 \
`FIG. 1
`PRIOR ART
`
`4,903,212
`
`\IO
`
`I2
`
`13
`/
`
`15
`' /
`DATA
`MEMORY
`
`//
`
`“11
`
`GRS
`RECEIVER
`
`G PS
`POSITIONING
`CALCULATOR
`
`(DISPLA? 14
`
`FIG. 7
`
`POSITIONAL.
`SHIFTS
`
`DRIVE TRAIL
`
`DRIVE DISTANCE BI
`TIME ELAPSE
`
`NO JUMP PHENOMENON
`
`Apple Inc. Exhibit 1010 Page 2
`
`

`
`Apple Inc. Exhibit 1010 Page 3
`
`

`
`Apple Inc. Exhibit 1010 Page 4
`
`

`
`US. Patent -Feb.20, 1990
`
`_
`
`vSheet 4 of8
`
`4,903,212
`
`FIG. 4A
`@81
`
`START GPS POSITIONING
`AND AcOuIRE DRIVE
`DISTANCE DATA "L"
`
`J52
`
`s STATUS IN FORMATION
`
`S3
`
`/s4
`
`START SELF-CONTAINED
`TYPE NAVIGATION DATA
`ACQUISITION (Xs,Ys)
`AND INITIALIZE (XS,YS)
`AS GPS POSITIONIG DATA
`(X0,Yo)
`
`CONVERT PRESENT POSITION
`(X,Y) INTO GPS DATA (X0,Yo)
`
`READ MAP DATA FROM
`MEMORY 31
`I
`
`S5
`
`86
`
`Apple Inc. Exhibit 1010 Page 5
`
`

`
`US. Patent Feb. 20, 1990
`
`Sheet 5 of8
`
`'
`
`FIG. 4B
`
`4,903,212
`
`DISPLAY PRESENT POSITON
`ON MAP
`
`-
`NO
`
`GPS DATA
`AVAILABLE ?
`
`S8
`
`82
`ET /
`READ AZIMUTH a
`DRIVE-DISTANCE
`
`813
`
`RECOGNIZE SELFTCONTAINED
`TYPE NAVIGATORS PRESENT
`POSITION (XS,YS) AS
`‘
`VEHICLE'S PRESENT
`POSITION (X,Y)
`
`pogiggmm
`AVAILABLE ?
`
`CORRECTIXS, Ys) INTO
`(xgps?gps)
`
`&
`
`S1 1
`
`/$10 E?m
`
`CONVERT PRESENT POSITON
`(X,Y) INTO GPS DATA
`
`S15
`
`YES
`
`DIS PLAY CORRECT PRESENT
`POSITION ON MAP
`—_____I
`
`\A $17
`
`Apple Inc. Exhibit 1010 Page 6
`
`

`
`Apple Inc. Exhibit 1010 Page 7
`
`

`
`US. Patent Feb. 20, 1996 -
`
`Sheet 7 0f8
`
`, 4,903,212
`
`FIG. 6
`@ /so
`
`READ OUT MAP DATA FROM
`MEMORY 31
`
`[
`
`I\
`S1
`
`\52
`
`DISPLAY MAP
`I
`RECEIVE GPS DATA FROM
`SATELLITE 1o
`I
`CALCULATE PRESENT
`POSITION FROM CPs DATA
`I
`CALCULATE VELOCITY AND/OR
`ACCELERATION FROM GPS DATA\S4
`I
`CALCULATE VELOCITY AND/OR
`ACCELERATION FROM
`SELF-CONTAINED TYPE
`NAVIGATION. DATA
`
`S8
`/
`DISPLAY PRESENT
`POSITION BASED UPON
`SELF-CONTAINED DATA
`
`\S3
`
`\g5 .
`
`.
`DIFFERENCE
`VELOCITY DATA EXCEEDS
`THRESHOLD ?
`
`S7
`/
`DISPLAY PRESENT POSITION
`BASED UPON GPS DATA
`
`Apple Inc. Exhibit 1010 Page 8
`
`

`
`Apple Inc. Exhibit 1010 Page 9
`
`

`
`1
`
`GPS/SELF-CONTAINED COMBINATION TYPE
`NAVIGATION SYSTEM
`
`5
`
`BACKGROUND OF THE INVENTION
`1. Field of the Invention
`The present invention generally relates to a naviga
`tion apparatus for moving objects, for instance, automo—
`biles. More speci?cally, the present invention is di
`rected to a vehicle-mount type navigation system in
`which both a GPS (Global Positioning System) type
`navigator and a self-contained type navigator are com
`patibly operated to accurately detect a present position
`of the vehicle even when GPS navigation waves trans
`mitted from the satellites are not available in the posi
`tion where the vehicle is being located.
`2. Description of the Related Art
`An attention is paid to the fact that a GPS positioning
`system is very useful in the case where navigation
`waves are transmitted from a plurality of satellites to
`various kinds of moving objects such as ships, airplanes,
`automobiles, and the present positions and moving ve
`locities thereof are con?rmed or determined. Accord
`ing to the GPS positioning system, the GPS navigation
`waves transmitted from a plurality of satellites are sub
`stantially simultaneously received, and then the present
`position, i.e., the two-dimensional or three-dimensional
`position of a moving object on and above the earth can
`be recognized.
`As is known in the ?eld, the positioning operation
`which is performed by using such a GPS positioning
`system is generally executed by receiving the GPS
`navigation waves transmitted from three or four or
`more satellites. When the GPS navigation waves from
`three satellites can be simultaneously received, the two
`dimensional position (latitude and longitude) can be
`determined. On the other hand, when the navigation
`waves from four or more satellites can be simulta
`neously received, the three-dimensional position (lati- ’
`40
`tude, longitude, and altitude) can be determined. The
`GPS navigation waves from a plurality of satellites are
`simultaneously received by a moving object. A desired
`correcting process is performed to the time shifts based
`on the differences of accuracies among timer devices
`provided for the plurality of satellites and a timer device
`provided for the moving object. Thereafter, the present
`position of the moving object is calculated and dis
`played on a display unit. At this time, the map informa
`tion relating to the present position is superimposed
`with the information regarding the present position and‘
`thereafter displayed on the display unit.
`Various types have been proposed as such a sort of
`conventional GPS positioning systems; for instance,
`“The Global Positioning System”, by Martin R. Sti
`glitz, MICROWAVE JOURNAL, April 1986, pages 34
`to 59; and “GPS NAVIGATION SYSTEM”, Japan
`Radio Company’s Technical Journal, No. 24, pages 16
`to 23, issued on Jan. 25, 1986. An arrangement of the
`latter navigation system is shown in FIG. 1 and will be
`briefly explained hereinbelow.
`In FIG. 1, the GPS navigation waves from a satellite
`10 are received by a GPS antenna 11 attached to a
`moving object (not shown). An output terminal of the
`antenna 11 is connected to a GPS receiver 12. Pseudo
`distance data obtained by the GPS receiver 12 is sup
`plied to a GPS positioning calculator 13. The calculator
`13 calculates the accurate latitude, longitude, and alti
`tude on the basis of the pseudo distance data, so that the
`
`4,903,212
`2
`accurate present position of this moving object is de
`tected. The data regarding the present position obtained
`in this manner is stored into a data memory 15 and
`displayed as a visual image by a display 14 so as to
`overlap the related map.
`To perform the foregoing two-dimensional or three
`dimensional GPS positioning, the GPS navigation
`waves transmitted from at least three or four satellites
`among a plurality of satellites which constitute the GPS
`positioning system, need to be substantially simulta
`, neously received by the GPS navigation system of a
`moving object. However, there are for example, obsta
`cles such as skyscrapers or high mountains in cities or
`region sandwiched mountains so that the navigation
`waves transmitted from a desired number of (three or
`four or more) satellites cannot substantially simulta
`neously reach an antenna of a moving object and a
`desired GPS positioning cannot be performed. On the
`other hand, even if the GPS positioning may be per
`formed, there is another problem such that the position
`ing accuracy remarkably deteriorates because of the
`attenuation of the GPS navigation waves caused by the
`reflection thereof due to the practical arrangement of
`the satellites with respect to a moving object or due to
`obstacles mentioned above.
`On the other hand, a self-contained type navigation
`apparatus has conventionally widely been used as a
`navigator for various kinds of moving objects as men
`tioned above.
`Different from the foregoing GPS navigation appara
`tus, in the self-contained type navigation apparatus, the
`present position of a moving object ‘itself can be known
`on the basis of only the data obtained from the self-con
`tained type navigator itself without utilizing the naviga
`tion data from the outside such as GPS navigation
`waves from satellites.
`-
`On the other hand, a vehicle-mount type navigator
`having a GPS positioning type navigating function and
`a self-contained type navigating function has been re
`cently developed, in which either one of these functions
`is properly, intentionally selected by an operator.
`In such a kind of vehicle-mount type navigator, when
`the GPS navigator function cannot be selected due to
`the presence of various kinds of obstacles, the self-con
`tained type navigator function is selected and the pres
`ent position or moving direction of a vehicle itself can
`be recognized or determined on the basis of only the
`data which is acquired from a drive-distance sensor or
`azimuth sensor.
`It is now assumed that the GPS navigator function of
`the vehicle-mount type navigation apparatus is selected.
`In this case, a vehicle moves on a moving route while
`receiving the GPS navigation waves from the satellites
`through the GPS antenna. However, for example, as
`suming that a high building exists.as an obstacle, the
`GPS navigation waves transmitted from a plurality of
`satellites cannot be received. Otherwise, the noises like
`the GPS navigation waves reflected by other disturb
`ances are necessarily received, so that a positioning
`error is included in the display image of the present
`position of the vehicle (i.e., multipath noise). That is, on
`the displayed map, it looks as if the vehicle was remark
`ably deviated from the moving route. Such a phenome
`non is called a "jump phenomenon”. There is a fear
`such that the car driver of the vehicle erroneously con
`firms the present position due to the jump phenomenon
`
`45
`
`65
`
`Apple Inc. Exhibit 1010 Page 10
`
`

`
`3
`and misdrives the vehicle, so that a serious traffic acci
`dent may occur.
`The present invention has been made to 'solve such
`various conventional problems. It is the ?rst object of
`the invention to provide a GPS navigation system in
`which even when the GPS positioning cannot be per
`formed or the positioning accuracy deteriorates, the
`present position of a moving object an be accurately
`detected and determined by utilizing the position infor
`mation of a self-contained type navigator.
`A second object of the invention is to provide a vehi
`cle-mount type navigation apparatus having both of the .
`GPS type navigator function and the self-contained
`type navigator function, wherein in the case where the
`GPS navigator function is selected, at a time point when
`the GPS navigation data exceeds a reference value
`range, the collected GPS navigation data is ignored and
`simultaneously the navigation data derived by the self
`contained type navigator function is used.
`SUMMARY OF THE INVENTION
`These objects of the invention are accomplished by
`providing a global positioning system (GPS)/self-con
`tained combination type navigation system for a moving
`object comprising:
`self-contained type positioning means (24 to 26) for
`acquiring self-contained type positioning information of
`the moving object;
`a GPS type positioning unit (21 to 23) for acquiring
`GPS type positioning information from navigation data
`transmitted from a plurality of satellites arranged for
`constructing the global positioning system;
`a correcting unit (28) for producing a correction
`signal to be supplied to the self-contained type position
`ing unit (24 to 26) based upon the GPS type positioning
`information, whereby corrected self-contained type
`positioning information is derived from the self-con
`tained type positioning unit;
`a present-position determining unit (27) for determin
`ing a present position of the moving object by process
`ing one of the corrected self-contained type positioning
`information and GPS type positioning information,
`depending upon a reception condition of the GPS posi
`tioning information;
`a map data memory unit (31) for previously storing
`map data required for navigating the moving object;
`and,
`'
`a display unit (29 and 30) for displaying the present
`position of the moving object superimposed on the map
`data by receiving the output of the present position
`determining unit (27) and the map data from the map
`data memory unit (31).
`Furthermore, a global positioning system (GPS)/self
`contained combination type navigation system for a
`vehicle comprises;
`a GPS type positioning unit (21;22;80) for acquiring
`GPS type positioning information from GPS navigation
`data transmitted from a plurality of satellites (10) ar
`ranged for constituting the global positioning naviga
`tion system;
`a- self-contained type positioning unit (24;25;82) for
`acquiring self-contained type positioning information of
`the vehicle;
`'
`a positioning-data processing unit (61) for processing
`both the GPS type positioning information from the
`GPS type positioning unit and the self-contained type
`positioning information from the self-contained type
`
`40
`
`45
`
`55
`
`60
`
`65
`
`' 4,903,212
`
`5
`
`20
`
`25
`
`4
`positioning unit so as to obtain GPS type velocity data
`and self-contained type velocity data, respectively;
`a ?rst memory (63) for temporarily storing the GPS
`type velocity data derived from the positioning-data
`processing unit (61);
`a second memory (64) for temporarily storing the
`self-contained type velocity data derived from the posi
`tioning-data processing unit (61);
`a comparator (85) for comparing said GPS type
`velocity-data read out from the ?rst memory (63) with
`said self-contained type velocity-data read out from the
`second memory (64) thereby to obtain velocity compar
`ison data; for
`a present~position determining unit (86) processing
`one of the GPS type velocity data and self-contained
`type velocity data so as to determine a present position
`of the vehicle by judging whether or not the velocity
`comparison data exceeds a threshold velocity;
`a map data memory (31) for previously storing map
`data required for navigating the vehicle; and,
`a display unit (87;30) for displaying the present posi
`tion of the vehicle superimposed on the map data by
`receiving the output of the present-position determining
`unit (86) and the map data from the map data memory
`(31).
`According to the present invention, when the number
`of satellites whose navigation waves can be received
`among a plurality of satellites constituting the GPS
`positioning system becomes two or less and the GPS
`positioning cannot be performed, or when the position
`ing accuracy is not so high, by using the position infor
`mation of the self-contained type navigation apparatus
`based on the azimuth information and drive distance
`information of a moving object which are obtained
`from an azimuth sensor and a drive-distance sensor, the
`present position of the moving object can be accurately
`detected
`According to the invention, when the GPS navigator
`function is selected and the GPS data at a certain posi
`tioning time point exceeds an allowable range based on
`the self-contained type data at this positioning time
`pginbthe’ GPS data obtained at the certain time point is
`ignored and the self-contained type data can be used as
`the navigator data of the moving object itself.
`BRIEF DESCRIPTION OF THE DRAWINGS
`For a better understanding of the above-described
`objects and features of the invention, reference is made
`to the speci?cation and the accompanying drawings, in
`which:
`FIG. 1 is a schematic block diagram of the conven
`tional GPS positioning apparatus;
`FIG. 2 is a schematic block diagram of a GPS/self
`contained type navigation system according to a ?rst
`preferred embodiment of the invention;
`FIG. 3 is a detailed circuit block diagram of the
`GPS/self-contained type navigation system shown in
`FIG. 2;
`FIGS. 4A and 4B are flowcharts for explaining the
`navigation control by the system illustrated in FIG. 3;
`FIG. 5 schematically illustrates a block diagram of a
`GPS/self-contained combination type navigation sys
`tem according to a second preferred embodiment of the
`invention;
`FIG. 6 is a ?owchart for explaining the navigation by
`the navigation system shown in FIG. 5;
`FIG. 7 is a graphical representation on the positional
`shifts of the vehicle with respect to the'drive distance
`
`Apple Inc. Exhibit 1010 Page 11
`
`

`
`4,903,212
`5
`according to the GPS/self-contained type navigation
`system illustrated in FIG. 5; and
`FIG. 8 is a circuit block diagram of the practical
`GPS/self-contained type navigation system according
`to the second preferred embodiment.
`Detailed Description of Preferred Embodiments
`GPS/Self-Contained Combination Type Navigation
`System
`Referring now to a block diagram shown in FIG. 2, a
`GPS/self-contained combination type navigation sys
`tem will be described.
`For the sake of simplicity, only one satellite constitut
`ing the Global Positioning System is shown in the fig
`ure, from which the GPS navigation data, e.g., the time '
`data, ephemeris data, and almanac data are being trans
`mitted.
`In FIG. 2, GPS navigation waves transmitted from
`arbitrary satellites (only one satellite being illustrated)
`20
`10 among a plurality of satellites constituting the GPS
`system are received by an antenna 21. The antenna 21 is
`connected to a GPS receiver 22 to perform desired
`signal processes such as ampli?cation, demodulation,
`and the like of the received navigation waves. The GPS
`receiver 22 is connected to a GPS positioning calculator
`23 to obtain the two-dimensional position or three-di
`mensional position of a moving object (not shown) on
`which this navigation system is mounted. On the other
`hand, an azimuth sensor 24 to detect the azimuth of the
`moving object and a drive-distance sensor 25 to detect
`the drive distance of the moving object are employed.
`The sensors 24 and 25 are connected to a self-contained
`type positioning unit 26 and accordingly, the present
`position of the moving object based on the self-con-‘
`35
`tained type navigator can be detected. On the other
`hand, the GPS positioning calculator 23 and self-con
`tained type positioning unit 26 are connected to a pre
`sent-position determining unit 27. The GPS positioning
`calculator 23 is connected to the self-contained type
`positioning unit 26 through a correcting unit 28. When
`the positioning by the GPS navigation system can be
`performed, the correcting unit 28 executes a desired
`correcting calculation to the present position informa
`tion of the moving object obtained by the self-contained
`type positioning unit 26 on the basis of the present posi
`tion information derived by the GPS positioning calcu
`lator 23. Furthermore, the present-position determining
`unit 27 is connected to a display unit 30 through a dis
`play controller 29. The determining unit 27 has a func
`tion to select the GPS or self-contained type positioning
`data. That is, when the GPS positioning can be satisfac
`torily performed, the GPS present-position information
`obtained by the GPS positioning calculator 23 is se
`lected by this present-position determining unit 23 and.
`55
`supplied to the display controller 29. To the contrary,
`when the GPS positioning cannot be performed due to,
`for instance, various disturbances, the present-position
`information obtained by the self-contained type posi
`tioning unit 26 is directly supplied to the display con
`troller 29 under the control of the present-position de
`termining unit 27. In the display controller 29, the map
`information relating to the present position of a moving
`object is read out from a map data memory 31 to form
`a state in which the present position of the moving
`object is superimposed on the map information. Then,
`the present position superimposed on the related map is
`displayed on the display unit 30.
`
`6
`Detailed Circuit Arrangement of GPS/Self-Contained
`Type Navigation System
`FIG. 3 illustrates a circuit block diagram of the
`GPS/self-contained type navigation system corre
`sponding to the navigation system shown in FIG. 2.
`The same and similar components and elements as
`those in the system shown in FIG. 2 are designated by
`the same reference numerals.
`In FIG. 3, a microprocessor 100 is employed. The
`GPS positioning calculator 23, azimuth sensor 24,
`drive-distance sensor 25, operation key 32, map data
`memory 31, and display controller 29 are connected to
`the microprocessor 100.
`l
`The microprocessor 100 includes: a CPU 120 to exe
`cute a predetermined arithmetic operating process to
`various kinds of input data; a ROM 122 to store various
`kinds of programs for allowing the CPU 120 to perform
`the desired arithmetic operating processes; an RAM 126
`to temporarily store various kinds of data to be arith
`metically operated, data acquired as results of the inter
`mediate arithmetic operating processes, and the like;
`and input/output (I/O) circuits 123 to 125, 129, 131, and
`132 to connect the corresponding components and ele
`ments 23 to 25, 29, 31, and 32 to the CPU 120, respec
`tively. For example, the GPS positioning calculator 23
`is connected to the CPU 120 through the CAL-I/O
`circuit 123. In a manner similar to the above, the azi
`muth sensor 24, drive-distance sensor 25, map data
`memory 31, and display controller 29 are connected to
`the CPU 120 through the corresponding I/O circuits
`124, 125, 131, and 129, respectively. An operation key
`32 provided for the microprocessor 100 is connected to
`the CPU 120 through the OP-I/O circuit 132.
`Navigation Control
`FIG. 4 is a ?owchart showing an example of the
`operation in accordance with a predetermined control
`program stored in the ROM 122 in the microprocessor
`100 in FIG. 3.
`It is now assumed that a proper initializing command
`is output by selecting and depressing a desired function
`keyboard in the operation key 32 (step S1), a predeter
`mined GPS positioning process i started in the GPS
`positioning calculator 23 in response to the initializing
`command and at the same time, the drive distance of the
`moving object is read out by the drive-distance sensor
`25 (step S2). The drive-distance data “L” read out in
`this manner is stored into a predetermined address in the
`RAM 126. In the GPS positioning calculator 23, the
`GPS positioning process is repeated at a predetermined
`time interval after the initialization. The resultant GPS
`positioning data is input to the microprocessor 100. The
`positioning data includes the drive distance of the mov
`ing object obtained from the drive-distance sensor 25
`and status information to indicate whether the GPS
`positioning can be performed or not.
`In the next step $3, a check is made whether the
`resultant status information is valid or not. That is,
`when it is determined that the GPS positioning can be
`performed (YES) under the present condition, the con
`trol is advanced to a step S4. To the contrary, when it
`is decided that the GPS positioning cannot be executed
`(NO), the system is set to the standby mode until the
`answer in discriminating step S3 becomes YES. In step
`$4, the present position by the self-contained type navi
`gator of the moving object is detected on the basis of
`the data from the azimuth sensor 24 and drive-distance
`
`45
`
`60
`
`65
`
`Apple Inc. Exhibit 1010 Page 12
`
`

`
`7
`sensor 25. The results of the detection are transferred to
`the microprocessor 100 and stored into another desig
`nated addresses in the RAM 126. It is now assumed that
`a moving object is traveling in an approximately flat
`surface district. The east-west direction of this district is
`indicated by an X axis and the south-north direction
`perpendicular thereto is represented by a Y axis. In this
`case, an arbitrary position in this district can be repre
`sented by a point on the orthogonal coordinates system
`by the X and Y axes. Namely, it can be two-dimension
`ally represented. Assuming that the present position
`information of the self-contained type navigator of the
`moving object speci?ed in this manner is expressed by
`values (X3, Y5). These values (X,, Y,) are stored into the
`RAM 126 in step S4. In step S4, the present position
`information (which is represented by the corresponding
`latitude and longitude) based on the GPS positioning
`from the GPS positioning calculator 23 is converted
`into the corresponding present-position information
`(X0, Y0) on the orthogonal coordinates system and the
`values (X5, Y,) of the present-position information of the
`self-contained type navigator of the moving object
`based on the various kinds of sensors which are stored
`in the RAM 126 are initialized into the values (X0, Y0)
`of the present-position information of the moving object
`based on the GPS positioning.
`In the next step S5, the values (X, Y) of the present
`position information of the moving object which have
`already been stored in the RAM 126 are converted into
`the values (X0, X0) of the present~position information
`acquired based on the GPS positioning in step S4. In
`step S6, the map data of the district including the pres
`ent position of the moving object is read out of the map
`data memory 31 by the microprocessor 100. In the dis
`play controller 29, the map of this district is display
`processed on the basis of the map data. The map which
`was display-processed is displayed by the display unit
`30. In step S7, the present position of the moving object
`is cursor displayed at the corresponding position on the
`map displayed on the display unit 30 under the control
`of the display controller 29. In step S8, the control
`process is set to the standby mode until the GPS posi
`tioning data is input from the GPS positioning calcula
`tor 23. When the GPS positioning data is input from the
`calculator 23, the control process is advanced to the
`next step S9 where a check is made whether or not the
`GPS positioning can be performed by checking the
`content of the status information included in the GPS
`positioning data. If the answer is YES, step S10 follows
`and the present position of the moving object is cor
`rected on the basis of various kinds of self-contained
`type navigation information of the self-contained type
`navigator acquired from the sensors 24 and 25. Namely,
`in step $10, the values (X,, Y,) of the present-position
`information of the moving object detected on the basis
`of various kinds of self-contained type navigator infor
`mation obtained from the sensors 24 and 25 are cor
`rected to the values (Xgps, Ygps) on the orthogonal coor
`dinates system formed with respect to the district where
`the moving object is present, as the present position
`information of the moving object based on the GPS
`positioning from the GPS positioning calculator 23. In
`other words, this correction corresponds to the correct
`ing function of the correcting unit 28 in FIG. 2. In the
`succeeding step S11, the present position (X, Y) of the
`moving object stored in the RAM 126 is set to the pres
`ent position (Xgps, Ygps) based on the GPS positioning.
`In step S15, with regard to the present position of the
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`moving object obtained in step S11, a check is made to
`see if the map to be displayed needs to be updated or
`not.
`On the other hand, if the answer is NO in discriminat
`ing step S9 (i.e., no GPS navigation data is available),
`step S12 follows in which the detection data is read out
`by the azimuth sensor 24 and drive-distance sensor 25.
`That is, a moving azimuth 0 of the moving object is read
`out by the azimuth sensor 24. In addition, a drive-dis
`tance L0 of the moving object is read out by the drive
`distance sensor 25. A drive-distance AL of the moving
`object within a predetermined time period is obtained
`by executing an arithmetic operating equation
`(AL=Lo-L). Then, the drive-distance L0 is stored into
`the RAM 126 as a reference drive distance L at that
`time constant. In step $13, with respect to the self-con
`tained type present position (X5, Y,) of the moving ob
`ject detected by those sensors, the adding operations are
`executed by using the X and Y axes components of the
`drive-distance AL. Namely,
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`25
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`30
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`35
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`X, + AL _ cosO —> updated X,
`
`Y, + AL ' sinO —> updated Y,
`
`In this manner, the self-contained type present position
`XS, Ys) of the moving object detected by the sensors is
`updated. In step S14, the self-contained type present
`position (X, Y,) of the moving object detected by the
`sensors is set to the present position (X, Y) of the mov
`ing object. Then, step S15 follows where a check is
`made whether the map needs to be updated or not. If
`the answer is YES in step S15, the control process ‘is
`advanced to step S16 in which the updated map is dis
`played. Thereafter, the accurate present position of the
`moving object is displayed with superimposed on the ‘
`updated map (step S17). Conversely, if the answer is
`NO in step S15, the control process is soon advanced to
`step S17 and the present position of the moving object
`is displayed on the map which is not updated.
`As described above, in the GPS navigation system
`according to the preferred embodiment, even if the
`GPS positioning cannot be performed because the num
`ber of satellites whose GPS navigation waves can be
`received among a plurality of satellites constituting the
`GPS, becomes two or less, or even if the GPS position
`ing accuracy is not so high, the present-position‘ of the
`moving object can be accurately detected on the basis
`of the self-contained type present-position information
`acquired from the azimuth sensor and drive-distance
`sensor. Therefore, there is a particular advantage such
`that an operator of the moving object can always con
`firm its correct present position and can rapidly accu
`rately arrive at an object position.
`GPS/Self-Contained Combination Type Navigator
`Operable in Second Mode
`A vehicle-mount type navigator apparatus according
`to a second preferred embodiment is shown in FIGS. 5
`and 6.
`~
`FIG. 5 is a conceptional diagram of the navigator
`apparatus. FIG. 6 is a ?owchart for the operation of this
`navigator apparatus.
`In FIGS. 5 and 6, the same and similar components
`and elements as those in the first embodiment are desig
`nated by the same reference numerals, and therefore
`their descriptions are omitted.
`
`Apple Inc. Exhibit 1010 Page 13
`
`

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`25
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`30
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`4,903,212
`10
`scissa denotes the drive trail of the moving object. The
`In FIG. 5, the GPS navigation waves transmitted
`ordinate represents the positional