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Position finding and destination-oriented navigation, function - GF82.61-P-2010LEJ

MODEL 216 with CODE (529) HIGH Class Japan as of model year 09/YoM 08 

MODEL 221 with CODE (529) HIGH Class Japan as of model year 09/YoM 08 

Function requirements 

General position finding 

GPS is available worldwide. The GPS satellites permanently transmit time and position data (longitude and latitude). GPS position finding is irretrievable after vehicle transport (e.g. by train or ferry or after towing).

Basic position finding runs parallel to GPS position finding.

The position finding function consists of the following subfunctions:

Function sequence for GPS position finding 

The global positioning system receiver is integrated into the COMAND controller unit. It receives the GPS signals from the GPS antenna (A2/49a2) over the following path:

The GPS signals are used by the COMAND controller unit to calculate the current vehicle position (receiver). In addition, the vehicle's direction of travel is determined with the aid of the sequence of the locations calculated with GPS.

IMPORTANTPossible problems in GPS signal reception 

Since GPS operates in the gigahertz (GHz) range (microwaves) and the signals are weak, reception interference can occur as a result of the following events:

Basic position finding function sequence 

For basic position finding the COMAND controller unit requires the following information:

The wheel speed signals are recorded by the following rpm sensors:

The wheel speed signals are received by the COMAND controller unit from the rpm sensors in the following way:

The travel distance data is also determined from the wheel speeds.

The vehicle alignment data (change in angle) is processed internally by the COMAND controller unit's integrated turn rate sensor (gyro sensor).

The data on the direction of travel (forward or back) is received by the COMAND controller unit from the central gateway control unit via the central CAN. The COMAND controller unit uses the travel distance covered to calculate the coupled position, taking the vehicle alignment into consideration as well as the direction of travel. This coupled position is compared with the GPS data (longitude, latitude, direction). This position data is then compared with the map data (map matching).

Special features here are the "Two Layer Logic" and the "Parking Logic". The "Two Layer Logic" enables position finding in the case of overlapping roads (elevated road). The vertical angle (from 3D gyro) and the data of the Electronic Toll Collection System (ETC) gates and the Vehicle Information and Communication System (VICS) distance signals are also considered (dealer option). The "Parking Logic" (multi-level car park detection) enables fast position finding when leaving multi-level car parks.

IMPORTANTError during position finding 

Basic position finding is falsified when a vehicle rolls backwards with "circuit 15 OFF" (ignition switched off) or if it is transported somewhere. In both instances the deviation is automatically corrected by the COMAND controller unit's integrated navigation processor upon reception of GPS data.

Destination-oriented navigation function sequence 

The navigation is comprised of the following subfunctions:

Destination-oriented navigation function sequence through voice output 

The integrated navigation processor continuously compares the route calculation data with the position finding data and uses the data to deduce measures for further destination-oriented navigation.

The navigation voice output is sent by the COMAND control unit via the MOST to the audio tuner control unit (N93/1) and from there - on model 221 - via direct lines to the following speakers:

The audio signals are emitted on model 216 by the audio tuner control unit via direct lines to the following speakers:

Destination-oriented navigation function sequence through visual display 

The signals for visual display of the navigation (map navigation) are generated by the COMAND control unit and shown on the COMAND display (A40/8).

VICS function sequence over FM multiplexer 

The driver is provided with vital information by the VICS on the current traffic situation. Traffic impairments and traffic jams are shown on the map, however they are not incorporated into the dynamic route guidance. The radio antenna signal path is as follows:

The VICS information is processed in the FM multiplexer integrated into the COMAND controller unit. Next, the information is shown on the COMAND display. In addition, the FM multiplexer can also receive additional information, e.g. on the weather or earthquakes.

Dynamic route guidance function sequence, VICS (dealer option)

The VICS control unit (A2/37) is required for "dynamic destination-oriented navigation", which is installed in the dashboard. The VICS function is integrated into the COMAND controller unit. The VICS antenna communicates in the microwave range (2.5 GHz) with the VICS beacons installed along the road (transmission antennas). Received signals are sent directly to the COMAND controller unit where they are decoded. The traffic messages are stored and provided to the integrated navigation processor. The navigation processor makes the decision whether the route should be changed.

If necessary, a message that the route was changed is output via the vehicle speaker. The VICS signals are routed as follows:

REFER TO SYSTEM WIRING DIAGRAMS Electrical function diagram for position finding and navigation (COMAND), function Model 216 PE82.85-P-2062-97CAB
Model 221 PE82.85-P-2062-97SAB
  Instrument cluster, component description A1 GF54.30-P-6000LE
  COMAND controller unit, component description A40/3 GF82.85-P-3136LEJ
  COMAND display, component description A40/8 GF54.30-P-6110LE
  Front central operating unit, component description A40/9 GF54.21-P-4500LE
  ESP control unit, component description N47-5 GF42.45-P-5118LE
  Central gateway control unit, component description N93 GF54.21-P-4170LE
  Audio tuner control unit, component description N93/1
Model 221
Except code (810) Sound system		 GF82.62-P-3132LE 
N93/1
With CODE (810) Sound system		 GF82.62-P-3132LES 
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