JP4978100B2 - Positioning device and initialization method - Google Patents

Description

  The present invention relates to a positioning device that measures a position based on signals, angular velocities, and accelerations sent from an artificial satellite and an initialization method thereof.

  Conventionally, in the technique described in, for example, Japanese Patent Application Laid-Open No. 8-21740, the angular velocity and acceleration bias of the inertial navigation device is based on the angular velocity and acceleration data of the inertial navigation device and the position and velocity data of the GPS receiver. An estimation amount is calculated, correction is performed, and a position, orientation, and orientation are calculated, that is, initialization processing is performed.

  In the technique described in Japanese Patent Laid-Open No. 2001-264105, leveling, course alignment, and fine alignment are performed based on the angular velocity and acceleration data of inertial navigation equipment, and the azimuth and orientation are calculated, that is, initialized. .

  In the technique described in Japanese Patent Publication No. 9-500700, the housing is rotated from a stationary state with an excavator, and the position, orientation and orientation of the rotation center are calculated based on the position output by the position output means on the housing. To do.

JP-A-8-21740 JP 2001-264105 A Japanese National Patent Publication No. 9-500700

  The technique described in Patent Document 1 requires a long time to calculate (initialize) the position, orientation, and orientation when the initial values of orientation and orientation are significantly different from the actual values.

  The technique described in Patent Document 2 can calculate the position, azimuth, and orientation when it is stationary, but cannot calculate the position, azimuth, and orientation when it is moving or rotating.

  The technique described in Patent Document 3 can calculate the position, orientation, and orientation only when the casing on the crawler is rotating. However, when the crawler is operating and moving, the position, orientation, And the posture cannot be calculated.

  The first object of the present invention is to shorten the initialization time.

  The second object of the present invention is to enable initialization of inertial navigation equipment regardless of vehicle operation before starting work in initialization of inertial navigation equipment.

  The first object is to receive inertial sensor means for outputting three-axis angular velocity orthogonal to each other and three-axis acceleration orthogonal to each other, and a satellite signal for transmitting positioning information from space or the ground. When the receiving means for outputting the speed and the moving lever for operating the crawler are off and the rotating lever for rotating the casing on the crawler is on, the position of the casing is determined based on the output position from the receiving means. Calculate the position, azimuth and orientation, and when the moving lever is on, the output angular velocity and acceleration drift amount based on the output position and velocity of the receiving means, the output angular velocity and acceleration of the inertial sensor means, Computation means is provided for calculating the position, velocity, azimuth, and orientation error amounts, correcting the drift amount and the error amount, and calculating the position, orientation, and orientation of the housing. It is achieved by the positioning device.

  The first object is provided with the calculation means for calculating the position, orientation and orientation of the housing based on the output angular velocity and acceleration of the inertial sensor means when the moving lever and the rotation lever are off. This is achieved by the positioning device described above.

  The first purpose is to receive satellite signals that transmit positioning information from space or the ground when the moving lever that operates the crawler is off and the rotating lever that rotates the housing on the crawler is on. Calculating the position, orientation and orientation of the housing based on the output position and speed of the receiving means, and when the moving lever is on, the output position and speed of the receiving means, the output angular speed of the inertial sensor means and Calculate the output angular velocity and acceleration drift amount based on the acceleration, and the position, velocity, azimuth, and orientation error amount, and correct the drift amount and the error amount to obtain the position, orientation, and orientation of the housing. This is achieved by a positioning device initialization method characterized by calculating.

  The first object of the present invention is to calculate the position, orientation and orientation of the housing based on the output angular velocity and acceleration of the inertial sensor means when the moving lever and the rotating lever are off. This is achieved by the positioning device initialization method of Item 3.

  The second object is to receive inertial sensor means for outputting three-axis angular velocity orthogonal to each other and three-axis acceleration orthogonal to each other, and a satellite signal for transmitting positioning information from space or the ground. When the receiving means for outputting the speed and the moving lever for operating the crawler are off and the rotating lever for rotating the casing on the crawler is on, the position of the casing is determined based on the output position from the receiving means. After calculating the position, azimuth and orientation and rotating the casing by a predetermined angle, the position, orientation and orientation of the casing are set as initial values, the output position and speed of the receiving means, the inertial sensor means Based on the output angular velocity and acceleration, the output angular velocity and acceleration drift amount and the position, velocity, azimuth, and posture error amounts are calculated, and the drift amount and the error amount are corrected to obtain the position of the housing, It is achieved by positioning apparatus characterized by comprising a calculating means for calculating the position and orientation.

  The second purpose is to receive satellite signals that send positioning information from space or the ground when the moving lever that moves the crawler is off and the rotating lever that rotates the housing on the crawler is on. Then, the position, orientation, and orientation of the housing are calculated based on the receiving means that outputs the position and speed, and after the housing is rotated by a predetermined angle, the position, orientation, and orientation of the housing are set as initial values. When the moving lever is on, the output angular velocity and acceleration drift amount, position, velocity, and direction based on the output position and velocity of the receiving means, the output angular velocity and acceleration of the inertial sensor means for a predetermined time. And an error amount of the attitude is calculated, and the position, orientation, and attitude of the casing are calculated by correcting only the drift amount and the error amount.

  According to the positioning device and the initialization method of the present invention, since the initialization method is automatically selected according to the state of the rotary lever and the moving lever, the operator does not need to select the initialization method. Misselection of methods can be prevented.

  Further, according to the positioning device and the initialization method of the present invention, an erroneous operation is performed to determine the start of calculation of the initial value of the azimuth and the posture and the start of the movement alignment based on the state of the rotating lever and the moving lever. Thus, it is possible to prevent an error in calculating the wrong direction and orientation.

  The first object of shortening the initialization time is realized by monitoring the state of the moving lever and the rotating lever and calculating the initial values of the azimuth and posture before the moving alignment.

  The second object of initializing the inertial navigation device without being caught by the vehicle operation before starting work is realized by selecting the initialization method according to the state of the moving lever and the rotating lever.

FIG. 1 shows the configuration of an embodiment of the positioning apparatus of the present invention. One embodiment of the present invention includes a mobile station positioning device 100, an operation driving device 110, a communication line 120, and a reference station positioning device 130. The mobile station positioning apparatus 100 includes a communication unit 102, a reception unit 101, an inertial sensor unit 103, a calculation unit 104, a storage unit 105, and a display unit 106.

The receiving means 101 includes an antenna 203, and functions of down-conversion, analog / digital conversion, quadrature detection, C / A (Coarse / Acquisition) code generation, correlation detection, decoding, delay lock loop, and phase lock loop It has. A signal (positioning signal) sent from a positioning satellite is received by the antenna 203, a navigation message including orbit information and positioning satellite state information is detected, a pseudorange (distance from the satellite), a carrier phase integrated value, Observation data such as the Doppler frequency is measured, and the position and speed of the antenna 203 are calculated based on the observation data. Positioning satellites such as GPS satellites and pseudolites are devices that transmit signals for positioning from space or the ground. The antenna 203 is attached to the vehicle casing 202 as shown in FIG. The mounting position may be on the cockpit.

  A communication unit 102 such as a telephone, a satellite communication device, or a wireless device transmits observation data from the reference station positioning device 130 to the reception unit 101 via the communication line 120. Inertial sensor means 103 such as a gyro and acceleration outputs a three-dimensional angular velocity and a three-dimensional acceleration.

The calculation means 104 such as a CPU (Central Processing Unit) is based on the position and speed from the reception means 101, the angular velocity and acceleration of the inertial sensor means 103, the state of the rotation lever 111 and the movement lever 114. Initialize the inertial sensor device. Further, the position, orientation and orientation of the housing 202 are calculated. A storage unit 105 such as a memory or a hard disk stores the output position of the receiver. A display unit 106 such as a display displays operation instructions for the rotation lever 111 and the movement lever 114.

  The operation driving device 110 includes a rotation lever 111, a control unit 112, a driving unit 113, a moving lever 114, a control unit 115, and a driving unit 116. The rotation lever 111 is a switch for performing an operation of rotating the casing 202 including the cockpit, arm, excavator, and the like shown in FIG. When the rotating lever 111 is turned on, an ON signal (ON signal) is sent to the calculation means 104 and the control means 112.

  When the control means 112 such as a CPU receives an ON signal of the rotation lever 111, it sends an operation signal to the drive means 113. When the driving means 113 such as an engine, a motor, or a hydraulic device receives an operation signal from the control means 112, the driving means 113 rotates the casing 202. The moving lever 114 is a switch for performing an operation for operating the crawler 201 shown in FIG. When the moving lever 114 is turned on, an ON signal (ON signal) is sent to the calculation means 104 and the control means 115. When the control means 115 receives the ON signal of the moving lever 114, it sends an operation signal to the drive means 116. When the driving means 116 such as a hydraulic valve or a motor receives an operation signal from the control means 115, the driving means 116 rotates the crawler 201.

  A communication line 120 such as a telephone line, a satellite communication line, or a radio sends observation data of the reference station positioning device 130 to the mobile station positioning device 100. The reference station positioning device 130 includes a receiving unit 131 and a communication unit 132. The receiving means 131 includes an antenna 203 and has processing functions of down-conversion, analog / digital conversion, quadrature detection, C / A code generation, correlation detection, decoding, delay lock loop, and phase lock loop. A signal (positioning signal) sent from a positioning satellite is received by the antenna 203, a navigation message including orbit information and positioning satellite state information is detected, a pseudorange (distance from the satellite), a carrier phase integrated value, Measure observation data such as Doppler frequency. A communication unit 132 such as a telephone, a satellite communication device, or a wireless device transmits observation data from the reception unit 131 to the mobile station positioning apparatus 100 via the communication line 120.

The operation procedure of the reference station positioning device 130 of the positioning device of the present invention shown in FIG. 1 will be described with reference to FIG.
Step 301: The receiving means 131 receives a signal from a positioning satellite by the antenna 203, and performs orbit information by performing down-conversion, analog-digital conversion, quadrature detection, C / A code generation, correlation detection, and decoding. Detect navigation messages such as, reception time, pseudorange and Doppler frequency. Based on the correlation detection signal, the delay locked loop and the phase locked loop are processed to detect the carrier phase integrated value. These observation data are sent to the communication means 132.
Step 302: The reception means 131 sends observation data such as navigation message, reception time, pseudo distance, Doppler frequency and carrier wave phase integrated value to the communication means 132, and the communication means 132 transmits the observation data to the mobile station via the communication line 120. Transmit to device 100.

The operation procedure of the mobile station positioning device 100 of the positioning device of the present invention shown in FIG. 1 will be described with reference to FIG.
Step 401: A signal indicating whether the rotating lever 111 and the moving lever 114 are on or off is sent to the computing means 104. If the rotating lever 111 is on and the moving lever 114 is off, the process proceeds to step 402. If the moving lever 114 is on, the process proceeds to step 407.
Step 402: The communication means 102 receives the observation data of the reference station positioning device 130 sent via the communication line 120 and sends it to the receiving means 101. The receiving means 101 receives a signal from a positioning satellite by an antenna 203, and performs navigation processing such as orbit information by performing down-conversion, analog-digital conversion, quadrature detection, C / A code generation, correlation detection, and decoding. Detect message, reception time, pseudorange and Doppler frequency. Based on the correlation detection signal, the delay locked loop and the phase locked loop are processed to detect the carrier phase integrated value. Based on the observation data of the mobile station positioning device 100 and the observation data of the reference station positioning device 130, real-time kinematic positioning is performed, and the antenna position 501 of the receiving means 101 is calculated. The reception unit 101 sends the antenna position 501 to the calculation unit 104.
Step 403: The computing means 104 receives the antenna position 501 from the receiving means 101 and sends it to the storage means 105. The storage unit 105 stores the antenna position 501.
Step 404: If there are three or more antenna positions 501, the process proceeds to step 405. Otherwise, the process proceeds to step 401.
Step 405: The computing means 104 calculates the position of the rotation center 502, the orientation and orientation of the housing 202 based on the antenna position 501 shown in FIG.
Step 406: If the rotation angle 503 of the housing 202 is greater than or equal to a predetermined angle, the process proceeds to step 413. If it is less than the predetermined angle, the process proceeds to step 401.
Step 407: The inertial sensor means 103 outputs a three-dimensional angular velocity and acceleration and sends them to the computing means 104.
Step 408: The computing means 104 receives the three-dimensional angular velocity and acceleration. The strapdown calculation is performed based on the three-dimensional angular velocity and acceleration obtained by subtracting the drift amount of the angular velocity and acceleration and the error amount of the position, velocity, orientation, and orientation, and the position, velocity, orientation, and orientation are calculated. After calculation, the drift amount of angular velocity and acceleration and the error amount of position, velocity, direction and orientation are set to zero. Here, initial values of error amounts of angular velocity and acceleration drift, position, velocity, azimuth, and orientation are zero.
Step 409: Since the output cycle of the receiving means 101 is longer than the output cycle of the inertial sensor means 103, there may be no output of the receiving means 101 even if there is an output of the inertial sensor means 103. For this reason, when it is the output timing of the receiving means 101, it progresses to step 410, and when it is not an output timing, it progresses to step 401.
Step 410: The communication means 102 receives the observation data of the reference station positioning device 130 sent via the communication line 120 and sends it to the receiving means 101. The receiving means 101 receives a signal from a positioning satellite by an antenna 203, and performs navigation processing such as orbit information by performing down-conversion, analog-digital conversion, quadrature detection, C / A code generation, correlation detection, and decoding. Detect message, reception time, pseudorange and Doppler frequency. Based on the correlation detection signal, the delay locked loop and the phase locked loop are processed to detect the carrier phase integrated value. Based on the observation data of the mobile station positioning device 100 and the observation data of the reference station positioning device 130, real-time kinematic positioning is performed to calculate the position. Also, the speed is calculated based on the Doppler frequency. The reception unit 101 sends the position and speed to the calculation unit 104.
Step 411: The calculating means 104 receives the position and velocity from the receiving means 101, and based on the position, velocity, azimuth and attitude calculated in Step 408, the Kalman filter is used to calculate the angular velocity and acceleration drift amount, position, Calculate the speed, heading, and posture error.
Step 412: If the moving time is longer than the predetermined time, the process proceeds to Step 413, and if it is less than the predetermined time, the process proceeds to Step 401.
Step 413: The initialization process of the inertial sensor means 103 is terminated.

  In step 412 of the operation procedure of the mobile station positioning device 100 of one embodiment of the positioning device of the present invention shown in FIG. 4, the initialization is terminated when the estimated error covariance of the Kalman filter becomes smaller than a predetermined value. It doesn't matter.

  In the operation procedure of the mobile station positioning device 100 of the embodiment of the positioning device of the present invention shown in FIG. 4, when the performance of the drift amount of the angular velocity of the inertial sensor means 103 is 5 ° / hour or less, the stationary shown in FIG. If steps 601 to 606 of the alignment operation procedure are added, the inertial sensor means 103 can be initialized even in a stationary state.

The operation procedure of one embodiment of the positioning apparatus of the present invention shown in FIG. 1 will be described with reference to FIG.
Step 401: The rotation lever 111 and the moving lever 114 are sent to the computing means 104 as to whether they are on or off. If the rotating lever 111 is on and the moving lever 114 is off, the process proceeds to step 402. If the moving lever 114 is on, the process proceeds to step 408, where the rotating lever 111 is off and the moving lever 114 is off. The process proceeds to step 601.
Step 601: The inertial sensor means 103 outputs a three-dimensional angular velocity and acceleration and sends them to the computing means 104.
Step 602: If leveling and course alignment are completed, the process proceeds to step 605. If not completed, the process proceeds to step 603.
Step 603: The computing means 104 detects the direction of gravity based on the three-dimensional acceleration, calculates the horizontal plane, and performs leveling processing.
Step 604: The computing means 104 measures the angular velocity due to rotation based on the three-dimensional angular velocity, detects the rotation direction based on the angular velocity due to rotation, calculates the true north direction, and performs course alignment.
Step 605: The computing means 104 calculates the azimuth and orientation using the Kalman filter, with the three-dimensional angular velocity and acceleration as the observation amount, and the azimuth and orientation as the state quantity. This process is fine alignment.
Step 606: If the estimated error covariance of the Kalman filter is smaller than a predetermined value, the process proceeds to step 413. If it is equal to or larger than the predetermined value, the process proceeds to step 401.

In the embodiment of the positioning apparatus of the present invention shown in FIG. 1, the inertial sensor means even if the reference station positioning apparatus 130, the communication line 120, and the communication means 102 are deleted and the receiving means 101 calculates the position and velocity by single positioning. 103 can be initialized.

  Examples of operations before excavation of a vehicle such as an excavator include movement to a work place and turning on the spot. According to the operation procedure of the embodiment of the positioning device of the present invention shown in FIG. 4, since the initialization method is automatically selected according to the state of the rotating lever 111 and the moving lever 114, the operation of the excavator or the like before the work is performed. However, it is possible to initialize the inertial sensor means 103. In addition, the operator does not need to select an initialization method, and selection errors can be prevented.

The operation procedure of the mobile station positioning device 100 of the positioning device of the present invention shown in FIG. 1 will be described with reference to FIGS.
Step 701: A signal indicating whether the rotation lever 111 and the movement lever 114 are on or off is sent to the computing means 104. If the rotating lever 111 is on and the moving lever 114 is off, the process proceeds to step 703; otherwise, the process proceeds to step 702.
Step 702: The calculation means 104 sends display information (operation instruction) “Please turn on the rotating lever 111 and turn off the moving lever 114” to the display means 106. The display means 106 outputs display information (operation instruction) “turn on the rotating lever 111 and turn off the moving lever 114”.
Step 703: The communication means 102 receives the observation data of the reference station positioning device 130 sent via the communication line 120 and sends it to the receiving means 101. The receiving means 101 receives a signal from a positioning satellite by an antenna 203, and performs navigation processing such as orbit information by performing down-conversion, analog-digital conversion, quadrature detection, C / A code generation, correlation detection, and decoding. Detect message, reception time, pseudorange and Doppler frequency. Based on the correlation detection signal, the delay locked loop and the phase locked loop are processed to detect the carrier phase integrated value. Based on the observation data of the mobile station positioning device 100 and the observation data of the reference station positioning device 130, real-time kinematic positioning is performed, and the antenna position 501 of the receiving means 101 is calculated. The reception unit 101 sends the antenna position 501 to the calculation unit 104.
Step 704: The computing means 104 receives the antenna position 501 from the receiving means 101 and sends it to the storage means 105. The storage unit 105 stores the antenna position 501.
Step 705: If there are three or more antenna positions 501, go to Step 706, otherwise go to Step 701.
Step 706: The computing means 104 calculates the position of the rotation center 502, the azimuth and orientation of the housing 202 based on the antenna position 501 shown in FIG.
Step 707: If the rotation angle 503 of the housing 202 is greater than or equal to a predetermined angle, the process proceeds to step 708. If it is less than the predetermined angle, the process proceeds to step 701.
Step 708: A signal indicating whether the rotation lever 111 and the movement lever 114 are on or off is sent to the computing means 104. If the rotating lever 111 or the moving lever 114 is on, the process proceeds to step 710; otherwise, the process proceeds to step 709.
Step 709: The calculation means 104 sends display information (operation instruction) “Please turn on the rotating lever 111 or the moving lever 114” to the display means 106. The display means 106 outputs display information (operation instruction) “Please turn on the rotating lever 111 or the moving lever 114”.
Step 710: The inertial sensor means 103 outputs a three-dimensional angular velocity and acceleration and sends them to the computing means 104.
Step 711: The computing means 104 receives a three-dimensional angular velocity and acceleration. The strapdown calculation is performed based on the three-dimensional angular velocity and acceleration obtained by subtracting the drift amount of the angular velocity and acceleration and the error amount of the position, velocity, orientation, and orientation, and the position, velocity, orientation, and orientation are calculated. After calculation, the drift amount of angular velocity and acceleration and the error amount of position, velocity, direction and orientation are set to zero. Here, the initial values of the drift amounts of the angular velocity and acceleration and the error amounts of the position, velocity, direction, and orientation are zero.
Step 712: Since the output cycle of the receiving means 101 is longer than the output cycle of the inertial sensor means 103, there may be no output of the receiving means 101 even if there is an output of the inertial sensor means 103. Therefore, if it is the output timing of the receiving means 101, the process proceeds to step 713, and if it is not the output timing, the process proceeds to step 708.
Step 713: The communication means 102 receives the observation data of the reference station positioning device 130 sent via the communication line 120 and sends it to the receiving means 101. The receiving means 101 receives a signal from a positioning satellite by an antenna 203, and performs navigation processing such as orbit information by performing down-conversion, analog-digital conversion, quadrature detection, C / A code generation, correlation detection, and decoding. Detect message, reception time, pseudorange and Doppler frequency. Based on the correlation detection signal, the delay locked loop and the phase locked loop are processed to detect the carrier phase integrated value. Based on the observation data of the mobile station positioning device 100 and the observation data of the reference station positioning device 130, real-time kinematic positioning is performed to calculate the position. Also, the speed is calculated based on the Doppler frequency. The reception unit 101 sends the position and speed to the calculation unit 104.
Step 714: The calculating means 104 receives the position and velocity from the receiving means 101, and calculates the angular velocity and acceleration drift amounts using the Kalman filter based on the position, velocity, azimuth and orientation calculated in step 711.
Step 715: If the travel time is longer than the predetermined time, proceed to Step 716, and if it is less than the predetermined time, proceed to Step 708.
Step 716: The initialization process of the inertial sensor means 103 is terminated.

  In step 715 of the operation procedure of the mobile station positioning device 100 of one embodiment of the positioning device of the present invention shown in FIG. 8, the initialization is terminated when the estimated error covariance of the Kalman filter becomes smaller than a predetermined value. It doesn't matter.

In the embodiment of the positioning apparatus of the present invention shown in FIG. 1, the inertial sensor means even if the reference station positioning apparatus 130, the communication line 120, and the communication means 102 are deleted and the receiving means 101 calculates the position and velocity by single positioning. 103 can be initialized.

  In the moving alignment, if the initial values of the azimuth and the posture are greatly different from the actual values, it takes a long time to initialize. According to the operation procedure of the embodiment of the positioning apparatus of the present invention shown in FIGS. 7 and 8, the casing 202 on the crawler 201 is rotated before the moving alignment, and the direction is determined based on the position of the receiving means 101. Since the initial value of the posture is calculated and used as the initial value of the movement alignment, the convergence of the Kalman filter is shortened, and the time required for initialization of the inertial sensor means 103 can be shortened.

  After the method of obtaining the azimuth and orientation by rotating the housing 202 or the combined navigation of the receiving means 101 and the inertial sensor means 103 after static alignment, the estimated error covariance of the Kalman filter is large immediately after the navigation mode, and the output position, The posture accuracy is poor. According to the operation procedure of the embodiment of the positioning device of the present invention shown in FIGS. 7 and 8, the estimated error covariance can be reduced by moving alignment. Therefore, when the navigation mode is started, the output position, azimuth and orientation are changed. Accuracy is improved.

  According to the operation procedure of the embodiment of the positioning apparatus of the present invention shown in FIGS. 7 and 8, the calculation of the initial value of the azimuth and the posture and the movement alignment are based on the state of the rotating lever 111 and the moving lever 114. Since the start is determined, alignment is performed by an incorrect operation, and an error in calculating an incorrect azimuth and orientation can be prevented.

  By applying the positioning device to the excavator, the initialization time of the inertial navigation device can be shortened. Also, initialization is possible without being caught by the operation before work.

It is a figure which shows the structure of one Example of the positioning apparatus of this invention. It is a figure which shows the vehicle carrying one Example of the positioning apparatus of this invention. It is a figure which shows operation | movement of the reference | standard station positioning apparatus of one Example of the positioning apparatus of this invention. It is a figure which shows operation | movement of the mobile station positioning apparatus of one Example of the positioning apparatus of this invention. It is a figure which shows the vehicle carrying one Example of the positioning apparatus of this invention. It is a figure which shows operation | movement of the mobile station positioning apparatus of one Example of the positioning apparatus of this invention. It is a figure which shows operation | movement of the mobile station positioning apparatus of one Example of the positioning apparatus of this invention. It is a figure which shows operation | movement of the mobile station positioning apparatus of one Example of the positioning apparatus of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Mobile station positioning apparatus, 101, 131 ... Reception means, 102, 132 ... Communication means,
103 ... Inertial sensor means, 104 ... Calculation means, 105 ... Storage means, 106 ... Display means,
DESCRIPTION OF SYMBOLS 110 ... Operation drive device, 111 ... Rotating lever, 112, 115 ... Control means, 113, 116 ... Drive means, 114 ... Moving lever, 120 ... Communication line, 130 ... Reference station positioning device, 201 ... Crawler, 202 ... Housing, 203: Antenna.

Claims (6)

An inertial sensor means for outputting an acceleration of three axes perpendicular to the angular velocity and each other physicians three axes orthogonal to each other,
Receiving means for receiving a satellite signal for transmitting positioning information from space or the ground, and outputting a position and velocity;
When the moving lever that operates the crawler is off and the rotating lever that rotates the casing on the crawler is on, the position, orientation, and orientation of the casing are calculated based on the output position from the receiving means. When the moving lever is on, the output angular velocity and acceleration drift amount and the position, velocity, azimuth, and attitude of the receiving device based on the output position and velocity of the receiving device and the output angular velocity and acceleration of the inertial sensor device the amount of error is calculated and corrected by the drift amount and the error amount, the position of the housing, a calculating means for calculating the orientation and attitude,
A positioning device comprising:   2. The calculation means for calculating the position, orientation, and orientation of the housing based on the output angular velocity and acceleration of the inertial sensor means when the moving lever and the rotation lever are off. Positioning device. When the moving lever that operates the crawler is off and the rotating lever that rotates the housing on the crawler is on, the output position and speed of the receiving means that receives the signal of the satellite that transmits positioning information from space or the ground Calculate the position, orientation, and orientation of the chassis based on
When the movable lever is on, the output position and speed of the receiving means, the three-axis angular velocity orthogonal to each other and the three-axis acceleration orthogonal to each other are output based on the output angular velocity and acceleration of the inertial sensor means. Calculate the amount of drift in the output angular velocity and acceleration, and the amount of error in the position, velocity, direction, and orientation.
A positioning device initialization method, wherein the position, orientation, and orientation of a housing are calculated by correcting only the drift amount and the error amount.   4. The positioning device initialization according to claim 3, wherein when the moving lever and the rotating lever are off, the position, orientation and orientation of the casing are calculated based on the output angular velocity and acceleration of the inertial sensor means. Method. An inertial sensor means for outputting an acceleration of three axes perpendicular to the angular velocity and each other physicians three axes orthogonal to each other,
Receiving means for receiving a satellite signal for transmitting positioning information from space or the ground, and outputting a position and velocity;
When the moving lever that operates the crawler is off and the rotating lever that rotates the casing on the crawler is on, the position, orientation, and orientation of the casing are calculated based on the output position from the receiving means. After the casing is rotated by a predetermined angle, the position, orientation and orientation of the casing are set as initial values, and the output position and speed of the receiving means, the output angular speed and acceleration of the inertial sensor means are determined for a predetermined time. The calculation means for calculating the drift amount of the output angular velocity and acceleration and the error amount of the position, velocity, azimuth and posture, and correcting the drift amount and the error amount to calculate the position, azimuth and posture of the housing. A positioning device comprising: When the moving lever that moves the crawler is off and the rotating lever that rotates the housing on the crawler is on, the output position and speed of the receiving means for receiving the satellite signals that transmit positioning information from space or the ground Calculate the position, orientation, and orientation of the chassis based on
After the housing is rotated a predetermined angle, the position of the housing, the orientation and the posture as an initial value, when the moving lever is on, a predetermined time, the output position and velocity of the receiving means, mutually orthogonal Based on the output angular velocity and acceleration of the inertial sensor means that outputs the triaxial angular velocity and the orthogonal triaxial acceleration, the drift amount of the output angular velocity and acceleration, and the error amount of the position, velocity, direction and orientation are calculated. And
A positioning device initialization method, wherein the position, orientation, and orientation of a housing are calculated by correcting only the drift amount and the error amount.

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