JPH071174B2 - Altitude correction method of GPS receiver - Google Patents
Altitude correction method of GPS receiverInfo
- Publication number
- JPH071174B2 JPH071174B2 JP16937986A JP16937986A JPH071174B2 JP H071174 B2 JPH071174 B2 JP H071174B2 JP 16937986 A JP16937986 A JP 16937986A JP 16937986 A JP16937986 A JP 16937986A JP H071174 B2 JPH071174 B2 JP H071174B2
- Authority
- JP
- Japan
- Prior art keywords
- altitude
- altimeter
- altitude information
- dimensional positioning
- gps receiver
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、２次元測位及び３次元測位が可能で且つ２次
元測位を行なう際、高度情報として高度計からの高度情
報を使用するGPS受信機の２次元測位時の高度誤差を補
正する高度補正方式に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is capable of two-dimensional positioning and three-dimensional positioning, and when performing two-dimensional positioning, a GPS receiver that uses altitude information from an altimeter as altitude information. The present invention relates to an altitude correction method for correcting an altitude error during two-dimensional positioning.
GPS受信機において、衛星による２次元測位を行なう際
には、高度情報を与えなければならない。従来のGPS受
信機においては、高度情報を得る手段として、高度計か
らの高度情報をGPS受信機に入力し、２次元測位を行な
っている。In GPS receivers, altitude information must be given when performing two-dimensional positioning by satellite. In a conventional GPS receiver, as a means of obtaining altitude information, altitude information from an altimeter is input to the GPS receiver to perform two-dimensional positioning.
しかしながら上記のように高度情報を高度計から得る測
位方法は、高度計から入力される高度と実際の高度との
誤差は、測位精度の劣化を招きより精度の高い測位を行
う為には、高精度の高度情報をGPS受信機に入力する必
要があった。例えば、高度計として気圧高度計を使用す
る場合には、大気圧の変化に応じて測定高度が異なるた
め、高度が既知の場所でその測定高度を校正しなければ
ならないという不便があり、従来のGPS受信機において
は、この較正を煩わし手動的作業でおこなっていた。However, in the positioning method that obtains altitude information from the altimeter as described above, the error between the altitude input from the altimeter and the actual altitude leads to deterioration of the positioning accuracy, and in order to perform more accurate positioning, the accuracy of the It was necessary to input altitude information into the GPS receiver. For example, when using a barometric altimeter as an altimeter, the measured altitude differs according to changes in atmospheric pressure, so there is the inconvenience that the measured altitude must be calibrated at a known altitude. In the machine, this calibration was a troublesome and manual operation.
本発明は上述の点に鑑みてなされたもので、上記問題点
を除去し、自動的に高度計からの高度情報の較正がで
き、且つ高精度の高度情報を得ることができるGPS受信
機の高度補正方式を提供することにある。The present invention has been made in view of the above points, eliminates the above problems, can automatically calibrate the altitude information from the altimeter, and the altitude of the GPS receiver that can obtain highly accurate altitude information To provide a correction method.
上記問題点を解決するため本発明は、２次元測位時には
高度計からの高度情報を取り込み、該高度情報を用いて
測位を行うGPS受信機において、３次元測位時に演算部
にて算出された高度情報を真値として、該演算部にて算
出された高度情報と高度計からの高度情報を高度補正演
算部にて比較し、その差を高度計の高度誤差と判断し
て、該高度誤差を保持し、２次元測位時に高度計からの
高度情報に前記高度誤差を補正値として加味し、該加味
した値を高度情報として用いるように構成した。In order to solve the above problems, the present invention incorporates altitude information from an altimeter at the time of two-dimensional positioning, and in a GPS receiver that performs positioning using the altitude information, the altitude information calculated by a calculation unit at the time of three-dimensional positioning. As a true value, the altitude information calculated by the calculation unit and the altitude information from the altimeter are compared by the altitude correction calculation unit, the difference is determined as the altitude error of the altimeter, and the altitude error is held, At the time of two-dimensional positioning, the altitude error is added to the altitude information from the altimeter as a correction value, and the added value is used as the altitude information.
上記の如く構成することにより、衛星による３次元測位
時の高度情報と高度計から送られてくる高度情報との差
を高度計の誤差と判断し、２次元測位時において高度計
からの高度情報を前記差を補正値として加味した値を新
たな高度情報として用いるので、２次元測位時において
高度計の測定誤差に影響されることなく高精度の位置測
定を行なうことができる。By configuring as described above, the difference between the altitude information at the time of three-dimensional positioning by the satellite and the altitude information sent from the altimeter is judged to be the error of the altimeter, and the altitude information from the altimeter at the time of two-dimensional positioning is calculated as the difference. Since a value in which is added as a correction value is used as new altitude information, highly accurate position measurement can be performed without being affected by the measurement error of the altimeter during two-dimensional positioning.
以下、本発明の一実施例を図面に基づいて説明する。 An embodiment of the present invention will be described below with reference to the drawings.
図は、本発明に係るGPS受信機の高度補正方式を適用す
るGPS航法装置のシステム構成を示すブロツク図であ
る。GPS航法装置は図示するように高度計１とGPS受信機
２とより構成される。高度計１より、定常的にGPS受信
機２に高度情報が送られる。FIG. 1 is a block diagram showing the system configuration of a GPS navigation device to which the altitude correction method for a GPS receiver according to the present invention is applied. The GPS navigation device comprises an altimeter 1 and a GPS receiver 2 as shown in the figure. Altitude information is constantly sent from the altimeter 1 to the GPS receiver 2.
GPS受信機２は、アンテナ21、受信部22、演算部23、高
度補正演算部24、表示部25を具備する。アンテナ21によ
り衛星からの電波信号は受信され、該信号は受信部22に
送られる。該受信部22では各衛星−利用者位置間の疑似
距離の測定及び衛星からの航法データの復調が行なわ
れ、該疑似距離及び航法データは、演算部23に送られ
る。演算部23では、上記受信部22からの情報に基づい
て、測位演算を行なう。The GPS receiver 2 includes an antenna 21, a reception unit 22, a calculation unit 23, an altitude correction calculation unit 24, and a display unit 25. The radio wave signal from the satellite is received by the antenna 21, and the signal is sent to the receiving unit 22. The receiving unit 22 measures the pseudo distance between each satellite and the user position and demodulates the navigation data from the satellite, and the pseudo distance and navigation data are sent to the arithmetic unit 23. The calculation unit 23 performs positioning calculation based on the information from the reception unit 22.
２次元測位の場合は、高度補正演算部24からの高度情報
h2を得ることにより、利用者の経度、緯度及び高度を測
定できる。演算部23で得られた測位位置は、表示部25に
送られ表示される。In the case of two-dimensional positioning, altitude information from the altitude correction calculator 24
By obtaining h 2 , the user's longitude, latitude and altitude can be measured. The positioning position obtained by the calculation unit 23 is sent to the display unit 25 and displayed.
３次元測位時において、演算部23で測位演算の結果得ら
れた高度情報h1は高度補正演算部24に送られる。該高度
補正演算部24においては、この３次元測位によって得ら
れた高度情報を真値と判断し、高度計１からの高度情報
とを比較し、その差を高度計１の高度誤差としてこの高
度誤差を保持する。At the time of three-dimensional positioning, the altitude information h 1 obtained as a result of the positioning calculation by the calculation unit 23 is sent to the altitude correction calculation unit 24. In the altitude correction calculation unit 24, the altitude information obtained by this three-dimensional positioning is determined to be a true value, the altitude information from the altimeter 1 is compared, and the difference is taken as the altitude error of the altimeter 1 Hold.
２次元測位時には、高度補正演算部24において、高度計
１からの測定高度情報に上記保持された高度誤差値を補
正値として加味し、その加味された値を真の高度情報h2
として演算部23に送る。演算部23では、該高度情報h2を
用いて測位演算を行ない利用者の位置を求める。At the time of two-dimensional positioning, the altitude correction calculation unit 24 adds the held altitude error value to the measured altitude information from the altimeter 1 as a correction value, and the added value is the true altitude information h 2
To the calculation unit 23. The calculation unit 23 uses the altitude information h 2 to perform positioning calculation to obtain the position of the user.
上記構成のGPS航法装置の測位において、３次元測位
は、４個の衛星の信号をアンテナ21で受信し、受信部22
で航法データの復調と、疑似距離の測定を行ない、該航
法データ及び該疑似距離をもとに演算部23において、利
用者の経度、緯度、高度からなる位置を正確に算出して
いる。従って、この３次元測位時に測定される高度と高
度計１で測定された高度との差は、高度計１の測定値と
真の高度との差即ち高度計１の誤差を示すことになるか
ら、２次元測位時において高度計１からの高度情報に、
この差を補正値として加味した値を新たな高度情報とし
て用いる上記方法は、高度計１の測定誤差に影響される
ことなく高精度の位置測定を行なうことができる。In the positioning of the GPS navigation device having the above-mentioned configuration, in the three-dimensional positioning, the signals of four satellites are received by the antenna 21, and the receiving unit 22
Then, the navigation data is demodulated and the pseudo distance is measured. Based on the navigation data and the pseudo distance, the arithmetic unit 23 accurately calculates the position of the user including longitude, latitude and altitude. Therefore, the difference between the altitude measured at the time of this three-dimensional positioning and the altitude measured by the altimeter 1 indicates the difference between the measured value of the altimeter 1 and the true altitude, that is, the error of the altimeter 1. At the time of positioning, the altitude information from the altimeter 1
The above method that uses a value obtained by adding this difference as a correction value as new altitude information can perform highly accurate position measurement without being affected by the measurement error of the altimeter 1.
以上説明したように本発明によれば、３次元測位時の高
度情報と高度計から送られてくる高度情報との差を高度
計の誤差と判断し、２次元測位時において高度計からの
高度情報に前記誤差を補正値として加味した値を新たな
高度情報として用いるので、２次元測位時において高度
計の測定誤差に影響されることなく高精度の位置測定を
行なうことができると共に、上記処理を自動的に行なう
ので従来のように高度計の測定高度を高度の既知の場所
で校正しなければならないという不便な作業がなくなる
という優れた効果が得られる。As described above, according to the present invention, the difference between the altitude information at the time of three-dimensional positioning and the altitude information sent from the altimeter is judged to be an error of the altimeter, and the altitude information from the altimeter at the time of two-dimensional positioning is used as the above-mentioned information. Since a value in which an error is added as a correction value is used as new altitude information, high-accuracy position measurement can be performed without being affected by the measurement error of the altimeter during two-dimensional positioning, and the above process is automatically performed. Since this is performed, the excellent effect that the inconvenient work of having to calibrate the measurement altitude of the altimeter at a known location of the altitude as in the conventional case is eliminated.
図は本発明に係るGPS受信機の高度補正方式を適用するG
PS航法装置のシステム構成を示すブロツク図である。 図中、１……高度計、２……GPS受信機、21……アンテ
ナ、22……受信部、23……演算部、24……高度補正演算
部、25……表示部。The figure shows the G applying the altitude correction method of the GPS receiver according to the present invention.
It is a block diagram showing a system configuration of a PS navigation device. In the figure, 1 ... Altimeter, 2 ... GPS receiver, 21 ... Antenna, 22 ... Reception unit, 23 ... Calculation unit, 24 ... Altitude correction calculation unit, 25 ... Display unit.
───────────────────────────────────────────────────── フロントページの続き (72)発明者 山岡 登 東京都三鷹市下連雀５丁目１番１号 日本 無線株式会社内 (72)発明者 羽田 睦雄 東京都三鷹市下連雀５丁目１番１号 日本 無線株式会社内 (72)発明者 植草 康之 神奈川県横浜市神奈川区宝町２番地 日産 自動車株式会社内 (72)発明者 岸 久夫 神奈川県横浜市神奈川区宝町２番地 日産 自動車株式会社内 (72)発明者 高井 秀夫 神奈川県横浜市神奈川区宝町２番地 日産 自動車株式会社内 (56)参考文献 特開 昭59−125014（ＪＰ，Ａ) ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Noboru Yamaoka 5-1-1, Shimorenjaku, Mitaka-shi, Tokyo Within Japan Radio Co., Ltd. (72) 5-1-1, Shimorenjaku, Mitaka-shi, Tokyo Inventor Japan Radio Incorporated (72) Inventor Yasuyuki Uekusa 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Nissan Motor Co., Ltd. (72) Inventor Hisao Kishi 2 Takaracho, Kanagawa-ku, Yokohama, Kanagawa Prefecture Nissan Motor Co., Ltd. (72) Inventor Hideo Takai 2 Takara-cho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan Motor Co., Ltd. (56) References JP-A-59-125014 (JP, A)
Claims (1)
次元測位時には高度計からの高度情報を取り込み、該高
度情報を用いて測位を行うGPS受信機において、３次元
測位時に演算部にて算出された高度情報を真値として、
該演算部にて算出された高度情報と前記高度計からの高
度情報を高度補正演算部にて比較し、その差を高度計の
高度誤差と判断して、該高度誤差を保持し、２次元測位
時に高度計からの高度情報に前記高度誤差として保持さ
れた値を加味し、該加味した値を高度情報として用いる
ことを特徴とするGPS受信機の高度補正方式。1. Two-dimensional positioning and three-dimensional positioning are possible and 2
In the GPS receiver that takes in altitude information from the altimeter at the time of three-dimensional positioning and performs positioning using the altitude information, the altitude information calculated by the calculation unit at the time of three-dimensional positioning is the true value,
The altitude information calculated by the calculation unit and the altitude information from the altimeter are compared by the altitude correction calculation unit, the difference is judged to be the altitude error of the altimeter, and the altitude error is held, and at the time of two-dimensional positioning. An altitude correction method for a GPS receiver, wherein the value held as the altitude error is added to the altitude information from an altimeter, and the added value is used as the altitude information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16937986A JPH071174B2 (en) | 1986-07-18 | 1986-07-18 | Altitude correction method of GPS receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16937986A JPH071174B2 (en) | 1986-07-18 | 1986-07-18 | Altitude correction method of GPS receiver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6326529A JPS6326529A (en) | 1988-02-04 |
| JPH071174B2 true JPH071174B2 (en) | 1995-01-11 |
Family
ID=15885504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16937986A Expired - Fee Related JPH071174B2 (en) | 1986-07-18 | 1986-07-18 | Altitude correction method of GPS receiver |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH071174B2 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2798557B2 (en) * | 1992-06-19 | 1998-09-17 | シャープ株式会社 | Track display device for navigation system |
| US7268700B1 (en) | 1998-01-27 | 2007-09-11 | Hoffberg Steven M | Mobile communication device |
| EP1136788A1 (en) * | 2000-03-22 | 2001-09-26 | Asulab S.A. | Portable GPS receiver using a barometric altimeter |
| JP4832703B2 (en) * | 2000-06-06 | 2011-12-07 | ノースロップ グラマン ガイダンス アンド エレクトロニクス カンパニー インコーポレイテッド | 3D autonomous integrity monitoring extrapolation |
| AU2002251852A1 (en) * | 2001-02-02 | 2002-08-19 | Rosum Corporation | Services based on position location using broadcast digital television signals |
| US6522298B1 (en) * | 2001-04-12 | 2003-02-18 | Garmin Ltd. | Device and method for calibrating and improving the accuracy of barometric altimeters with GPS-derived altitudes |
| JP2003028660A (en) * | 2001-07-12 | 2003-01-29 | Toshihiko Furukawa | Position detection system |
-
1986
- 1986-07-18 JP JP16937986A patent/JPH071174B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6326529A (en) | 1988-02-04 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |