CN101384920A - Positioning device, positioning control method, positioning control program, and recording medium - Google Patents
Positioning device, positioning control method, positioning control program, and recording medium Download PDFInfo
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- CN101384920A CN101384920A CNA2007800059588A CN200780005958A CN101384920A CN 101384920 A CN101384920 A CN 101384920A CN A2007800059588 A CNA2007800059588 A CN A2007800059588A CN 200780005958 A CN200780005958 A CN 200780005958A CN 101384920 A CN101384920 A CN 101384920A
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Abstract
A positioning device includes a phase calculation section which performs a correlation process of a specific positioning base code replica and a positioning base code from a specific transmission source to calculate a present phase of the positioning base code, an estimated phase calculation section which calculates an estimated phase when estimating the present phase based on the phase used for preceding positioning, a Doppler shift of a frequency of a radio wave carrying the positioning base code, and an elapsed time from the preceding positioning, a phase difference evaluation section which determines whether or not a phase difference between the calculated present phase and the estimated phase is within a phase difference allowable range specified in advance, and a positioning section which locates a present position using the phase within the phase difference allowable range.
Description
Technical field
The present invention relates to be used to locating device, position control method, positioning control program and storage medium from the electric wave of communication sources.
Background technology
At present, utilize satellite navigation system for example GPS (Global Positioning System: GPS) positioning system that the current location of GPS receiver is positioned is widely used.
This GPS receiver (comprises the summary satellite-orbit information: Almanac, accurate satellite-orbit information: precise ephemeris etc.), receive the pseudo-noise code that is equipped on the electric wave (hereinafter referred to as the satellite electric wave) that gps satellite sends (hereinafter referred to as PN (Psuedo random noise code: pseudo-random code) sign indicating number), be C/A (Clear and Acquision or Coarse and Access: sign indicating number thick catch code) based on the navigation information of the track etc. of expression gps satellite.The C/A sign indicating number is the sign indicating number as the basis, location.
The GPS receiver is specifying its C/A sign indicating number after which gps satellite sends, and for example, based on the phase place (code phase) of its C/A sign indicating number, calculates the distance (pseudorange) of gps satellite and GPS receiver.And the GPS receiver is based on pseudorange and the position of each gps satellite on satellite orbital position more than or equal to 3 gps satellite, and the position of GPS receiver is positioned.For example, the C/A sign indicating number is that the bit rate of 1.023Mbps, the length of sign indicating number are 1023.Therefore, can think the C/A sign indicating number every about 300 kms (km) as 1 millisecond of (ms) distance that electric wave advances in the time, arrangement is advanced.Therefore,, what C/A sign indicating numbers are arranged between gps satellite and GPS receiver, can calculate pseudorange by calculating according to the position of gps satellite on satellite orbit and the general location of GPS receiver.In more detail, calculate the distance (integral part of C/A sign indicating number) in corresponding 1 cycle of C/A sign indicating number (1023), and, if specify the phase place (the remainder part of C/A sign indicating number) of C/A sign indicating number just can calculate pseudorange.Here, the general location that the integral part of C/A sign indicating number can be inferred the GPS receiver is a certain precision, for example, in 150km.Therefore, the GPS receiver can calculate pseudorange by the phase place of specifying the C/A sign indicating number.
For example, the GPS receiver C/A sign indicating number of obtaining reception with inner the duplicating the relevant of C/A sign indicating number and add up of generating of GPS receiver, the phase place of appointment C/A sign indicating number when the aggregate-value of being correlated with reaches certain level (level).At this moment, the phase place and the frequency of duplicating the C/A sign indicating number carried out relevant treatment while the GPS receiver staggers.
But, when a little less than the received-signal strength of the satellite electric wave that carries the C/A sign indicating number, can not get sufficient signal intensity, specify the phase place of the C/A sign indicating number difficulty that becomes.
Be directed to this, a kind of like this technology motion is arranged, the result of the part (segment) of (synchronously) continuous combined treatment received signal is up to reaching threshold signal to noise ratio (SNR) (for example, patent documentation 1) in relevant.
Patent documentation 1: special table 2004-501352 communique
But, because move relative with the GPS receiver of gps satellite changes because of Doppler shift so arrive the arrival frequency of the satellite electric wave of GPS receiver.
When a little less than the signal intensity, exist the arrival frequency of the satellite electric wave that arrives the GPS receiver to be difficult to and situation here, to the arrival Frequency Synchronization that changes continuously with frequency synchronously of GPS receiver one side.
And, when GPS receiver one side arrive frequency with frequency departure synchronously the time, even relevant aggregate-value reaches certain level (rank), the precision of the phase place of C/A sign indicating number at that time is deterioration also.Therefore, when using its phase place to position, there is the situation of the precision deterioration of position location.
Summary of the invention
Therefore, the object of the present invention is to provide at received-signal strength to be under the faint electric field, can be after the precision of the phase place of verifying the location basic code, the locating device that precision positions well, the control method of locating device and control program thereof, storage medium.
First aspect present invention relates to a kind of locating device, comprising: phase calculation portion, and that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the current phase place of described location basic code; The predicted phase calculating part calculates the predicted phase when having predicted current described phase place based on the described phase place of using, the Doppler shift of frequency of electric wave that is equipped with described location basic code and the elapsed time when locating since last time when locating last time; Phase differential evaluation portion, whether the phase differential of judging the described phase place that calculates by described phase calculation portion and described predicted phase is in the phase differential permissible range of regulation; And the location division, use the described phase place of the described phase differential in the corresponding described phase differential permissible range, current location is positioned.
According to the present invention, locating device is owing to have phase differential evaluation portion, so can judge that phase differential is whether in described phase differential permissible range.That is to say that locating device can be verified the precision of phase place.
In addition, locating device is owing to having the location division, so can use the phase place of the phase differential in the corresponding phase difference permissible range that current location is positioned.
In view of the above, be under the faint electric field at received-signal strength, locating device can be after the precision of the phase place of verifying the location basic code, and precision positions well.
In addition, the locating device that second aspect present invention relates to, described phase calculation portion uses a plurality of frequency series to calculate described phase place, and described phase differential evaluation portion judges that the phase differential of described phase place that the frequency series of the signal intensity maximum of using the basic code of location described in described a plurality of frequency series calculates and described predicted phase is whether in described phase differential permissible range.
According to the present invention, phase calculation portion uses a plurality of frequency series to calculate phase place.The precision of the receive frequency of the frequency series of any one should be than other the precision height of receive frequency of frequency series.Therefore, in the high receive frequency of precision locating device can to calculate the possibility of phase place big.
Usually it is the highest to infer the precision reliability of the receive frequency in the frequency series of signal intensity maximum here.Therefore, can infer the phase place that in the frequency series of signal intensity maximum, calculates phase accuracy height usually than other frequency series.
But, under extremely faint electric field, the precision of the receive frequency in the frequency series of signal intensity maximum is may not reliability the highest.
About this point, owing to can verify the precision of the phase place that in the frequency series of signal intensity maximum of location basic code, calculates, and from the location, get rid of, calculate the bad position location of precision under the faint electric field so can prevent to be at received-signal strength.
In addition, the locating device that third aspect present invention relates to, corresponding each communication sources of described phase calculation portion uses that at least one frequency series stipulates duplicates the location basic code and from the described relevant treatment of the location basic code of described communication sources, calculate the phase place of location basic code, described location division comprises: the phase place selection portion, in the described phase place of the described phase differential in the described phase differential permissible range of correspondence, corresponding each described communication sources selects the described phase place of described phase differential minimum to be considered as selecting phase place; Select the phase place first evaluation portion, judge whether the signal intensity of described selection phase place is maximum; Select the phase place second evaluation portion, judge in the described phase place stipulated number scope that whether number of times in described phase differential permissible range is being predesignated continuously in the affiliated described frequency series of described selection phase place; When being sure, use described selection phase place that current location is positioned based on the judged result of the described selection phase place first evaluation portion and/or based on the judged result of the described selection phase place second evaluation portion.
According to the present invention, locating device is owing to have phase differential evaluation portion, so can judge that phase differential is whether in the phase differential permissible range.That is to say that locating device can be verified the precision of phase place.
In addition, locating device is owing to having the phase place selection portion, so can corresponding each communication sources calculate the selection phase place.Because selecting phase place is the phase place of phase differential minimum, so than other the phase accuracy height of frequency series.
Locating device is owing to also having the phase place of the selection first evaluation portion, so can judge whether the signal intensity of selecting phase place is maximum.As select the signal intensity maximum of phase place, can think that selecting phase place to compare with other phase place guarantees the precision height.And locating device is owing to have a location division, so when being sure according to the judged result of selecting the phase place first evaluation portion, can use the selection phase place that current location is positioned.
In view of the above, be under the faint electric field at received-signal strength, locating device can be after the precision of the phase place of verifying the location basic code, and precision positions well.
Here, under extremely faint electric field, the signal intensity of the phase place of phase differential minimum may not be maximum.That is to say that although it is high to select the precision of phase place to compare with other phase place, having its signal intensity is not maximum situation.Therefore, even be not under the situation of maximum preferably,, just in the location, use and select phase place as long as can confirm to select the precision of phase place in signal intensity.
In this, locating device is owing to have the phase place of the selection second evaluation portion, so the phase place in the frequency series under selecting phase place when the number of times in the phase differential permissible range is in the stipulated number scope continuously, can be used and select phase place that current location is positioned.
In view of the above, even locating device also can the high phase place of service precision position when the judged result according to the selection phase place first evaluation portion is to negate.
In addition, described phase place the when locating device that fourth aspect present invention relates to, described predicted phase calculating part can use and locate as last time and the described phase place when described relevant treatment finishes calculate described predicted phase.
In the process of relevant treatment, improve such as SNR (signal noise ratio) when ratio begins during the relevant treatment end, locate basic code owing to can from noise, distinguish clearly, so the precision height of phase place.
In this, the predicted phase calculating part is because described phase place and the phasometer when relevant treatment finishes when using located last time are calculated predicted phase, so can calculate the high described predicted phase of precision.
That is to say that locating device can calculate becomes the high predicted phase of precision that is used for the basis that precision positions well.
In addition, the locating device that fifth aspect present invention relates to comprises: the receive frequency specifying part, specify the receive frequency when receiving the electric wave that is equipped with described location basic code; Difference on the frequency evaluation portion, whether the difference on the frequency of judging described receive frequency when located for last time and current described receive frequency is in the difference on the frequency permissible range of predesignating; Phase place eliminating portion, the phase place of the described location basic code of the described difference on the frequency from the location outside the corresponding described difference on the frequency permissible range of eliminating.
According to the present invention, locating device is owing to having phase place eliminating portion, so can get rid of the phase place of the location basic code of the difference on the frequency outside the respective frequencies difference permissible range from the location.
This meaning locating device is not only verified the precision of the phase place of location basic code, also can verify the precision of the receive frequency when calculating phase place.And the precision of receive frequency is high more, and the precision of phase place is also high more.
In view of the above, be under the faint electric field at received-signal strength, locating device can be after the precision of the phase place of verifying the location basic code, and further precision positions well.
In addition, the locating device that sixth aspect present invention relates to comprises: the receive frequency specifying part of specifying the receive frequency when receiving the electric wave that is equipped with described location basic code; Whether the difference on the frequency of judging described receive frequency when located for last time and current described receive frequency difference on the frequency evaluation portion in the difference on the frequency permissible range of predesignating; The phase place eliminating portion of the phase place of the described location basic code of the described difference on the frequency from the location outside the corresponding described difference on the frequency permissible range of eliminating, wherein, described each frequency series departs from the frequency interval of predesignating mutually, and the threshold value of described difference on the frequency permissible range lack of foundation described frequency interval is prescribed.
According to the present invention, when the described frequency series of signal intensity maximum is changed, can from the location, get rid of phase place at that time.This meaning is considered as the frequency series of continuous signal intensity maximum to be used for using in the location condition of phase place.
In view of the above, owing to can use the phase place that calculates in the frequency series of Doppler shift of the frequency of the electric wave of preferably following the arrival locating device in the location, precision positions well so can be under the faint electric field further at received-signal strength.
In addition, the locating device that seventh aspect present invention relates to, comprise the phase differential permissible range determination portion of determining described phase differential permissible range based on the accepting state of described location basic code, described phase differential evaluation portion judges whether in the described phase differential permissible range that is determined.
According to the present invention, locating device is owing to having phase differential permissible range determination portion, so can determine the phase differential permissible range based on the accepting state of location basic code.
And locating device is owing to have phase differential evaluation portion, so can judge that phase differential is whether in the phase differential permissible range.Therefore, locating device can be verified the precision of phase place.
In addition, locating device, positions current location so can use the phase place of the phase differential in the corresponding phase difference permissible range owing to have the location division.
In view of the above, be under the faint electric field at received-signal strength, locating device can be after the precision of the phase place of verifying the location basic code, and precision positions well.
In addition, the locating device that eighth aspect present invention relates to, described accepting state comprises the quantity of the described communication sources of the described location basic code that described locating device receives.
According to the present invention, for example, that locating device receives the quantity of communication sources of location basic code is many more, locating device can be provided with the phase differential permissible range more narrowly, only uses the high phase place of relative accuracy in the location.
In view of the above, be under the faint electric field at received-signal strength, locating device can use the high phase place of relative precision to position.
In addition, the locating device that ninth aspect present invention relates to, described accepting state comprises the signal intensity of the described location basic code that described locating device receives.
According to the present invention, for example, the quantity of the strong more communication sources of signal intensity of the location basic code that receives of locating device is many more, locating device can be provided with the phase differential permissible range more narrowly, only uses the high phase place of relative accuracy in the location.
In view of the above, be under the faint electric field at received-signal strength, locating device can use the high phase place of relative accuracy to position.
In addition, the locating device that tenth aspect present invention relates to, whether the drift that described accepting state comprises the reference clock of representing described locating device information in the drift permissible range of predesignating.
According to the present invention, described drift is more little, and locating device can precision calculate described phase place more well.
For example, when drift in the drift permissible range in the time, the phase differential permissible range can be set narrowlyer, in the location, only use the high phase place of relative precision.
In view of the above, be under the faint electric field at received-signal strength, locating device can use the high described phase place of relative accuracy to position.
In addition, the locating device that the present invention the tenth relates in one aspect to, described accepting state comprises the information in the elapsed time after the described relevant treatment of expression beginning.
According to the present invention, the described elapsed time is long more, can critically specify the phase place of location basic code more.For example, the elapsed time is long more, and the phase differential permissible range is set more narrowly, can only use the high phase place of relative accuracy in the location.
In view of the above, be under the faint electric field at received-signal strength, locating device can use the high described phase place of relative accuracy to position.
In addition, the locating device that the present invention the 12 aspect relates to, the quantity of described communication sources that described locating device receives described location basic code is many more, described phase differential permissible range determination portion is narrow more to be provided with described phase differential permissible range, the quantity of described communication sources that described locating device receives described location basic code is few more, and described phase differential permissible range determination portion is provided with described phase differential permissible range more widely.
According to the present invention, because the quantity of the communication sources of locating device reception location basic code is many more, locating device is provided with the phase differential permissible range more narrowly, so can the high phase place of service precision position.
In addition, because the quantity of the communication sources of locating device reception location basic code is few more, locating device is provided with the phase differential permissible range more widely, so can improve the possibility that can calculate the position location.
And, can constitute a kind of locating device, described communication sources is SPS (SatellitePositioning System: global position system) satellite.
In addition, a kind of position control method that the invention still further relates to comprises: the phase calculation step, and that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the phase place of described location basic code; The predicted phase calculation procedure calculates the predicted phase when having predicted current described phase place based on the described phase place of using, the Doppler shift of frequency of electric wave that is equipped with described location basic code and the elapsed time when locating since last time when locating last time; The phase differential evaluation procedure, whether the phase differential of judging the described phase place calculate and described predicted phase in described phase calculation step is in the phase differential permissible range of regulation; Positioning step uses the described phase place of the described phase differential in the corresponding described phase differential permissible range, and current location is positioned.
In addition, the position control method that the present invention relates on the other hand, wherein, described phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and from the described relevant treatment of the location basic code of described communication sources, calculate the step of the phase place of location basic code, described positioning step comprises: phase place is selected step, in the described phase place of the described phase differential in the described phase differential permissible range of correspondence, corresponding each described communication sources selects the described phase place of described phase differential minimum to be considered as selecting phase place; Select phase place first evaluation procedure, judge whether the signal intensity of described selection phase place is maximum; Select phase place second evaluation procedure, judge in the described phase place stipulated number scope that whether number of times in described phase differential permissible range is being predesignated continuously in the affiliated described frequency series of described selection phase place; In described positioning step, when being sure, use described selection phase place that current location is positioned according to the judged result of described selection phase place first evaluation procedure and/or according to the judged result of described selection phase place second evaluation procedure.
In addition, a kind of position control method that the present invention relates on the other hand, comprise phase differential permissible range determining step, accepting state based on described location basic code, determine described phase differential permissible range, described phase differential evaluation procedure is the step that judges whether in the described phase differential permissible range that is determined.
In addition, the invention still further relates to a kind of positioning control program, be used to make computing machine to carry out following steps: the phase calculation step, that stipulates duplicates the location basic code and from the relevant treatment of the location basic code of the communication sources of regulation, calculates the current phase place of described location basic code; The predicted phase calculation procedure calculates the predicted phase when having predicted current described phase place based on the described phase place of using, the Doppler shift of frequency of electric wave that is equipped with described location basic code and the elapsed time when locating since last time when locating last time; The phase differential evaluation procedure, whether the phase differential of judging the current described phase place calculate and described predicted phase in described phase calculation step is in the phase differential permissible range of regulation; And positioning step, use the described phase place of the described phase differential in the corresponding described phase differential permissible range, current location is positioned.
In addition, the positioning control program that the present invention relates on the other hand, wherein, described phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and from the described relevant treatment of the location basic code of described communication sources, calculate the step of the phase place of location basic code, described positioning step comprises: phase place is selected step, in the described phase place of the described phase differential in the described phase differential permissible range of correspondence, corresponding each described communication sources selects the described phase place of described phase differential minimum to be considered as selecting phase place; Select phase place first evaluation procedure, judge whether the signal intensity of described selection phase place is maximum; Select phase place second evaluation procedure, judge in the described phase place of described selection phase place in the affiliated described frequency series stipulated number scope that whether number of times in described phase differential permissible range is being predesignated continuously; In described positioning step, when being sure, use described selection phase place that current location is positioned according to the judged result of described selection phase place first evaluation procedure and/or according to the judged result of described selection phase place second evaluation procedure.
In addition, the positioning control program that the present invention relates on the other hand, described positioning control program makes described computing machine excute phase difference permissible range determining step, accepting state based on described location basic code, determine described phase differential permissible range, described phase differential evaluation procedure is the step that judges whether in the described phase differential permissible range that is determined.
In addition, the invention still further relates to a kind of computer-readable recording medium, record positioning control program, described positioning control program makes computing machine carry out following steps: the phase calculation step, that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the current phase place of described location basic code; The predicted phase calculation procedure calculates the predicted phase when having predicted current described phase place based on the described phase place of using, the Doppler shift of frequency of electric wave that is equipped with described location basic code and the effluxion when locating since last time when locating last time; The phase differential evaluation procedure, whether the phase differential of judging the described phase place calculate and described predicted phase in described phase calculation step is in the phase differential permissible range of regulation; And positioning step, use the described phase place of the described phase differential in the corresponding described phase differential permissible range, current location is positioned.
In addition, the storage medium that the present invention relates on the other hand, record described positioning control program, wherein, described phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and from the described relevant treatment of the location basic code of described communication sources, calculate the step of the phase place of location basic code, described positioning step comprises: phase place is selected step, in the described phase place of the described phase differential in the described phase differential permissible range of correspondence, corresponding each described communication sources selects the described phase place of described phase differential minimum to be considered as selecting phase place; Select phase place first evaluation procedure, judge whether the signal intensity of described selection phase place is maximum; Select phase place second evaluation procedure, judge the described phase place of described selection phase place in affiliated described frequency series, continuously in the stipulated number the scope whether number of times in described phase differential permissible range is being predesignated; In described positioning step, when being sure, use described selection phase place that current location is positioned based on the judged result of described selection phase place first evaluation procedure and/or based on the judged result of described selection phase place second evaluation procedure.
In addition, the storage medium that the present invention relates on the other hand, record described positioning control program, described positioning control program makes described computing machine excute phase difference permissible range determining step, accepting state based on described location basic code, determine described phase differential permissible range, described phase differential evaluation procedure judges whether in the described phase differential permissible range that is determined.
Description of drawings
Fig. 1 is the skeleton diagram of the terminal etc. of expression first embodiment.
Fig. 2 is the concept map that is illustrated in the localization method among first embodiment.
Fig. 3 is the key diagram of the relevant treatment in first embodiment.
Fig. 4 is the figure of an example that is illustrated in the relation of relevant aggregate-value among first embodiment and code phase.
Fig. 5 is the figure of an example that is illustrated in the relation of candidate code phase among first embodiment and effluxion etc.
Fig. 6 is the figure of an example that is illustrated in the relation of candidate code phase among first embodiment and effluxion etc.
Fig. 7 is the skeleton diagram that the main hardware of the terminal among expression first embodiment constitutes.
Fig. 8 is the skeleton diagram of an example of the formation of the GPS device of expression among first embodiment.
Fig. 9 is the skeleton diagram that the main hardware of the terminal among expression first embodiment constitutes.
Figure 10 is the key diagram of inferring the frequency computation part program among first embodiment.
Figure 11 A is the key diagram of the measurement calculation procedure among first embodiment.
Figure 11 B is the key diagram of the measurement calculation procedure among first embodiment.
Figure 11 C is the key diagram of the measurement calculation procedure among first embodiment.
Figure 12 is the key diagram of the predictive code phase calculation program among first embodiment.
Figure 13 is the general flowchart of the action example of the terminal among expression first embodiment.
Figure 14 is the skeleton diagram (synoptic diagram) of the terminal etc. of expression second embodiment.
Figure 15 is the concept map of the localization method among expression second embodiment.
Figure 16 is the key diagram of the relevant treatment among second embodiment.
Figure 17 is the relevant aggregate-value of expression among second embodiment and the figure of an example of the relation of code phase.
Figure 18 is the candidate code phase of expression among second embodiment and the figure of an example of the relation between the effluxion etc.
Figure 19 is the candidate code phase of expression among second embodiment and the figure of an example of the relation between the effluxion etc.
Figure 20 is the skeleton diagram that the main hardware among expression second embodiment constitutes.
Figure 21 is the figure of an example of the formation of the GPS device of expression among second embodiment.
Figure 22 is the skeleton diagram that the main software of the terminal among expression second embodiment constitutes.
Figure 23 is the key diagram of inferring the frequency computation part program among second embodiment.
Figure 24 A is the key diagram of the measurement calculation procedure among second embodiment.
Figure 24 B is the key diagram of the measurement calculation procedure among second embodiment.
Figure 24 C is the key diagram of the measurement calculation procedure among second embodiment.
Figure 25 is the figure of an example of the current metrical information among expression second embodiment.
Figure 26 be expression among second embodiment last time metrical information the figure of an example.
Figure 27 is the key diagram of the predictive code phase calculation program among second embodiment.
Figure 28 is the figure of an example of the predictive code phase information among expression second embodiment.
Figure 29 is the key diagram of the option code phase place program among second embodiment.
Figure 30 is the figure of an example of the option code phase information among expression second embodiment.
Figure 31 A is the key diagram of option code phase place second assessment process among second embodiment.
Figure 31 B is the key diagram of option code phase place second assessment process among second embodiment.
Figure 31 C is the key diagram of option code phase place second assessment process among second embodiment.
Figure 32 is the figure that an example of code phase information is used in the location among expression second embodiment.
Figure 33 is the general flowchart of the action example of the terminal among expression second embodiment.
Figure 34 is the general flowchart of the action example of the terminal among expression second embodiment.
Figure 35 is the skeleton diagram of the terminal etc. of expression the 3rd embodiment.
Figure 36 is the concept map that is illustrated in the localization method among the 3rd embodiment.
Figure 37 is the key diagram of the relevant treatment in the 3rd embodiment.
Figure 38 is the figure of an example that is illustrated in the relation of relevant aggregate-value among the 3rd embodiment and code phase.
Figure 39 is the figure that is illustrated in an example of the relation between candidate code phase among the 3rd embodiment and effluxion etc.
Figure 40 is the figure that is illustrated in an example of the relation between candidate code phase among the 3rd embodiment and effluxion etc.
Figure 41 is the skeleton diagram that the main hardware of the terminal among expression the 3rd embodiment constitutes.
Figure 42 is the skeleton diagram of an example of the formation of the GPS device of expression among the 3rd embodiment.
Figure 43 is the skeleton diagram that the main software of the terminal among expression the 3rd embodiment constitutes.
Figure 44 is the key diagram of inferring the frequency computation part program among the 3rd embodiment.
Figure 45 A is the key diagram of the measurement calculation procedure among the 3rd embodiment.
Figure 45 B is the key diagram of the measurement calculation procedure among the 3rd embodiment.
Figure 45 C is the key diagram of the measurement calculation procedure among the 3rd embodiment.
Figure 46 is the key diagram of the predictive code phase calculation program among the 3rd embodiment.
Figure 47 is the key diagram of the code phase threshold setting program among the 3rd embodiment.
Figure 48 is the general flowchart of the action example of the terminal among expression the 3rd embodiment.
Embodiment
Below, explain the preferred embodiments of the present invention with reference to accompanying drawing etc.
In addition, embodiment described below is a preferred specific embodiment of the present invention, therefore, various preferred qualifications have been added technically, in the following description, short ofly be used for limiting especially description of the invention, scope then of the present invention is not limited to these embodiments.
In addition, below three big embodiment are described.Each embodiment includes common item.But, for the terminal of clear and definite each embodiment can independently constitute, common item is specially repeatedly described.
(first embodiment)
Fig. 1 is the skeleton diagram of the terminal 1020 of expression first embodiment.
As shown in Figure 1, terminal 1020 can receive from position location satellite for example, GPS (Global Positioning System: GPS) electric wave S1, S2, S3, S4, S5, S6, S7 and the S8 of satellite 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h.Gps satellite 12a etc. is an example of communication sources.In other words, communication sources can be that (Satellite Positioning System: global position system) satellite is not limited to gps satellite to SPS.
On electric wave S1 etc., carry various sign indicating numbers (code).One of them is C/A sign indicating number Sca.This C/A sign indicating number Sca is 1.023Mbps bit rate, 1023bit (=1msec) the long signal in position.C/A sign indicating number Sca is made of 1023 (chip: chip, code element).Terminal 1020 is examples of the locating device of location current location, utilizes this C/A sign indicating number Sca that current location is positioned.This C/A sign indicating number Sca is an example of location basic code.
In addition, the information as carrying on electric wave S1 etc. has Almanac Sal and precise ephemeris Seh.Almanac Sal is the information of satellite orbit of the summary of the whole gps satellite 12a of expression etc., and precise ephemeris Seh is the information of satellite orbit of the precision of each gps satellite of expression 12a etc.Almanac Sal and precise ephemeris Seh are referred to as navigation information.
Terminal 1020 can position current location such as the phase place of appointment more than or equal to the C/A sign indicating number of 3 transmissions such as different gps satellite 12a.
Fig. 2 is the concept map (synoptic diagram) of an example of expression localization method.
As shown in Figure 2, for example, can be understood as the C/A sign indicating number arranges between gps satellite 12a and terminal 1020 continuously.And the distance between gps satellite 12a and the terminal 1020 is not limited to the integral multiple of the length (300 kms (km)) of C/A sign indicating number, so there is sign indicating number remainder portion C/Aa.In other words, the part and the remainder part that between gps satellite 12a and terminal 1020, have the integral multiple of C/A sign indicating number.The length of the total of the part of the integral multiple of C/A sign indicating number and remainder part is pseudorange.Terminal 1020 utilizes the pseudorange of relevant gps satellite 12a more than or equal to 3 etc. to position.
In the present embodiment, the remainder portion C/Aa of C/A sign indicating number is called code phase.Code phase can be scaled the distance expression again such as representing with how many sheets of certain sheet of C/A sign indicating number 1023.When calculating pseudorange, code phase is converted into distance.
Utilize precise ephemeris Seh can calculate gps satellite 12a position in orbit.And, according to calculate gps satellite 12a in orbit the position and the distance between the initial position QA0 described later, just can determine the part of the integral multiple of C/A sign indicating number.In addition, the length of C/A sign indicating number is 300 kms (km), so the site error of initial position QA0 must be in 150 kms (km).
And, as shown in Figure 2, such as on one side the phase place of duplicating the C/A sign indicating number being moved to arrow X1 direction, Yi Bian carry out relevant treatment.At this moment, while changing synchronously, terminal 1020 carries out relevant treatment with frequency.This relevant treatment is made of relevant processing described later and incoherent processing.
It is a yard remainder C/Aa that relevant aggregate-value becomes maximum phase place.
In addition, can be different with first embodiment, terminal 1020 positions such as the electric wave that the communication base station that can utilize pocket telephone sends.Can also be different with first embodiment, terminal 1020 also can be utilized LAN, and (Local Area Network: LAN (Local Area Network)) electric wave of Fa Songing positions.
Fig. 3 is the key diagram of relevant treatment.
Relevant is to obtain the C/A sign indicating number that terminal 1020 receives and duplicate relevant processing between the C/A sign indicating number.Duplicating the C/A sign indicating number is the code that terminal 1020 produces.Duplicating the C/A sign indicating number is an example of duplicating the location basic code.
As shown in Figure 3, as being coherence time 10msec, then calculating at the C/A sign indicating number of inter-sync accumulative total (integration) during the 10msec and duplicate correlation between the C/A sign indicating number etc.The output of handling as being concerned with as a result obtains phase place (code phase) and the correlation after being correlated with.
Incoherent is the processing that calculates relevant aggregate-value (incoherent value) by the relevant result's of accumulative total correlation.
As the result of relevant treatment, code phase and relevant aggregate-value that output is output in relevant the processing.
Fig. 4 is the figure of an example of the relation of relevant aggregate-value of expression and code phase.
The code phase CP1 of the maximal value Pmax of the relevant aggregate-value of corresponding diagram 4 is the code phase that duplicates the C/A sign indicating number, is the code phase of C/A sign indicating number.
And terminal 1020 is considered as the little side's of aggregate-value that is correlated with relevant aggregate-value the relevant aggregate-value Pnoise of noise such as from the code phase CP1 distance code phase of two/a slice.
And, for example, when XPR more than or equal to 0.2 the time, the candidate of terminal 1020 is considered as code phase CP1 to use in the location code phase.Below, this code phase is called " candidate code phase ".The candidate code phase is the candidate of using in the location, and in fact terminal 1020 is not necessarily used in the location.
Fig. 5 and Fig. 6 are the figure of an example of the relation of expression candidate code phase and effluxion etc.
For example, Fig. 5 illustrates gps satellite 12a near the state of terminal 1020.
Near terminal 1020, then the distance between gps satellite 12a and the terminal 1020 shortens as gps satellite 12a, so candidate code phase C1 approaches 0 in effluxion.
In addition, in effluxion, set so that frequency gets higher with frequency F1 synchronously.This is because owing to the Doppler shift that produces near terminal 1020 for gps satellite 12a, the arrival frequency gets higher during corresponding electric wave S1 incoming terminal 1020.
Terminal 1020 for effectively with the arrival Frequency Synchronization that will change, for example, as shown in Figure 6, use 3 frequencies series F1, F2 and F3.Frequency series F1 etc. is an example of frequency series.Frequency series F1 and F2 depart from the band width of 50 hertz (Hz).In addition, frequency series F1 and F3 depart from the band width of 50 hertz (Hz).Preestablish the frequency interval of 50 hertz (Hz).That is to say that the frequency interval of 50 hertz (Hz) is an example of frequency interval.This frequency interval is to be prescribed with the stepped intervals less than the frequency search of terminal 1020 in the relevant treatment of implementing.Stepped intervals such as frequency search is 100 hertz (Hz) (with reference to Figure 11 B), then to stipulate less than 100 hertz of quilts.
In addition, frequency series F1 etc. can be a plurality of, also can be different with first embodiment, for example, more than or equal to 4.
As shown in Figure 6, prediction arrives the Doppler shift of frequency, so that each frequency series F1 etc. set in effluxion to change.
And any one of each frequency series F1 etc. should precision be followed the Doppler shift that arrives frequency best.
Calculate the code phase C1 in frequency series F1.And, calculate the code phase C2 in frequency series F2.And, calculate the code phase C3 in frequency series F3.
Like this, can suppose to calculate three code phase C1 etc. simultaneously, but the reliability of the candidate code phase that is calculated under the highest state of signal intensity XPR is also the highest.
But, be not limited to XPR and be maintained at the highest frequency series F1 etc.For example, as shown in Figure 6, the highest such as the XPR of the candidate code phase C1 that calculates in frequency series F1 during between time t1 and the t2, the XPR of the candidate code phase C2 that calculates in frequency series F2 during between time t2 and the t3 is the highest.
Based on the Doppler shift of prediction, change the frequency of each frequency series F1 etc., thus the candidate code phase that in the frequency series of any one, calculates, should be than the candidate code phase precision height that in other the frequency series that continues, calculates.In other words, for example, frequency series F1 compares with other frequency series F2 and F3, should precision best follow actual arrival frequency continuously.
Therefore, when changing frequency series because of effluxion, the candidate code phase precision that calculates under the high state of XPR may not be the highest.
This point, terminal 1020 constitute by following hardware and software is formed in after the precision of checking candidate code phase under the weak electric field, can high the positioning of precision.
(main hardware of terminal 1020 constitutes)
Fig. 7 is the skeleton diagram that the main hardware of expression terminal 1020 constitutes.
As shown in Figure 7, terminal 1020 includes computing machine, and computing machine includes bus 1022.Central processing unit) 1024, memory storage 1026 etc. on bus 1022, be connected with CPU (Central Processing Unit:.Random access memory), ROM (Read Only Memory: ROM (read-only memory)) etc. memory storage 1026 all RAM in this way (Random AccessMemory:.
In addition, on bus 1022, be connected with input media 1028, supply unit 1030, GPS device 1032, display device 1034, communicator 1036 and clock 1038.
(formation of GPS device 1032)
Fig. 8 is the skeleton diagram of the formation of expression GPS device 1032.
As shown in Figure 8, GPS device 1032 is made of 1032a of RF portion and base band part 1032b.
The 1032a of RF portion receives electric wave S1 etc. with antenna 1033a.And, amplify the signal of the C/A sign indicating number that carries on electric wave S1 etc. as the LNA1033b of amplifier.And frequency converter 1033c carries out frequency downconversion with the frequency of signal.And quadrature (IQ) detecting device (sensor) 1033d separates signal IQ.Then, A/D converter 1033e1 and 1033e2 are digital signal with the conversion of signals that IQ separates respectively.
Base band part 1032b receives the signal be converted into digital signal from the 1032a of RF portion, and sampled signal add up, obtains being correlated with between the C/A sign indicating number that base band part 1032b keeps.Base band part 1032b can carry out relevant treatment simultaneously such as including 128 correlators (not shown) and integrating instrument (not shown) in 128 phase places.Correlator is the structure that is used to carry out above-mentioned relevant processing.Integrating instrument has the structure that is used to carry out above-mentioned incoherent processing.
(main software of terminal 1020 constitutes)
Fig. 9 is the skeleton diagram that the main software of expression terminal 1020 constitutes.
As shown in Figure 9, terminal 1020 comprises: control the control part 1100 of each one, the GPS portion 1102 corresponding with the GPS device 1032 of Fig. 7 and with corresponding timing portion 1104 of clock 1038 etc.
Terminal 1020 also comprises: store first storage part 1110 of various programs and second storage part 1150 of storing various information.
As shown in Figure 9, terminal 1020 stores navigation information 1152 in second storage part 1150.Navigation information 1152 includes Almanac 1152a and precise ephemeris 1152b.
Terminal 1020 uses Almanac 1152a and precise ephemeris 1152b to position.
As shown in Figure 9, terminal 1020 stores initial position message 1154 in second storage part 1150.Initial position QA0 is such as the position location that is last time.
As shown in Figure 9, terminal 1020 stores may observe satellite calculation procedure 1112 in first storage part 1110.May observe satellite calculation procedure 1112 be control part 1100 to be benchmark at the initial position QA0 shown in the initial position message 1154, be used to calculate the program of the gps satellite 12a that can observe etc.
Specifically, control part 1100 is judged by the gps satellite 12a that can observe in the current time of timing portion 1104 meterings etc. with reference to Almanac 1152a.Control part 1100 stores the may observe satellite information 1156 of (hereinafter referred to as " may observe satellites ") such as gps satellite 12a that expression can observe in second storage part 1150 into.In first embodiment, the may observe satellite is gps satellite 12a to 12h (with reference to Fig. 1 and Fig. 9).
As shown in Figure 9, terminal 1020 stores the frequency computation part program 1114 of inferring in first storage part 1110.Infer frequency computation part program 1114 and be control part 1100 and be used to infer the program of the receive frequency of electric wave S1 that gps satellite 12a etc. sends etc.
Arrival frequency when this receive frequency is electric wave S1 incoming terminal 1020.In more detail, this receive frequency be electric wave S1 incoming terminal 1020 and also in terminal 1020 centre (IF) frequency (intermediate frequency) during by frequency downconversion.
Figure 10 is the key diagram of inferring frequency computation part program 1114.
As shown in figure 10, control part 1100 will add Doppler shift H2 from the communication frequency H1 of gps satellite 12a etc., calculate and infer frequency A1.The communication frequency H1 of transmissions such as gps satellite 12a is for both knowing all 1575.42MHz in this way.
Doppler shift H2 is owing to relatively moving between each gps satellite 12a etc. and the terminal 1020 produces.The line-of-sight velocity (speed of the direction of relative terminal 1020) of each gps satellite 12a that control part 1100 calculates at current time according to precise ephemeris 1152b and initial position QA0 etc.And, calculate Doppler shift H2 based on this line-of-sight velocity.
In addition, the error of drift that in inferring frequency A1, includes the time clock (reference oscillator: not shown) of counterpart terminal 1020.Drift is exactly because temperature variation former thereby cause the variation of oscillation frequency.
Therefore, control part 1100 is centre retrieves electric wave S1 etc. to infer frequency A1 in the frequency of width of regulation.Such as retrieving electric wave S1 to the scope of the frequency of (A1+100) kMz with the frequency of every 100Hz in frequency from (A1-100) kMz.
As shown in Figure 9, terminal 1020 stores in first storage part 1110 and measures calculation procedure 1116.Measure calculation procedure 1116 and be and be used for control part 1100 and carry out the C/A sign indicating number of transmissions such as gps satellite 12a and the relevant treatment of duplicating the C/A sign indicating number that terminal 1020 generates, calculate the program of measurement of relevant aggregate-value Pnoise, candidate code phase and the receive frequency of the maximal value Pmax that includes the aggregate-value of being correlated with, noise.Measuring calculation procedure 1116 and control part 1100 is examples of phase calculation portion, also is an example of receive frequency specifying part.
Figure 11 A～11C is a key diagram of measuring calculation procedure 1116.
Shown in Figure 11 A, control part 1100 carries out relevant treatment such as cutting apart 1 of C/A sign indicating number by base band part 1032b with equal intervals.For example, 1 of the C/A sign indicating number by 32 five equilibriums.That is to say, carry out relevant treatment with phase width (the first phase width W1) interval of 32/a slice.And the phase place at interval of the first phase width W1 when control part 1100 is carried out relevant treatment is called the first sampling phase SC1.
Signal intensity when electric wave S1 etc. arrives terminal 1020 be during more than or equal to-155dBm, and the first phase width W1 is prescribed the phase width that conduct can detect maximum correlation Pmax.When being the phase width of 32/a slice, and under the weak electric field of signal intensity, can detect the also apparition of thing of maximum correlation Pmax by simulation more than or equal to-155dBm.
Shown in Figure 11 B, control part 1100 is the center to infer frequency A1, and relevant treatment is carried out on the first phase width W1 limit of staggering on the frequency range limit of ± 100kHz.At this moment, 100Hz100Hz ground in limit carries out relevant treatment with the frequency limit of staggering.
Shown in Figure 11 C, export the correlation accumulative total P of corresponding 2 phase place C1 to C64 from base band part 1032b.Each phase place C1 to C64 is the first sampling phase SC1.
And code phase CPA1 is scaled distance.As mentioned above, the code length of C/A sign indicating number is such as being 300 kms (km), so the remainder of C/A sign indicating number part, be that code phase also can be scaled distance.
And, can be different from first embodiment, also can adopt the method for narrow correlator (for example, with reference to TOHKEMY 2000-312163 communique) as relevant treatment.
As shown in Figure 9, terminal 1020 stores in first storage part 1110 and measures save routine 1118.Measuring save routine 1118 is programs that control part 1100 is used for measurement is saved in second storage part 1150.
As shown in Figure 9, terminal 1020 stores frequency assessment process 1120 in first storage part 1110.Frequency assessment process 1120 be control part 1100 be used to judge receive frequency fA0 when located for last time and the receive frequency fA1 when prelocalization difference on the frequency whether at frequency threshold α 1 with interior program.Frequency threshold α 1 is that basis is predesignated less than the threshold value of the frequency interval of frequency series F1, F2 and F3 with interior scope.As mentioned above, be 50 hertz (Hz) as frequency interval, then frequency threshold α 1 is such as being 30 hertz (Hz).Above-mentioned frequency assessment process 1120 and control part 1100 are examples of difference on the frequency evaluation portion.And frequency threshold α 1 is the example in the difference on the frequency permissible range of predesignating with interior scope.
As shown in Figure 9, terminal 1020 stores predictive code phase calculation program 1122 in first storage part 1110.Predictive code phase calculation program 1122 is the Doppler shift of control part 1100 code phase CPA0, the electric wave S1 etc. when locating based on last time and the effluxion dt that begins when locating last time, has been used to predict current phase place and has calculated the program of predictive code phase place CPAe.Predictive code phase place CPAe is an example of predicted phase.Predictive code phase calculation program 1122 and control part 1100 are examples of predicted phase calculating part.
And predictive code phase place CPAe is scaled distance.
Figure 12 is the key diagram of predictive code phase calculation program 1122.
As shown in figure 12, control part 1100 is such as calculate predictive code phase place CPAe according to formula 1.
As shown in Equation 1, the effluxion dt when control part 1100 such as the code phase CPA0 when locating since last time deducts and located last time multiply by the value of the relative moving speed of gps satellite 12a and terminal 1020, calculates predictive code phase place CPAe.
And in formula 1, predictive code phase place CPAe, last time, code phase CPA0 was scaled distance.
Here, electric wave S1 etc. is with light velocity propagation.Therefore, by with the transmission frequency H1 of the light velocity, can calculate the speed of the summary of corresponding Doppler shift 1 hertz (Hz) divided by electric wave S1 etc.That is to say, Doppler shift add (+) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) near terminal 1020.Code phase CPA0 when therefore, predictive code phase place CPAe located than last time shortens.Here, Doppler shift when locating for last time frequency f A0 and the difference between the transmission frequency H1.
Be directed to this, Doppler shift subtract (-) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) away from terminal 1020.Code phase CPA0 when therefore, predictive code phase place CPAe located than last time is elongated.
And the effluxion that formula 1 began when locating last time is to set up under the condition of short time.In other words, formula 1 is limited on chart the relation of code phase and effluxion illustrated down as straight line and sets up.
In addition, be different from first embodiment, the mean value of the difference of frequency f A0 in the time of can being located for last time and the difference of transmission frequency H1 and frequency f A1 when prelocalization and transmission frequency H1 is considered as Doppler shift.Based on this, can further calculate predictive code phase place CPAe exactly.
As shown in Figure 9, terminal 1020 stores code phase assessment process 1124 in first storage part 1110.Code phase assessment process 1124 be control part 1100 be used to judge current code phase CPA1 and predictive code phase place CPAe code phase difference whether smaller or equal to the program of code phase threshold value beta 1 (hereinafter referred to as " threshold value beta 1 ").Smaller or equal to the scope of threshold value beta 1 is a example in the phase differential permissible range.Code phase assessment process 1124 and control part 1100 are examples of phase differential evaluation portion.
As shown in Figure 9, terminal 1020 stores to locate in first storage part 1110 and uses code phase to determine program 1126.The location uses code phase to determine that program 1126 is that control part 1100 is used for determining frequency threshold α 1 with interior difference on the frequency and code phase difference smaller or equal to the code phase CPA1 of the gps satellite 12a of threshold value beta 1 etc. etc. as the program of locating use code phase CPA1f.
Corresponding not uncertain with the code phase CPA1 of the gps satellite 12a of interior difference on the frequency etc. etc. at frequency threshold α 1 serve as that code phase CPA1f is used in the location, eliminating from the location.And, in the location, use the respective frequencies difference at frequency threshold α 1 with interior and correspondence code phase differential at code phase CPA1 smaller or equal to threshold value beta 1.That is to say that the location uses code phase to determine that program 1126 and control part 1100 are examples of phase place eliminating portion.
In first embodiment, the location uses code phase CPA1f such as being considered as CPA1fa, CPA1fb, CPA1fc and the CPA1fd of corresponding gps satellite 12a, 12b, 12c and 12d respectively.
As shown in Figure 9, terminal 1020 stores finder 1128 in first storage part 1110.Finder 1128 is that control part 1100 is used to use the program of using code phase CPA1f that current location is positioned of locating.Finder 1128 and control part 1100 are examples of location division.
It is above-mentioned threshold value beta 1 with interior code phase CPA1 etc. that code phase CPA1f is used in the location.That is to say that it is the same using the location to use code phase CPA1f to position with using threshold value beta 1 with interior code phase CPA1 etc. current location to be positioned to current location.
When the location use code phase CPA1f more than or equal to 3 situation under, control part 1100 uses these location to use code phase CPA1f location current location, calculates position location QA1.
As shown in Figure 9, terminal 1020 stores position location written-out program 1130 in first storage part 1110.Position location written-out program 1130 is that control part 1100 is used for going up the program that shows position location QA1 in display device 1034 (with reference to Fig. 7).
Terminal 1020 can judge that whether the code phase difference of current code phase CPA1 and predictive code phase place CPAe is smaller or equal to the threshold value beta of predesignating 1.Therefore, the precision that terminal 1020 can identifying code phase place CPA1.
In addition, terminal 1020 can be used the code phase CPA1 of correspondence smaller or equal to the code phase difference of threshold value beta 1, and current location is positioned.
Based on this, under signal intensity was faint weak electric field, terminal 1020 can be after the precision of the code phase of checking location basic code, and what precision was good positions.
In addition, terminal 1020 can be got rid of the code phase CPA1 of respective frequencies threshold alpha 1 with interior extraneous frequency f A1 from the location.
This means that terminal 1020 not only can verify the precision of the code phase CPA1 of C/A sign indicating number, also can verify the precision of the receive frequency fA1 when calculating code phase CPA1.
Based on this, under signal intensity was faint weak electric field, terminal 1020 can be after the precision of the code phase of checking location basic code, further good the positioning of precision.
More than be the formation of the terminal 1020 that relates to of first embodiment, but following main use Figure 13 describe its action example.
Figure 13 is the general flowchart of the action example of expression terminal 1020.
At first, terminal 1020 receives electric wave S1 etc., calculates measurement (the step S101 of Figure 13).This step S101 is an example of phase calculation step.
Then, terminal 1020 is preserved and is measured (step S102).
Then, terminal 1020 judge current frequency f A1 and last time frequency f A0 the absolute value of frequency differential whether smaller or equal to frequency threshold α 1 (step S103).
In step S103, terminal 1020 does not use corresponding to judge it is not code phase CPA1 (step S109) smaller or equal to the frequency differential of frequency threshold α 1 in the location.That is to say, be not that code phase CPA1f is used in the location.
Be directed to this, in step S103,, calculate corresponding predictive code phase place CPAe (step S104) about the code phase CPA1 of correspondence judgement smaller or equal to the frequency differential of frequency threshold α 1.This step S104 is an example of predicted phase calculation procedure.
Then, terminal 1020 judges that whether the absolute value of code phase difference of code phase CPA1 and predictive code phase place CPAe is smaller or equal to threshold value beta 1 (step S105).This step S105 is an example of phase place evaluation procedure.Terminal 1020 is considered as the code phase CPA1 of the absolute value of judging code phase difference smaller or equal to threshold value beta 1 location and uses code phase CPA1f.
Then, terminal 1020 judges whether location use code phase CPA1f is more than or equal to 3 (step S106).
In step S106, when judging that 3 of code phase CPA1f less thaies are used in the location, terminal 1020 can not be located, and can finish so just needn't locate.
Be directed to this, in step S106, when judging that the location is used code phase CPA1f more than or equal to 3, terminal 1020 uses the location to use code phase CPA1f to position (step S107).This step S107 is an example of positioning step.
Then, terminal 1020 output position location QA1 (with reference to Fig. 9) (step S108).
By above step, terminal 1020 can be under signal intensity be faint weak electric field, and after the precision of the phase place of checking location basic code, what precision was good positions.
[second embodiment]
Figure 14 is the skeleton diagram of terminal 2020 grades of expression second embodiment.
As shown in figure 14, terminal 2020 can receive from position location satellite for example, GPS (Global Positioning System: GPS) electric wave S1, S2, S3, S4, S5, S6, S7 and the S8 of satellite 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h.Gps satellite 12a etc. is an example of communication sources.And position location satellite is not limited to gps satellite, also can use SPS (Satellite Positioing System: global position system) satellite widely.
On electric wave S1 etc., carry various sign indicating numbers (code).One of them is C/A sign indicating number Sca.This C/A sign indicating number Sca is bit rate, 1023bit (=1msec) the long signal in position of 1.023Mbps.C/A sign indicating number Sca is made of 1023 (chip: chip, code element).Terminal 2020 is examples of the locating device of location current location, utilizes this C/A sign indicating number that current location is positioned.This C/A sign indicating number Sca is an example of location basic code.
In addition, the information as carrying on electric wave S1 etc. has Almanac Sal and precise ephemeris Seh.Almanac Sal is the information of satellite orbit of the summary of the whole gps satellite 12a of expression etc., and precise ephemeris Seh is the information of satellite orbit of the precision of each gps satellite of expression 12a etc.Almanac Sal and precise ephemeris Seh are referred to as navigation information.
Terminal 2020 can be specified the code phase (phase place) such as the C/A sign indicating number that sends more than or equal to 3 different gps satellite 12a etc., and current location is positioned.
Figure 15 is the concept map of an example of expression localization method.
As shown in figure 15, for example, can be interpreted as the arrangement continuously between gps satellite 12a and terminal 2020 of C/A sign indicating number.And the distance between gps satellite 12a and the terminal 2020 is not limited to the integral multiple of the length (300 kms (km)) of C/A sign indicating number, so there is sign indicating number remainder portion C/Aa.That is to say, between gps satellite 12a and terminal 2020, have the part and the remainder part of the integral multiple of C/A sign indicating number.The length of the total of the part of the integral multiple of C/A sign indicating number and remainder part is pseudorange.Terminal 2020 is utilized about the pseudorange more than or equal to 3 gps satellite 12a etc. and is positioned.
In the present embodiment, the remainder portion C/Aa of C/A sign indicating number is called code phase (phase place).Code phase, for example both can represent, also can be scaled the distance expression with how many sheets of certain sheet of C/A sign indicating number 1032.When calculating pseudorange, also can be scaled distance to code phase.
Utilize precise ephemeris Seh can calculate gps satellite 12a position in orbit.And, according to calculate gps satellite 12a in orbit the position and the distance between the initial position QB0 described later, can determine the part of the integral multiple of C/A sign indicating number.And, because the length of C/A sign indicating number is 300 kms (km), so the site error of initial position QB0 needs in 150 kms (km).
And, as shown in figure 15, Yi Bian carry out relevant treatment on one side such as the phase place of duplicating the C/A sign indicating number being moved to arrow X1 direction.At this moment, while changing synchronously, terminal 2020 carries out relevant treatment with frequency.This relevant treatment is made of relevant processing described later and incoherent processing.
It is a yard remainder C/Aa that relevant aggregate-value becomes maximum phase place.
And, can be different with second embodiment, terminal 2020 positions such as the electric wave that the communication base station that utilizes pocket telephone sends.In addition, different with second embodiment, terminal 2020 also can receive LAN, and (Local Area Network: LAN (Local Area Network)) electric wave of Fa Songing positions.
Figure 16 is the key diagram of relevant treatment.
Relevant is to obtain the C/A sign indicating number that terminal 2020 receives and duplicate relevant processing between the C/A sign indicating number.Duplicating the C/A sign indicating number is the code that terminal 2020 produces.Duplicating the C/A sign indicating number is an example of duplicating the location basic code.
For example, as shown in figure 16, as being coherence time 10msec, then calculating at the C/A sign indicating number of inter-sync accumulative total (integration) during the 10msec and duplicate correlation between the C/A sign indicating number etc.Code phase and correlation when result, the output of handling as being concerned with obtains and is correlated with.
Incoherent is the processing that goes out relevant aggregate-value (incoherent value) by the correlation value calculation that adds up relevant result.
As the result of relevant treatment, code phase and relevant aggregate-value that output is output in relevant the processing.
Figure 17 is the figure of an example of the relation of relevant aggregate-value of expression and code phase.
The code phase CP1 of the maximal value Pmax of the relevant aggregate-value of corresponding Figure 17 is the code phase (equaling to duplicate the code phase of C/A sign indicating number) of C/A sign indicating number.
And terminal 2020 is considered as the little side's of relevant aggregate-value relevant aggregate-value the relevant aggregate-value Pnoise of noise such as from the code phase CP1 distance code phase of two/a slice.
And, for example, when XPR more than or equal to 0.2 the time, the candidate of terminal 2020 is considered as code phase CP1 to use in the location code phase.Below, this code phase is called " candidate code phase ".The candidate code phase is the candidate of using in the location, and in fact terminal 2020 is not necessarily used in the location.
Figure 18 and Figure 19 are the figure of an example of the relation of expression candidate code phase and effluxion etc.
For example, Figure 18 illustrates the state of gps satellite 12a near terminal 2020.
For example, as gps satellite 12a near terminal 2020, then the distance between gps satellite 12a and the terminal 2020 shortens, thus candidate code phase C1 in effluxion near 0.
In addition, the frequency that belongs to frequency series F1 is set in effluxion with uprising.This is because the Doppler shift that is producing near terminal 2020 owing to gps satellite 12a, the arrival frequency gets higher during corresponding electric wave S1 incoming terminal 2020.
Terminal 2020 for effectively with the arrival Frequency Synchronization that will change, for example, as shown in figure 19, use 3 frequencies series F1, F2 and F3.Frequency series F1 etc. is an example of frequency series.Frequency series F1 and F2 are such as the band width that departs from 50 hertz (Hz).In addition, frequency series F1 and F3 also depart from the band width of 50 hertz (Hz).Preestablish the frequency interval of 50 hertz (Hz).That is to say that the frequency interval of 50 hertz (Hz) is an example of frequency interval.This frequency interval is to be prescribed less than the stepped intervals of the frequency search of terminal 2020 in the relevant treatment of implementing.For example, when the stepped intervals of frequency search is 100 hertz (Hz) (with reference to Figure 24 B), to be prescribed less than 100 hertz.
And frequency series F1 etc. can be at least 1, and is different with second embodiment, can be 1 for example, both, also can be more than or equal to 4.
As shown in figure 19, prediction arrives the Doppler shift of frequency, and each frequency series F1 etc. changes setting in effluxion.
And any of each frequency series F1 etc. should precision be followed the Doppler shift that arrives frequency best.
In frequency series F1, calculate code phase C1.And, in frequency series F2, calculate code phase C2.And, in frequency series F3, calculate code phase C3.
Like this, calculate parallel 3 code phase C1 etc., but the general code phase reliability that is calculated is the highest under the highest state of signal intensity XPR.
But, XPR is not limited to keep the highest frequency series F1 etc.For example, as shown in figure 19, the highest such as the XPR of the code phase C1 that calculates in frequency series F1 during between time t1 and the t2, the XPR of the code phase C2 that calculates in frequency series F2 during between time t2 and the t3 is the highest.
Change the frequency of each frequency series F1 etc. based on the common key element of the Doppler shift of prediction, so as the code phase precision height that in any frequency series, calculates, then should be than the code phase precision height that in other frequency series, calculates unceasingly.
Here, " precision height " means that the code phase that calculates is little with departing from of real code phase.
For example, when other frequency series F2 and F3 precision when high of the ratio of precision of frequency series F1, frequency series F1 compares with F3 with other frequency series F2, should precision best follows actual arrival frequency continuously.Therefore, even frequency series F2 and the F3 than other has the low time period as signal intensity XPR in frequency series F1, the candidate code phase precision that is calculated in frequency series F1 also should be the highest so.
This point, terminal 2020 can constitute according to following hardware under weak electric field and software constitutes after the precision of checking candidate code phase, and what precision was good positions.
(main hardware of terminal 2020 constitutes)
Figure 20 is the skeleton diagram that the main hardware of expression terminal 2020 constitutes.
As shown in figure 20, terminal 2020 includes computing machine, and computing machine includes bus 2022.Central processing unit) 2024, memory storage 2026 etc. on bus 2022, be connected with CPU (Central Processing Unit:.Random access memory), ROM (Read OnlyMemory: ROM (read-only memory)) etc. memory storage 2026 all RAM in this way (Random Access Memory:.
In addition, on bus 2022, be connected with input media 2028, supply unit 2030, GPS device 2032, display device 2034, communicator 2036 and clock 2038.
(formation of GPS device 2032)
Figure 21 is the skeleton diagram of the formation of expression GPS device 2032.
As shown in figure 21, GPS device 2032 is made of 2032a of RF portion and base band part 2032b.
The 2032a of RF portion receives electric wave S1 etc. with antenna 2033a.And, amplifier, be the signal that LNA2033b amplify to carry the C/A sign indicating number on electric wave S1 etc.And, the frequency of frequency converter 2033c down converting signal.And quadrature (IQ) wave filter 2033d separates signal IQ.Then, A/D converter 2033e1 and the 2033e2 conversion of signals of respectively IQ being separated is a digital signal separately.
(main software of terminal 2020 constitutes)
Figure 22 is the skeleton diagram that the main software of expression terminal 2020 constitutes.
As shown in figure 22, terminal 2020 comprises: control the control part 2100 of each one, the GPS portion 2102 corresponding with the GPS device 2032 of Figure 20 and with corresponding timing portion 2104 of clock 2038 etc.
Terminal 2020 also comprises: store first storage part 2110 of various programs and second storage part 2150 of storing various information.
As shown in figure 22, terminal 2020 stores navigation information 2152 in second storage part 2150.Navigation information 2152 includes Almanac 2152a and precise ephemeris 2152b.
Terminal 2020 uses Almanac 2152a and precise ephemeris 2152b to be used for the location.
As shown in figure 22, terminal 2020 stores initial position message 2154 in second storage part 2150.Initial position QB0 is such as the position location that is last time.
As shown in figure 22, terminal 2020 stores may observe satellite calculation procedure 2112 in first storage part 2110.May observe satellite calculation procedure 2112 are control parts 2100 with at the initial position QB0 shown in the initial position message 2154 as benchmark, be used to calculate the program of the gps satellite 12a that can observe etc.
Specifically, control part 2100 is judged the gps satellite 12a that can observe etc. in the current time by 2104 meterings of timing portion with reference to Almanac 2152a.Control part 2100 stores the may observe satellite information 2156 of (hereinafter referred to as " may observe satellites ") such as gps satellite 12a that expression can observe in second storage part 2150 into.In a second embodiment, the may observe satellite is gps satellite 12a to 12h (with reference to Fig. 1 and Figure 22).
As shown in figure 22, terminal 2020 stores the frequency computation part program 2114 of inferring in first storage part 2110.Infer frequency computation part program 2114 and be control part 2100 and be used to infer the program of the arrival receive frequency of electric wave S1 that gps satellite 12a etc. sends etc.
Frequency when this arrival frequency is electric wave S1 incoming terminal 2020.In more detail, this arrival frequency be electric wave S1 incoming terminal 2020 and in terminal 2020 centre (IF) frequency (intermediate frequency) during by frequency downconversion.
Figure 23 is the key diagram of inferring frequency computation part program 2114.
As shown in figure 23, control part 2100 adds Doppler shift H2 with the transmission frequency H1 of transmissions such as gps satellite 12a, calculates and infers frequency A2.Transmission frequency H1 from gps satellite 12a etc. is known, all 1575.42MHz in this way.
Doppler shift H2 is owing to relatively moving between each gps satellite 12a etc. and the terminal 2020 produces.The line-of-sight velocity of each gps satellite 12a that control part 2100 calculates at current time according to precise ephemeris 2152b and initial position QB0 etc. (to the speed of the direction of terminal 2020).And, calculate Doppler shift H2 based on its line-of-sight velocity.
And, in inferring frequency A2, include the error of drift of the time clock (reference oscillator: not shown) of counterpart terminal 2020.Drift is exactly because temperature variation former thereby cause the variation of oscillation frequency.
Therefore, control part 2100 is that electric wave S1 is retrieved at the center in the frequency of Rack to infer frequency A2.Such as retrieving electric wave S1 etc. to the scope of the frequency of (A2+100) kMz with the frequency of every 100Hz in frequency from (A2-100) kMz.
In addition, also can be different with second embodiment, in the time can inferring drift in advance, also can calculate the centre frequency that begins to search for based on the drift of inferring frequency A2 and inferring.
As shown in figure 22, terminal 2020 stores in first storage part 2110 and measures calculation procedure 2116.Measure calculation procedure 2116 and be control part 2100 corresponding each gps satellite 12a etc. in each frequency series F1 to F3, carry out being used to calculate the program of the measurement of the relevant aggregate-value Pnoise, candidate code phase and the receive frequency that include relevant aggregate-value Pmax, noise from the C/A sign indicating number of receptions such as gps satellite 12a and the relevant treatment of duplicating the C/A sign indicating number of terminal 2020 generations.Measuring calculation procedure 2116 and control part 2100 is examples of phase calculation portion, also is an example of receive frequency specifying part.
Figure 24 A～24C is a key diagram of measuring calculation procedure 2116.
Shown in Figure 24 A, control part 2100 such as cut apart the C/A sign indicating number with equal intervals 1, carries out relevant treatment by base band part 2032b.For example, 1 of the C/A sign indicating number by 32 five equilibriums.That is to say, carry out relevant treatment with phase width (the first phase width W1) interval of 32/a slice.And the phase place at interval of the first phase width W1 when control part 2100 is carried out relevant treatment is called the first sampling phase SC1.
Signal intensity when electric wave S1 etc. arrives terminal 2020 is during more than or equal to-155dBm, and the first phase width W1 regulation is as the phase width that can detect maximum correlation Pmax.The phase width of 32/a slice in this way, though in signal intensity more than or equal to-155dBm and be under the weak electric field, can detect thing apparition of maximum correlation Pmax by simulation.
Shown in Figure 24 B, control part 2100 is the center to infer frequency A2, and relevant treatment is carried out on the first phase width W1 limit of staggering on the frequency range limit of ± 100kHz.At this moment, on one side the limit frequency 100Hz that staggers is carried out relevant treatment on one side.
Shown in Figure 24 C, export the correlation accumulative total P of corresponding 2 phase place C1 to C64 from base band part 2032b.Each phase place C1 to C64 is the first sampling phase SC1.
And code phase CPB1 is scaled distance.As mentioned above, the code length of C/A sign indicating number is such as being 300 kms (kM), so can be the remainder of C/A sign indicating number part, be that code phase is scaled distance.
Figure 25 is the figure of an example of the current metrical information 2160 of expression.
As shown in figure 25, for example, current metrical information 2160 illustrates frequency f B11a, code phase CPB11a, PBmax11a and the PBnoise11a in frequency series F1 about gps satellite 12a.
In addition, current metrical information 2160 illustrates frequency f B12a, code phase CPB12a, PBmax12a and the PBnoise12a in frequency series F2 about gps satellite 12a.
In addition, current metrical information 2160 illustrates frequency f B13a, code phase CPB13a, PBmax13a and the PBnoise13a in frequency series F3 about gps satellite 12a.
Receive frequency when frequency f B11a to fB13a is the electric wave S1 that receives from gps satellite 12a.
Equally, current metrical information 2160 illustrates (not shown) such as frequency f 11b in frequency series F1 to F3 etc. about gps satellite 12b to 12f.
And, calling corresponding measurement in the measurement among the same frequency series F1 etc. about same gps satellite 12a etc.For example, code phase CPB11a and the frequency f B11a of gps satellite 12a in frequency series F1 is corresponding measurement.
And, can be different from second embodiment, adopt the method for narrow correlator (for example, with reference to TOHKEMY 2000-312163 communique) as relevant treatment.
As shown in figure 22, terminal 2020 stores in first storage part 2110 and measures save routine 2118.Measuring save routine 2118 is programs that control part 2100 is used for measurement is saved in second storage part 2150.
Figure 26 is the figure of expression metrical information last time 2162.
As shown in figure 26, last time, metrical information 2162 illustrated frequency f B01a that corresponding each gps satellite 12a etc. calculated etc. in each frequency series F1 to F3.And, the measurement about gps satellite 12a only is shown in Figure 26, diagram is omitted in other the measurement about gps satellite 12b etc.
As shown in figure 22, terminal 2020 stores frequency assessment process 2120 in first storage part 2110.Frequency assessment process 2120 be control part 2100 be used to judge receive frequency fB0 when located for last time and the receive frequency fB1 when prelocalization difference on the frequency whether smaller or equal to the program of frequency threshold α 2.Scope smaller or equal to frequency threshold α 2 is that basis is predesignated less than the threshold value of the frequency interval of frequency series F1, F2 and F3.As mentioned above, be 50 hertz (Hz) as frequency interval, then frequency threshold α 2 is such as being 30 hertz (Hz).
Above-mentioned frequency assessment process 2120 and control part 2100 are examples of difference on the frequency evaluation portion.And, be a example in the difference on the frequency permissible range of predesignating smaller or equal to the scope of frequency threshold α 2.
When difference on the frequency was not below or equal to frequency threshold α 2, terminal 2020 was not used corresponding code phase CPB11a etc. in the location.That is to say that frequency assessment process 2120 and control part 2100 are examples of phase place eliminating portion.
As shown in figure 22, terminal 2020 stores predictive code phase place program 2122 in first storage part 2110.Predictive code phase place program 2122 is the Doppler shift of control part 2100 code phase CPB0, the electric wave S1 etc. when locating based on last time and the effluxion dt that begins when locating last time, has been used to predict that current phasometer calculates the program of predictive code phase place CPBe.Predictive code phase place CPBe is an example of predicted phase.Predictive code phase place program 2122 and control part 2100 are examples of predicted phase calculating part.About each gps satellite 12a etc. about each frequency series F1 to F3, control part 2100 calculates the predictive code phase place respectively.
And predictive code phase place CPBe is scaled distance.
Figure 27 is the key diagram of predictive code phase place program 2122.
As shown in figure 27, control part 2100 is such as calculate predictive code phase place CPBe according to formula 2.
As shown in Equation 2, control part 2100 calculates predictive code phase place CPBe such as deducting the value that elapsed time dt when locating last time multiply by the relative moving speed of gps satellite 12a and terminal 2020 among the code phase CPB0 when locating since last time.
And in formula 2, predictive code phase place CPBe, last time, code phase CPB0 was scaled distance.
Here, electric wave S1 is with light velocity propagation.Therefore, remove the light velocity, can calculate the speed of the summary of corresponding Doppler shift 1 hertz (Hz) by transmission frequency H1 with electric wave S1 etc.That is to say, Doppler shift add (+) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) near terminal 2020.Code phase CPB0 when therefore, predictive code phase place CPBe located than last time shortens.Here, Doppler shift when locating for last time frequency f B0 and the difference between the transmission frequency H1.
Be directed to this, Doppler shift subtract (-) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) away from terminal 2020.Code phase CPB0 when therefore, predictive code phase place CPBe located than last time is elongated.
And the elapsed time that formula 2 began when locating last time is to set up under the condition of short time.In other words, formula 2 is limited on chart the relation of code phase and effluxion illustrated down as straight line and sets up.
In addition, be different from second embodiment, the mean value of the difference of frequency f B0 in the time of can being located for last time and the difference of transmission frequency H1 and frequency f B1 when prelocalization and transmission frequency H1 is considered as Doppler shift.Based on this, can further calculate predictive code phase place CPBe exactly.
In addition, be different from second embodiment, control part 2100 can use the code phase CPB0 when locating last time and be code phase CPB0 when relevant treatment finishes, calculates predictive code phase place CPBe.Code phase CPB0 when relevant treatment finishes is owing to offset noise by accumulative total, so when beginning than relevant treatment or the code phase precision height in the process of relevant treatment, the precision of predictive code phase place CPBe is also high.
Figure 28 is the figure of an example of expression predictive code phase information 2164.
As shown in figure 28, predictive code phase information 2164 such as expression is about predictive code phase place CPBe1a, predictive code phase place CPBe2a among frequency series F2s, the predictive code phase place CPBe3a among frequency series F3s of gps satellite 12a in frequency series F1.Equally, 2164 expressions of predictive code phase information are about (not shown) such as predictive code phase place CPBe1bs of gps satellite 12b to 12f in each frequency series F1 to F3.
As shown in figure 22, terminal 2020 stores code phase assessment process 2124 in first storage part 2110.Code phase assessment process 2124 be control part 2100 be used to judge current code phase CPB1 and predictive code phase place CPBe code phase difference whether smaller or equal to the program of code phase threshold value beta 2 (hereinafter referred to as " threshold value beta 2 ").Smaller or equal to the scope of threshold value beta 2 are examples in the phase differential permissible range.Code phase assessment process 2124 and control part 2100 are examples of phase differential evaluation portion.
In addition, control part 2100 is based on code phase assessment process 2124, each frequency series F1 to F3 of corresponding each gps satellite 12a etc. when code phase difference during smaller or equal to threshold value beta 2, estimates number of pass times (hereinafter referred to as " number of pass times ") addition one by one with code phase difference.And, each frequency series F1 to F3 of corresponding each gps satellite 12a of control part 2100 etc., when code phase difference was bigger than threshold value beta 2, number of pass times was 0.
As shown in figure 22, terminal 2020 stores code phase option program 2126 in first storage part 2110.Code phase option program 2126 is that control part 2100 is used at the code phase CPB1 of correspondence smaller or equal to the code phase difference of above-mentioned threshold value beta 2, and the code phase CPB1 of option code phase differential minimums such as corresponding each gps satellite 12a is considered as the program of option code phase place CP1s.Option code phase place CP1s is an example of selecting phase place.Code phase option program 2126 and control part 2100 are examples of phase place selection portion.
Figure 29 is the key diagram of code phase option program 2126.
As shown in figure 29, control part 2100 is such as calculating about the code phase CPB11a of gps satellite 12a in frequency series F1 and the absolute value dCPB11a of the difference of CPBe1a.In addition, control part 2100 calculates the absolute value dCPB12a of the difference of code phase CPB12a in frequency series F2 and CPBe2a, and the absolute value dCPB13a of the difference of code phase CPB13a in frequency series F3 and CPBe3a.
And, as shown in figure 29, at absolute value dCPB11a to absolute value dCPB13a, when absolute value dCPB11a hour, option code phase place CPB11a.
And control part 2100 is considered as option code phase place CP1sa with code phase CPB11a.
Figure 30 is the figure of an example of expression option code phase information 2168.
The code phase that is calculated in frequency series F1 to F3 any such as corresponding each gps satellite 12a of option code phase information 2168 expressions.
As shown in figure 22, terminal 2020 stores option code phase place first assessment process 2128 in first storage part 2110.Whether maximum option code phase place first assessment process 2128 are signal intensity XPR programs that control part 2100 is used to judge option code phase place CP1sa etc.Option code phase place first assessment process 2128 and control part 2100 are examples of selecting the phase place first evaluation portion.
Specifically, corresponding each gps satellite 12a of control part 2100 etc., the XPR that judges option code phase place CP1sa maximum whether among code phase CPB1 etc.
As shown in figure 22, terminal 2020 stores option code phase place second assessment process 2130 in first storage part 2110.Option code phase place second assessment process 2130 is that control part 2100 is used to judge that above-mentioned number of pass times is whether more than or equal to γ time program.γ time all 3 times in this way, predesignated.More than or equal to γ time scope is a example in the stipulated number scope.Option code phase place second assessment process 2130 and control part 2100 are examples of selecting the phase place second evaluation portion.
And number of pass times then returns 0 as long as code phase difference is discontinuous smaller or equal to threshold value beta 2, thus number of pass times more than or equal to mean for γ time code phase continuously smaller or equal to threshold value beta 2 continuously more than or equal to γ time.
In addition, option code phase place second assessment process 2130 is that control part 2100 is used for judging whether the decline number of times at the XPR of cumulative time is the program of predesignating such as more than or equal to 10 times.
Specifically, control part 2100 when the signal intensity XPR that judges option code phase place CP1sa etc. is not maximum, carries out the judgement according to option code phase place second assessment process 2130 according to above-mentioned option code phase place first assessment process 2128.
Figure 31 A to 31C is the key diagram of option code phase place second assessment process 2130.
Shown in Figure 31 A, if will be considered as 16 seconds (s) cumulative time, then the XPR in 16 seconds (s) elapsed time (when accumulative total finishes) is for maximum.This is accumulative total C/A sign indicating number because noise is cancelled out each other.Code phase reliability height when this accumulative total finishes.
And XPR becomes big to accumulative total when finishing from accumulative total when beginning gradually in theory.
But, in fact,, exist in the situation that accumulative total begins afterwards XPR reduction soon as shown in Figure 31 B.Therefore, can not calculate code phase exactly.
And, shown in Figure 31 C, when the signal that receives when terminal 2020 is noise (false signal), even XPR is also constant big when accumulative total finishes.Therefore, be difficult to calculate code phase.
Like this, no matter the electric wave that receives is the electric wave that carries the electric wave of C/A sign indicating number or carry noise, XPR was less soon after all often existence accumulative total began, and XPR has the situation of decline, therefore, when the electric wave that receives is when carrying the electric wave of C/A sign indicating number, along with becoming big through cumulative time XPR.
Therefore, begin through after the time of suitable degree, when code phase difference continues smaller or equal to the state of threshold value beta 2, can think that the signal that receives is not a noise from accumulative total.
In addition, even when the time that continues suitable degree since the cumulative time, the reduction of XPR also took place, can think that the signal that receives is a noise.In other words, when after the time of continuing suitable degree since the cumulative time reduction of XPR not taking place, this just means can think that the signal that receives is not a noise.
Therefore, in terminal 2020, whether continue with the reduction of XPR smaller or equal to the state of β 2 with code phase difference whether continuous, as being used to judge whether the signal that receives is the benchmark of noise.
As shown in figure 22, terminal 2020 stores finder 2132 in first storage part 2110.Finder 2132 are control parts 2100 according to the judged result of option code phase place first assessment process 2128 or option code phase place second assessment process 2130 for certainly the time, be used for option code phase place CP1s is considered as locating a program of using sign indicating number phase CPB1f position that current location is positioned.That is to say that finder 2132 and control part 2100 are examples of location division.
For example, as the XPR that selects code phase CP1sa when be maximum, control part 2100 is considered as location use code phase CPB1fa to its option code phase place CP1sa.
When even the XPR of option code phase place CP1sa is not maximum, but when code phase was estimated number of pass times more than or equal to the decline less than of γ time and XPR 10 times, control part 2100 also was considered as option code phase place CP1sa location use code phase CPB1fa.
Be directed to this, control part 2100 is not under the situation of maximum at the XPR of option code phase place CP1sa, the decline of estimating number of pass times not enough γ time or XPR when code phase is during more than or equal to 10 times, to be considered as the location and use code phase CPB1fa code phase CPB12a except that option code phase place CP1sa (code phase CPB11a) and the big side of the XPR among the CPB13a.
Figure 32 is the figure that an example of code phase information 2170 is used in the expression location.
Shown in figure 32, use code phase information 2170 in location is the corresponding respectively information of using code phase CPB1fa, CPB1fb, CPB1fc and CPB1fd such as the location of gps satellite 12a, 12b, 12c and 12d of expression.
As shown in figure 22, terminal 2020 stores position location written-out program 2134 in first storage part 2110.Position location written-out program 2134 is that control part 2100 is used for going up the program that shows position location QB1 in display device 2034 (with reference to Figure 20).
Terminal 2020 as above-mentioned formation.
Terminal 2020 can judge that whether code phase difference is smaller or equal to threshold value beta 2.That is to say the precision that terminal 2020 can identifying code phase place CPB1.
In addition, terminal 2020 can be in the code phase CPB1 of correspondence code phase differential smaller or equal to the code phase difference of threshold value beta 2, and the code phase CPB1 with code phase difference minimums such as corresponding each gps satellite 12a of selection is considered as option code phase place CP1s.Because option code phase place CP1s is the code phase of code phase difference minimum, so than the code phase CPB1 precision height of other frequency series.
And terminal 2020 can judge whether the signal intensity XPR of option code phase place CP1s is maximum.XPR as option code phase place CP1s is maximum, then can understand the code phase CPB1 precision height of option code phase place CP1s assurance than other.
And under the judged result according to option code phase place first assessment process 2128 was sure situation, terminal 2020 can be considered as the location to option code phase place CP1s and use code phase CPB1f, and current location is positioned.
Based on this, terminal 2020 can be under the faint electric field at received-signal strength, and after the precision of the phase place of verifying the location basic code, precision positions well.
In addition, terminal 2020 comprises option code phase place second assessment process 2130, so the code phase among the series of the frequency under the selecting code phase CP1s F1 to F3 during more than or equal to 3 times, can use option code phase place CP1s that current location is positioned smaller or equal to 2 numbers of threshold value beta continuously.
Code phase among the frequency series F1 under the option code phase place CP1s etc., continuously smaller or equal to 2 numbers of threshold value beta more than or equal to being exactly code phase among the frequency series F1 etc. under meaning option code phase place CP1s for 3 times, than the code phase precision height in other frequency series.
Based on this, though according to the judged result of option code phase place assessment process 2128 under the situation of negating, terminal 2020 also can position by the high code phase of service precision.
In addition, terminal 2020 can be got rid of the code phase CPB1 of respective frequencies threshold alpha 2 with the frequency f B1 outside the interior scope from the location.
This means that terminal 2020 not only can verify the precision of the code phase CPB1 of C/A sign indicating number, also can verify the precision of the receive frequency fB1 when calculating code phase CPB1.
Based on this, under the faint electric field of signal intensity, terminal 2020 can be after the precision of the code phase of verifying the location basic code, and further precision positions well.
More than be the formation of the terminal 2020 that relates to of second embodiment, but following use Figure 33 mainly describe its action example.
Figure 33 is the general flowchart of the action example of expression terminal 2020.
At first, terminal 2020 receives electric wave S1 etc., calculates measurement (the step S201 of Figure 33).This step S201 is an example of phase calculation step.
Then, terminal 2020 is preserved and is measured (step S202).
Then, terminal 2020 judge current frequency f B1 and last time frequency f B0 the absolute value of frequency differential whether smaller or equal to frequency threshold α 2 (step S203).
In step S203, terminal 2020 does not use correspondence to be judged as not to be the code phase CPB1 (step S211) smaller or equal to the frequency differential of frequency threshold α 2 in the location.
Be directed to this, in step S203, judge that about correspondence correspondence calculates predictive code phase place CPBe (step S204) smaller or equal to the code phase CPB1 of the frequency differential of frequency threshold α 2.This step S204 is an example of predicted phase calculation procedure.
Then, terminal 2020 judges that whether the absolute value of code phase difference of code phase CPB1 and predictive code phase place CPBe is smaller or equal to threshold value beta 2 (step S205).This step S205 is an example of phase place evaluation procedure.
In step S205, terminal 2020 does not use corresponding to judge it is not code phase CPB1 (step S211) smaller or equal to the code phase difference of threshold value beta 2 in the location.
Be directed to this, in step S205, terminal 2020 judges it is not code phase CPB1 smaller or equal to the code phase difference of threshold value beta 2 about correspondence, corresponding each gps satellite 12a etc., with selecting the code phase CPB1 of the code phase difference of corresponding minimum, be considered as option code phase place CP1s (step S206).This step S206 is the example that phase place is selected step.
Then, terminal 2020 is determined location use code phase CPB1f (step S207).
, use Figure 34 that the option code phase place CP1sa in the positioning series F1 of gps satellite 12a is determined whether that situation about using is example in the location here, S207 is elaborated to step.
Figure 34 is the detailed process flow diagram of expression step S207.
At first.Whether the XPR that terminal 2020 is judged option code phase place CP1sa maximum (the step S221 of Figure 34).This step S221 is an example of selecting phase place first evaluation procedure.
When being judged as in step S221 was sure, terminal 2020 was defined as the location to option code phase place CP1sa and uses code phase CPB1fa (step S224).
Be directed to this, when being evaluated as in step S221 was negative, terminal 2020 judged that whether number of pass times that the code phase in frequency series F1 estimates is more than or equal to 3 times (step S222).This step S222 is an example of selecting phase place second evaluation procedure.
When being judged as in step S222 was sure, whether the XPR decline number of times of terminal 2020 determination frequency series F1 less than 10 times (step S223).
In step S223, when the XPR decline number of times less than of determination frequency series F1 10 times, terminal 2020 is defined as the location with option code phase place CP1sa and uses code phase CPB1fa (step S224).
Be directed to this, when judge in step S222 be evaluated as when negative or when the XPR decline number of times of step S223 medium frequency series F1 is not less than 10 times, terminal 2020 is defined as the code phase of the XPR maximum in CP12a or CP13a the location and uses code phase CPB1fa (step S225).
Terminal 2020 corresponding each gps satellite 12a etc. carry out each above-mentioned step S221 to step S225.
Then, terminal 2020 judges that whether location use code phase CPB1f is more than or equal to 3 (step S208).
In step S208, when terminal 2020 judges that 3 of code phase CPB1f less thaies are used in the location,, finish so just needn't locate owing to can not locate.
Be directed to this, in step S206, when terminal 2020 judges that the location is used code phase CPB1f more than or equal to 3, use the location to use code phase CPB1f to position (step S209).This step S209 is an example of positioning step.
Then, terminal 2020 output position location QB1 (with reference to Figure 22) (step S210).
By above-mentioned steps, under the faint electric field of signal intensity, terminal 2020 can be after the precision of the phase place of verifying the location basic code, and precision positions well.
[the 3rd embodiment]
Figure 35 is the skeleton diagram of terminal 3020 grades of expression the 3rd embodiment.
As shown in figure 35, terminal 3020 can from position location satellite for example, gps satellite 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h, receive electric wave S1, S2, S3, S4, S5, S6, S7 and S8.Gps satellite 12a etc. is an example of communication sources.And communication sources also can be that (Satellite Positioning System: global position system) satellite is not limited to gps satellite to SPS.
On electric wave S1 etc., carry various sign indicating numbers (code).One of them is C/A sign indicating number Sca.This C/A sign indicating number Sca is bit rate, 1023bit (=1msec) the long signal in position of 1.023Mbps.C/A sign indicating number Sca is made of 1023 (chip: chip, code element).Terminal 3020 is examples of the locating device of location current location, utilizes this C/A sign indicating number that current location is positioned.This C/A sign indicating number Sca is an example of location basic code.
In addition, the information as carrying on electric wave S1 etc. has Almanac Sal and precise ephemeris Seh.Almanac Sal is the information of satellite orbit of the summary of the whole gps satellite 12a of expression etc., and precise ephemeris Seh is the information of satellite orbit of the precision of each gps satellite of expression 12a etc.Almanac Sal and precise ephemeris Seh are referred to as navigation information.
Terminal 3020 can be specified the phase place such as the C/A sign indicating number that sends more than or equal to 3 different gps satellite 12a etc., and current location is positioned.
Figure 36 is the concept map of an example of expression localization method.
As shown in figure 36, for example, can be interpreted as the arrangement continuously between gps satellite 12a and terminal 2020 of C/A sign indicating number.And the distance between gps satellite 12a and the terminal 3020 is not limited to the integral multiple of the length (300 kms (km)) of C/A sign indicating number, so there is sign indicating number remainder portion C/Aa.In other words, the part and the remainder part that between gps satellite 12a and terminal 3020, have the integral multiple of C/A sign indicating number.The length of the total of the part of the integral multiple of C/A sign indicating number and remainder part is pseudorange.Terminal 3020 is utilized about the pseudorange more than or equal to 3 gps satellite 12a etc. and is positioned.
In the present embodiment, the remainder portion C/Aa of C/A sign indicating number is called code phase.Code phase for example, both can represent with how many sheets of certain sheet of C/A sign indicating number 1032 also can be scaled the distance expression.When calculating pseudorange, code phase is scaled distance.
Utilize precise ephemeris Seh can calculate gps satellite 12a position in orbit.And, such as according to calculate gps satellite 12a in orbit the position and the distance between the initial position QC0 described later, can determine the part of the integral multiple of C/A sign indicating number.And, because the length of C/A sign indicating number is 300 kms (km), so the site error of initial position QC0 needs in 150 kms (km).
And, as shown in figure 36, Yi Bian move to arrow X1 direction such as the phase place of duplicating the C/A sign indicating number, Yi Bian carry out relevant treatment.At this moment, while changing synchronously, terminal 3020 carries out relevant treatment with frequency.This relevant treatment is made of relevant processing described later and incoherent processing.
Relevant aggregate-value becomes maximum phase place and is sign indicating number remainder C/Aa.
And, can be different with the 3rd embodiment, terminal 3020 positions such as the electric wave that the communication base station that utilizes pocket telephone sends.In addition, different with the 3rd embodiment, terminal 3020 also can be from LAN (Local Area Network: LAN (Local Area Network)) receive electric wave and position.
Figure 37 is the key diagram of relevant treatment.
Relevant is to obtain the C/A sign indicating number that terminal 3020 receives and duplicate relevant processing between the C/A sign indicating number.Duplicating the C/A sign indicating number is the code that terminal 3020 produces.Duplicating the C/A sign indicating number is an example of duplicating the location basic code.
For example, as shown in figure 37, as being coherence time 10msec, then calculating at the C/A sign indicating number of 10msec time inter-sync accumulative total and duplicate correlation between the C/A sign indicating number etc.Obtain relevant phase place (code phase) and correlation as relevant result, the output of handling.
Incoherent is the processing that goes out relevant aggregate-value (incoherent value) by the correlation value calculation that adds up relevant result.
As the result of relevant treatment, code phase and relevant aggregate-value that output is output in relevant the processing.
Figure 38 is the figure of an example of the relation of relevant aggregate-value of expression and code phase.
The code phase CP1 of the maximal value Pmax of the relevant aggregate-value of corresponding Figure 38 is the code phase that duplicates the C/A sign indicating number, is the code phase of C/A sign indicating number.
And terminal 3020 is considered as the little side's of relevant aggregate-value relevant aggregate-value the relevant aggregate-value Pnoise of noise such as from the code phase CP1 distance code phase of two/a slice.
And, for example, when XPR more than or equal to 0.2 the time, the candidate of terminal 3020 is considered as code phase CP1 to use in the location code phase.Below, this code phase is called " candidate code phase ".The candidate code phase is the candidate of using in the location, and in fact terminal 3020 is not necessarily used in the location.
Figure 39 and Figure 40 are the figure of an example of the relation of expression candidate code phase and effluxion etc.
For example, Figure 39 illustrates gps satellite 12a near the state of terminal 3020.
As gps satellite 12a near terminal 3020, then since the distance between gps satellite 12a and the terminal 3020 shorten, so candidate code phase C1 approaches 0 in effluxion.
In addition, in effluxion, set synchronously with frequency F1 to uprise.This be because gps satellite 12a near terminal 3020 Doppler shift by producing, the arrival frequency gets higher during corresponding electric wave S1 incoming terminal 3020.
Terminal 3020 for effectively with the arrival Frequency Synchronization that will change, as shown in figure 40, for example, use 3 frequencies series F1, F2 and F3.Frequency series F1 etc. is an example of frequency series.Frequency series F1 and F2 depart from the band width of 50 hertz (Hz).In addition, frequency series F1 and F3 also depart from the band width of 50 hertz (Hz).Preestablish the frequency interval of 50 hertz (Hz).That is to say that the frequency interval of 50 hertz (Hz) is an example of frequency interval.This frequency interval is to be prescribed with the stepped intervals less than the frequency search of terminal 3020 in the relevant treatment of implementing.For example, be 100 hertz (Hz) (with reference to Figure 45 B) as the stepped intervals of frequency search, then stipulate for 100 hertz with less than.
And frequency series F1 etc. can be a plurality of, and is different with the 3rd embodiment, for example, can be more than or equal to 4.
As shown in figure 40, the Doppler shift of prediction arrival frequency, each frequency series F1 etc. change in effluxion sets.
And any one of each frequency series F1 etc. should precision be followed the Doppler shift that arrives frequency best.
In frequency series F1, calculate code phase C1.And, in frequency series F2, calculate code phase C2.And, in frequency series F3, calculate code phase C3.
Like this, parallel computation goes out 3 code phase C1 etc., but can suppose that the candidate code phase reliability that is calculated under the highest state of signal intensity XPR is the highest.
But, XPR is not kept the highest frequency series F1 etc.For example, as shown in figure 40, the highest such as the XPR of the candidate code phase C1 that calculates in frequency series F1 during between time t1 and the t2, the XPR of the candidate code phase C2 that calculates in frequency series F2 during between time t2 and the t3 is the highest.
Because of changing the frequency of each frequency series F1 etc. based on predicted Doppler shift, thus the candidate code phase that in any one frequency series, calculates, should be than the candidate code phase precision height that in other frequency series unceasingly, calculates.In other words, for example, frequency series F1 compares with other frequency series F2 and F3, should precision preferably continue to follow actual arrival frequency.
Therefore, when changing frequency series according to effluxion, the candidate code phase precision that calculates under the high state of XPR is not necessarily the highest.
This point, terminal 3020 constitute according to following hardware under weak electric field and software is formed in after the precision of checking candidate code phase, can position on the precision highland.
(main hardware of terminal 3020 constitutes)
Figure 41 is the skeleton diagram that the main hardware of expression terminal 3020 constitutes.
As shown in figure 41, terminal 3020 includes computing machine, and computing machine includes bus 3022.Central processing unit) 3024, memory storage 3026 etc. on bus 3022, be connected with CPU (Central Processing Unit:.Random access memory), ROM (Read OnlyMemory: ROM (read-only memory)) etc. memory storage 3026 all RAM in this way (Random Access Memory:.
In addition, on bus 3022, be connected with input media 3028, supply unit 3030, GPS device 3032, display device 3034, communicator 3036 and clock 3038.
(formation of GPS device 3032)
Figure 37 is the skeleton diagram of the formation of expression GPS device 3032.
As shown in figure 37, GPS device 3032 is made of 3032a of RF portion and base band part 3032b.
The 3032a of RF portion receives electric wave S1 etc. with antenna 3033a.And, amplifier, be the signal that LNA3033a amplify to carry the C/A sign indicating number on electric wave S1 etc.And, the frequency of frequency converter 3033c down converting signal.And quadrature (IQ) wave filter 3033d carries out IQ with signal to be separated.Then, A/D converter 3033e1 and the 3033e2 conversion of signals of respectively IQ being separated is a digital signal separately.
(main software of terminal 3020 constitutes)
Figure 43 is the skeleton diagram that the main software of expression terminal 3020 constitutes.
As shown in figure 43, terminal 3020 comprises: control the control part 3100 of each one, the GPS portion 3102 corresponding with the GPS device 3032 of Figure 41 and with corresponding timing portion 3104 of clock 3038 etc.
Terminal 3020 also comprises: store first storage part 3110 of various programs and second storage part 3150 of storing various information.
As shown in figure 43, terminal 3020 stores navigation information 3152 in second storage part 3150.Navigation information 3152 includes Almanac 3152a and precise ephemeris 3152b.
Terminal 3020 uses Almanac 3152a and precise ephemeris 3152b to be used for the location.
As shown in figure 43, terminal 3020 stores initial position message 3154 in second storage part 3150.Initial position QC0 is such as the position location that is last time.
As shown in figure 43, terminal 3020 stores may observe satellite calculation procedure 3112 in first storage part 3110.May observe satellite calculation procedure 3112 is control parts 3100 with the initial position QC0 of initial position message 3154 expressions is benchmark, is used to calculate the program of the gps satellite 12a that can observe etc.
Specifically, control part 3100 is judged the gps satellite 12a that can observe etc. in the current time by 3104 meterings of timing portion with reference to Almanac 3152a.Control part 3100 stores the may observe satellite information 3156 of (hereinafter referred to as " may observe satellites ") such as gps satellite 12a that expression can observe in second storage part 3150 into.In the 3rd embodiment, the may observe satellite is gps satellite 12a to 12h (with reference to Figure 35 and Figure 43).
As shown in figure 43, terminal 3020 stores the frequency computation part program 3114 of inferring in first storage part 3110.Infer frequency computation part program 3114 and be control part 3100 and be used to infer the program of the receive frequency of electric wave S1 that gps satellite 12a etc. sends etc.
Arrival frequency when this receive frequency is electric wave S1 incoming terminal 3020.In more detail, this receive frequency be electric wave S1 incoming terminal 3020 and also in terminal 3020 centre (IF) frequency (intermediate frequency) during by frequency downconversion.
Figure 44 is the key diagram of inferring frequency computation part program 3114.
As shown in figure 44, control part 3100 adds Doppler shift H2 with the transmission frequency H1 of transmissions such as gps satellite 12a, calculates and infers frequency A3.From the transmission frequency H1 of gps satellite 12a etc. for both knowing, such as 1575.42MHz.
Doppler shift H2 is by relatively moving and produce between each gps satellite 12a etc. and the terminal 3020.The line-of-sight velocity of each gps satellite 12a that control part 3100 calculates at current time according to precise ephemeris 3152b and initial position QC0 etc. (to the speed of the direction of terminal 3020).And, calculate Doppler shift H2 based on its line-of-sight velocity.
Corresponding each may observe satellites of control part 3100, be that gps satellite 12a etc. calculates and infers frequency A3.
And, in inferring frequency A3, include the error of correspondence drift of the time clock (reference oscillator: not shown) of terminal 3020.It is former thereby cause the variation of oscillation frequency by temperature variation that drift is exactly.
Therefore, control part 3100 is that electric wave S1 etc. is retrieved at the center in the frequency of Rack to infer frequency A3.Such as retrieving electric wave S1 etc. to the scope of the frequency of (A3+100) kHz with the frequency of every 100Hz in frequency from (A3-100) kHz.
As shown in figure 43, terminal 3020 stores in first storage part 3110 and measures calculation procedure 3116.Measure calculation procedure 3116 and be control part 3100 and carry out the relevant treatment of duplicating the C/A sign indicating number that generates from the C/A sign indicating number and the terminal 3020 of reception such as gps satellite 12a, be used to calculate the program of measurement of relevant aggregate-value Pnoise, candidate code phase and the receive frequency of the maximal value Pmax that includes the aggregate-value of being correlated with, noise.Measuring calculation procedure 3116 and control part 3100 is examples of phase calculation portion, also is an example of receive frequency specifying part.
Figure 45 A～45C is a key diagram of measuring calculation procedure 3116.
Shown in Figure 45 A, control part 3100 such as cut apart the C/A sign indicating number with equal intervals 1, carries out relevant treatment by base band part 3032b.For example, 1 of the C/A sign indicating number by 32 five equilibriums.That is to say, in phase width (the first phase width W1) interval of 32/a slice, carry out relevant treatment.And the phase place at interval of the first phase width W1 when control part 3100 is carried out relevant treatment is called the first sampling phase SC1.
Signal intensity when electric wave S1 etc. arrives terminal 3020 be during more than or equal to-155dBm, and the first phase width W1 is prescribed the phase width that conduct can detect maximum correlation Pmax.As the phase width of 32/a slice, though signal intensity more than or equal to-155dBm is a weak electric field, also can detect maximum correlation Pmax by the simulation and apparition.
Shown in Figure 45 B, control part 3100 is the center to infer frequency A3, and relevant treatment is carried out on the first phase width W1 limit of staggering on the frequency range limit of ± 100kHz.At this moment, the limit is carried out relevant treatment to the frequency 100Hz limit of staggering.
Shown in Figure 45 C, export the correlation accumulative total P of the phase place C1 to C64 of corresponding 2 correspondences from base band part 3032b.Each phase place C1 to C64 is the first sampling phase SC1.
And code phase CPC1 is scaled distance.As mentioned above, the code length of C/A sign indicating number is such as being 300 kms (kM), so can be the remainder of C/A sign indicating number part, be that code phase is scaled distance.
And, can be different from the 3rd embodiment, adopt the method for narrow correlator (for example, with reference to TOHKEMY 2000-312163 communique) as relevant treatment.
As shown in figure 43, terminal 3020 stores in first storage part 3110 and measures save routine 3118.Measuring save routine 3118 is programs that control part 3100 is used for measurement is saved in second storage part 3150.
As shown in figure 43, terminal 3020 stores frequency assessment process 3120 in first storage part 3110.Frequency assessment process 3120 be control part 3100 be used to judge receive frequency fC0 when located for last time and the receive frequency fC1 when prelocalization difference on the frequency whether at frequency threshold α 3 with interior program.Frequency threshold α 3 is that basis is predesignated less than the threshold value of the frequency interval of frequency series F1, F2 and F3 with interior scope.As mentioned above, be 50 hertz (Hz) as frequency interval, then frequency threshold α 3 is such as being 30 hertz (Hz).Above-mentioned frequency assessment process 3120 and control part 3100 are examples of difference on the frequency evaluation portion.And frequency threshold α 3 is the example in the difference on the frequency permissible range of predesignating with interior scope.
As shown in figure 43, terminal 3020 stores predictive code phase calculation program 3122 in first storage part 3110.Predictive code phase calculation program 3122 is the Doppler shift of control part 3100 code phase CPC0, the electric wave S1 etc. when locating based on last time and the effluxion dt that begins when locating last time, has been used to predict that current phasometer calculates the program of predictive code phase place CPCe.Predictive code phase place CPCe is an example of predicted phase.Predictive code phase calculation program 3122 and control part 3100 are examples of predicted phase calculating part.
And predictive code phase place CPCe is scaled distance.
Figure 46 is the key diagram of predictive code phase calculation program 3122.
As shown in figure 46, control part 3100 is such as calculate predictive code phase place CPCe according to formula 3.
As shown in Equation 3, the effluxion dt when control part 3100 such as the code phase CPC0 when locating since last time deducts and located last time multiply by the value of the relative moving speed of gps satellite 12a and terminal 3020, calculates predictive code phase place CPCe.
And in formula 3, predictive code phase place CPCe, last time, code phase CPC0 was scaled distance.
Here, electric wave S1 is with light velocity propagation.Therefore, remove the light velocity, can calculate the speed of the summary of corresponding Doppler shift 1 hertz (Hz) by transmission frequency H1 with electric wave S1 etc.That is to say, Doppler shift add (+) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) near terminal 3020.Code phase CPC0 when therefore, predictive code phase place CPCe located than last time shortens.Here, Doppler shift when locating for last time frequency f C0 and the difference between the transmission frequency H1.
Be directed to this, Doppler shift subtract (-) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) away from terminal 3020.Code phase CPC0 when therefore, predictive code phase place CPCe located than last time is elongated.
And the effluxion that formula 3 began when locating last time is to set up under the condition of short time.In other words, formula 3 is limited on chart the relation of code phase and effluxion illustrated down as straight line and sets up.
In addition, be different from the 3rd embodiment, the mean value of the difference of frequency f C0 in the time of can being located for last time and the difference of transmission frequency H1 and frequency f C1 when prelocalization and transmission frequency H1 is considered as Doppler shift.Based on this, can further calculate predictive code phase place CPCe exactly.
As shown in figure 43, terminal 3020 stores code phase assessment process 3124 in first storage part 3110.Code phase assessment process 3124 be control part 3100 be used to judge current code phase CPC1 and predictive code phase place CPCe code phase difference whether smaller or equal to the program of code phase threshold value beta 3 (hereinafter referred to as " threshold value beta 3 ").Smaller or equal to the scope of threshold value beta 3 are examples in the phase differential permissible range.Code phase assessment process 3124 and control part 3100 are examples of phase differential evaluation portion.
As shown in figure 43, terminal 3020 stores to locate in first storage part 3110 and uses code phase to determine program 3126.The location use code phase determine program 3126 be control part 3100 be used for determining frequency threshold α 3 with interior difference on the frequency and smaller or equal to the code phase CPC1 of threshold value beta 3, be that the code phase CPC1 etc. of gps satellite 12a etc. is as the program of locating use code phase CPC1f.
It is uncertain as using code phase CPC1f in the location with the code phase CPC1 of the gps satellite 12a of interior difference on the frequency etc. etc. not to be correspondence frequency threshold α 3, gets rid of from the location.And, in the location, use the code phase CPC1 of respective frequencies threshold alpha 3 with interior difference on the frequency and corresponding code phase difference smaller or equal to threshold value beta 3.That is to say that the location uses code phase to determine that program 3126 and control part 3100 are examples of phase place eliminating portion.
In the 3rd implemented, the location used code phase CPC1f to be considered as such as the corresponding gps satellite 12a of difference, 12b, the CPC1fa of 12c and 12d, CPC1fb, CPC1fc and CPC1fd.
In addition, in the present embodiment, using code phase CPC1 in the location is the same with code phase CPC1 is used code phase CPC1f as the location.
As shown in figure 43, terminal 3020 stores finder 3128 in first storage part 3110.Finder 3128 is that control part 3100 is used to use the program of using code phase CPC1f that current location is positioned of locating.Finder 3128 and control part 3100 are examples of location division.
It is above-mentioned threshold value beta 3 with interior code phase CPC1 etc. that code phase CPC1f is used in the location.That is to say that it is the same using the location to use code phase CPC1f to position with using threshold value beta 3 with interior code phase CPC1 etc. current location to be positioned to current location.
When using code phase CPC1f more than or equal to 3 location, control part 3100 uses these location to use code phase CPC1f that current location is positioned, and calculates position location QC1.
As shown in figure 43, terminal 3020 stores position location written-out program 3130 in first storage part 3110.Position location written-out program 3130 is that control part 3100 is used for position location QC1 is presented at program on the display device 3034 (with reference to Figure 41).
As shown in figure 43, terminal 3020 stores code phase threshold setting program 3132 in first storage part 3110.Code phase threshold setting program 3132 is control part 3100 accepting states based on the C/A sign indicating number, is used for determining the program of threshold value beta 3.This code phase threshold setting program 3132 and control part 3100 are examples of phase differential permissible range determination portion.
Figure 47 is the key diagram of code phase threshold setting program 3132.
The form of Figure 47 is called the condition form.
The condition form comprises: drift determinacy 130b, tracking centre halfback star number 130c, strong satellite existence 130d, weak satellite existence 130e, strong satellite ratio 130f, weak satellite ratio 130g, process cumulative time 130h and code phase threshold value beta 3.
Above-mentioned drift determinacy 130b, tracking centre halfback star number 130c, strong satellite existence 130d, weak satellite existence 130e, strong satellite ratio 130f, weak satellite ratio 130g and process cumulative time 130h are examples of the accepting state of C/A sign indicating number.The determinacy of will drifting about 130b etc. is referred to as accepting state.
As mentioned above, the condition form comprises station-keeping mode 130a.Station-keeping mode 130a comprises general mode, high sensitivity pattern and Move Mode.
General mode is be initially set to 1 second (s) of cumulative time (incoherent time), under the situation a little less than the signal intensity of C/A sign indicating number the elongated of stage cumulative time is gone down as the station-keeping mode of 4 seconds (s), 8 seconds (s), 24 seconds (s).General mode is such as preferred station-keeping mode in more than or equal to negative (-) 150dBM to the signal intensity of the antenna 3033a of GPS device 3032 input.
The high sensitivity pattern is be initially set to 1 second (s) of cumulative time, and under the situation a little less than the signal intensity of C/A sign indicating number the cumulative time being extended at once is the station-keeping mode of 24 seconds (s).The high sensitivity pattern is such as preferred station-keeping mode in less than negative (-) 150dBM to the signal intensity of the antenna 3033a of GPS device 3032 input.
Move Mode is that the initial setting up of cumulative time is fixed as the station-keeping mode of 1 second (s).Move Mode is terminal 3020 preferred station-keeping mode in moving.
As mentioned above, the condition form comprises drift determinacy 130b.Drift is exactly because the temperature variation of the reference clock pulse (not shown) of terminal 3020 is former thereby the variation of the frequency that causes.The precision of the measurement that the more little terminal 3020 of drifting about calculates uprises more.This drift can prepare the location more than or equal to 3 gps satellite 12a etc. and calculates by using.Can calculate the time error of terminal 3020 by the preparation location.Thereby, can calculate drift based on this time error.
Drift determinacy 130b be expression terminal 3020 for the frequency error of the setting value of frequency whether at positive and negative (±) 50 hertz (Hz) with interior information.
In positive and negative (±) 50 hertz (Hz) time, terminal 3020 judges that drift is for determining (the drift determinacy is arranged) for the frequency error of the setting value of frequency.
Be directed to this, frequency error is when bigger than positive and negative (±) 50 hertz (Hz), and terminal 3020 judges that drift is for determining (the drift determinacy is arranged).
Positive and negative (±) 50 hertz (Hz) is an example of the drift permissible range predesignated with interior frequency range.
As mentioned above, be in positive and negative (±) 50 hertz (Hz) time for the frequency error of the setting value of frequency, terminal 3020 judges that the drift determinacy is arranged, but this error range is with less than being prescribed in the scope of measuring the frequency step (with reference to Figure 45 B) in calculating.
As mentioned above, the condition form comprises tracking centre halfback star number 130c.Follow the trail of centre halfback's star number 130c and be the continuous quantity of terminal 3020 at the gps satellite 12a that receives electric wave S1 etc. etc.
As mentioned above, the condition form comprises strong satellite existence 130d.Strong satellite existence 130d represents whether signal intensity XPR exists more than or equal to 0.7 gps satellite 12a etc. (below: be called " strong satellite ").
When a strong satellite existed, terminal 3020 judged that strong satellite is arranged.
Be directed to this, when one on strong satellite did not exist yet, terminal 3020 judged there is not strong satellite.
As mentioned above, the condition form comprises weak satellite existence 130e.Weak satellite existence 130e represents whether signal intensity XPR exists smaller or equal to 0.4 gps satellite 12a etc. (below: be called " weak satellite ").
When a weak satellite existed, terminal 3020 judged that weak satellite is arranged.
Be directed to this, when one on weak satellite did not exist yet, terminal 3020 judged there is not weak satellite.
As mentioned above, the condition form comprises strong satellite plurality 130f.Strong satellite plurality 130f represents whether the gps satellite 12a of terminal 3020 in following the trail of etc. all is strong satellite.
When the gps satellite 12a in following the trail of etc. all was strong satellite, terminal 3020 was judged " YES ".
Be directed to this, when not having strong satellite more than or equal to the gps satellite 12a in one the tracking etc., terminal 3020 is judged " NO ".
As mentioned above, the condition form comprises weak satellite plurality 130g.Weak satellite plurality 130g represents that the gps satellite 12a during whether terminal 3020 is followed the trail of etc. all is weak satellite.
When the gps satellite 12a in following the trail of etc. all was weak satellite, terminal 3020 was judged " YES ".
Be directed to this, when not having weak satellite more than or equal to the gps satellite 12a in one the tracking etc., terminal 3020 is judged " NO ".
As mentioned above, the condition form comprises through cumulative time 130h.Represent that through cumulative time 130h whether incoherent effluxion to current time (below: be called " through cumulative time ") from beginning is smaller or equal to time threshold, such as 12 seconds (s).That is to say, from the beginning incoherent effluxion to current time, with from the beginning relevant treatment effluxion be the same.
As passing through the cumulative time smaller or equal to 12 seconds (s), then terminal 3020 is judged " YES ".
Be directed to this, when the process cumulative time was longer than 12 seconds (s), terminal 3020 was judged " NO ".
In addition, under general situation, become more greatly through cumulative time long more signal intensity XPR, the precision of code phase CPC1 also improves.Therefore, time threshold is stipulated according to the precision of the code phase CPC1 of corresponding bearing accuracy needs.
Such as be " having " for general mode, drift determinacy 130b, satellite in following the trail of count 130c for more than or equal to 8, when strong satellite existence 130d is " YES " for " YES " through cumulative time 130h for " having ", strong satellite plurality 130f (Cond1), with code phase threshold value beta 3 be set at minimum value, such as 19 meters (m).
In Cond1, because the quantity of the gps satellite 12a in following the trail of etc. is abundant, in addition, signal intensity XPR also is good, so by reducing the setting of code phase threshold value beta 3, bearing accuracy is improved.
In addition, compare in the tracking number of satellite with Cond1 few for Cond7.In this case, terminal 3020 is set at code phase threshold value beta 3 bigger such as 52 meters (m) than Cond1.Based on this,, but can guarantee the quantity of the gps satellite that in the location, can use than Cond1 bearing accuracy deterioration more.
Like this, terminal 3020 as under identical accepting state, the many more settings that reduce code phase threshold value beta 3 more of quantity of the gps satellite 12a in then following the trail of etc., the setting of the few more all the more big code phase threshold value beta 3 of quantity of the gps satellite 12a in the tracking etc.
In addition, such as in Cond3, because process cumulative time 130h is " NO ", so compare the precision of code phase CPC1 with Cond1 bad.Therefore, terminal 3020 is bigger slightly than Cond1 by code phase threshold value beta 3 is set, such as being 25 meters (m), can become Min. to the deterioration of bearing accuracy on one side, can guarantee the code phase CPC1 of the quantity that can locate on one side.
In addition, such as in Cond11, owing to exist to follow the trail of minimum number that centre halfback's star number is used to locate and be under 3 the situation and weak satellite plurality 130g is " YES ", so have a setting that reduces code phase threshold value beta 3, the quantity of gps satellite 12a etc. just can not reach the situation of the quantity that can locate.Therefore, terminal 3020 is bigger than Cond1 or Cond4 etc. by setting, such as being 80 meters (m), on one side the deterioration that just can guarantee bearing accuracy is in tolerance range, Yi Bian guarantee the code phase CPC1 of the quantity that can locate.
And in the 3rd embodiment, the maximal value of code phase β is set 80 meters (m).The length of so-called these 80 meters (m) is that terminal 3020 is for high-speed mobile portion, moving on one side on the Shinkansen when positioning with one second (s) interval such as carrying, when locating last time and current time during in, be prescribed the length below the distance that changes as code phase.
In addition, for example in Cond23 Move Mode, so because terminal 3020 moves the continuous change of arrival frequency of the electric wave S1 etc. of incoming terminal 3020.And, be difficult to calculate the change that it arrives frequency.Therefore, terminal 3020 by code phase threshold value beta 3 is set than Cond1 or Cond4 etc. greatly, such as 80 meters (m), even bearing accuracy corrupts to tolerance range, also can guarantee the code phase CPC1 of the quantity that can locate.
Terminal 3020 as above-mentioned formation.
Terminal 3020 can judge that whether the code phase difference of current code phase CPC1 and predictive code phase place CPCe is smaller or equal to the threshold value beta of predesignating 3.Therefore, the precision that terminal 3020 can identifying code phase place CPCI.
In addition, terminal 3020 can be used the code phase CPC1 of correspondence smaller or equal to the code phase difference of threshold value beta 3, and current location is positioned.
Based on this, under the faint electric field of signal intensity, terminal 3020 can be after the precision of the code phase of verifying the location basic code, and what precision was good positions.
In addition, terminal 3020 can be got rid of the code phase CPC1 of respective frequencies threshold alpha 3 with the frequency f C1 outside the interior scope from the location.
This means that terminal 3020 not only can verify the precision of the code phase CPC1 of C/A sign indicating number, also can verify the precision of the receive frequency fC1 when calculating code phase CPC1.
Based on this, under the faint electric field of signal intensity, terminal 3020 can be after the precision of the code phase of verifying the location basic code, and what further precision was good positions.
In addition, many more such as the quantity of the gps satellite 12a in following the trail of etc., terminal 3020 reduces code phase threshold value beta 3 more, can be in the location the relative high code phase CPC1 of service precision only.
Based on this, under the faint electric field of received-signal strength, terminal 3020 can position by the relative high code phase CPC1 of service precision.
In addition, the quantity of terminal 3020 such as the big gps satellite 12a of the signal intensity XPR of the C/A sign indicating number that receives etc. is many more, reduces code phase threshold value beta 3 more, can be in the location the relative high code phase CPC1 of service precision only.
Based on this, under the faint electric field of received-signal strength, terminal 3020 can use relative high code phase CPC1 to position.
In addition, for example drift about such as in positive and negative (±) 50 hertz (Hz) time, reduce code phase threshold value beta 3, terminal 3020 can be in the location the relative high code phase CPC1 of service precision only.
Based on this, under the faint electric field of received-signal strength, terminal 3020 can position by the relative high code phase CPC1 of service precision.
In addition, such as through the long more code phase threshold value beta 3 that reduces more of cumulative time, terminal 3020 can be in the location the relative high code phase CPC1 of service precision only.
Based on this, under the faint electric field of received-signal strength, terminal 3020 can position by the relative high code phase CPC1 of service precision.
In addition, because the many more settings that reduce code phase threshold value beta 3 more of quantity of the gps satellite 12a in terminal 3020 trackings etc., so can position by the high code phase CPC1 of service precision.
In addition, because the setting of the few more all the more big code phase threshold value beta 3 of quantity of the gps satellite 12a in terminal 3020 trackings etc., so can improve the possibility that can calculate the position location.
More than be the formation of the terminal 3020 that relates to of the 3rd embodiment, but following use Figure 48 mainly describe its action example.
Figure 48 is the general flowchart of the action example of expression terminal 3020.
At first, terminal 3020 receives electric wave S1 etc., calculates measurement (the step S301 of Figure 47).This step S301 is an example of phase calculation step.
Then, terminal 3020 is preserved and is measured (step S302).
Then, terminal 3020 judge current frequency f C1 and last time frequency f C0 the absolute value of frequency differential whether smaller or equal to frequency threshold α 3 (step S303).
In step S303, terminal 3020 does not use corresponding to judge it is not code phase CPC1 (S310) smaller or equal to the frequency differential of frequency threshold α 3 in the location.That is to say, do not use the location to use code phase CPC1f.
Be directed to this, in step S303, terminal 3020 calculates corresponding predictive code phase place CPCe (step S304) about the code phase CPC1 of corresponding determination frequency smaller or equal to the frequency differential of frequency threshold α 3.This step S304 is an example of predicted phase calculation procedure.
Then, code phase threshold value beta 3 (step S305) is kept or changed to terminal 3020.This step S305 is an example of phase differential permissible range determining step.
Then, terminal 3020 judges that whether the absolute value of code phase difference of code phase CPC1 and predictive code phase place CPCe is smaller or equal to threshold value beta 3 (step S306).This step S306 is an example of phase place evaluation procedure.Terminal 3020 is considered as the code phase CPC1 of the absolute value of judging code phase difference smaller or equal to threshold value beta 3 location and uses code phase CPC1f.
Then, terminal 3020 judges that whether location use code phase CPC1f is more than or equal to 3 (step S307).
In step S307, when terminal 3020 judges that 3 of code phase CPC1f less thaies are used in the location, owing to can not locate, so do not position end of a period.
Be directed to this, in step S307, when terminal 3020 judges that the location is used code phase CPC1f more than or equal to 3, use the location to use code phase CPC1f to position (step S308).This step S308 is an example of positioning step.
Then, terminal 3020 output position location QC1 (with reference to Figure 43) (step S309).
By above step, be under the faint electric field in signal intensity, terminal 3020 can be after the precision of the phase place of verifying the location basic code, and what precision was good positions.
The present invention is not limited to each above-mentioned embodiment.
Claims (22)
1. locating device comprises:
Phase calculation portion, that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the current phase place of described location basic code;
The predicted phase calculating part calculates the predicted phase when having predicted current described phase place based on the described phase place of using, the Doppler shift of frequency of electric wave that is equipped with described location basic code and the elapsed time when locating since last time when locating last time;
Phase differential evaluation portion, whether the phase differential of judging the described phase place that calculates by described phase calculation portion and described predicted phase is in the phase differential permissible range of regulation; And
Use and the interior corresponding described phase place of described phase differential of described phase differential permissible range the location division, and current location is positioned.
2. locating device according to claim 1, wherein,
Described phase calculation portion uses a plurality of frequency series to calculate described phase place,
Described phase differential evaluation portion judges that the phase differential of described phase place that the frequency series of the signal intensity maximum of using the basic code of location described in described a plurality of frequency series calculates and described predicted phase is whether in described phase differential permissible range.
3. locating device according to claim 1, wherein,
Corresponding each communication sources of described phase calculation portion uses that at least one frequency series stipulates duplicates the location basic code and from the described relevant treatment of the location basic code of described communication sources, calculates the phase place of location basic code,
Described location division comprises:
The phase place selection portion, in the described phase place corresponding with described phase differential in the described phase differential permissible range, corresponding each described communication sources selects the described phase place of described phase differential minimum to be considered as selecting phase place;
Select the phase place first evaluation portion, judge whether the signal intensity of described selection phase place is maximum; And
Select the phase place second evaluation portion, judge in the described phase place stipulated number scope that whether number of times in described phase differential permissible range is being predesignated continuously in the affiliated described frequency series of described selection phase place;
When being sure, use described selection phase place that current location is positioned based on the judged result of the described selection phase place first evaluation portion and/or based on the judged result of the described selection phase place second evaluation portion.
4. locating device according to claim 3, wherein,
Described phase place and the described phase place when described relevant treatment finishes when described predicted phase calculating part use was located as last time calculate described predicted phase.
5. according to each described locating device in the claim 1～4, comprising:
The receive frequency specifying part is specified the receive frequency when receiving the electric wave that is equipped with described location basic code;
Difference on the frequency evaluation portion, whether the difference on the frequency of judging described receive frequency when located for last time and current described receive frequency is in the difference on the frequency permissible range of predesignating;
The phase place of the described location basic code corresponding with described difference on the frequency outside the described difference on the frequency permissible range is got rid of by phase place eliminating portion from the location.
6. according to each described locating device in the claim 2～4, comprising:
The receive frequency specifying part is specified the receive frequency when receiving the electric wave that is equipped with described location basic code;
Difference on the frequency evaluation portion, whether the difference on the frequency of judging described receive frequency when located for last time and current described receive frequency is in the difference on the frequency permissible range of predesignating; And
The phase place of the described location basic code corresponding with described difference on the frequency outside the described difference on the frequency permissible range is got rid of by phase place eliminating portion from the location,
Wherein, described each frequency series departs from the frequency interval of predesignating mutually,
The threshold value of described difference on the frequency permissible range lack of foundation described frequency interval is stipulated.
7. locating device according to claim 1, it also comprises:
Phase differential permissible range determination portion based on the accepting state of basis, described location sign indicating number, is determined described phase differential permissible range,
Described phase differential evaluation portion judges whether in the described phase differential permissible range that is determined.
8. locating device according to claim 7, wherein,
Described accepting state comprises the quantity of the described communication sources of the described location basic code that described locating device receives.
9. according to claim 7 or 8 described locating devices, wherein,
Described accepting state comprises the signal intensity of the described location basic code that described locating device receives.
10. according to each described locating device in the claim 7～9, wherein,
Whether the drift that described accepting state comprises the reference clock of representing described locating device information in the drift permissible range of predesignating.
11. according to each described locating device in the claim 7～10, wherein,
Described accepting state comprises the information in the elapsed time after the described relevant treatment of expression beginning.
12. according to each described locating device in the claim 7～11, wherein,
The quantity of described communication sources that described locating device receives described location basic code is many more, and described phase differential permissible range determination portion is provided with described phase differential permissible range more narrowly,
The quantity of described communication sources that described locating device receives described location basic code is few more, and described phase differential permissible range determination portion is provided with described phase differential permissible range more widely.
13. according to each described locating device in the claim 1～12, wherein,
Described communication sources is SPS (Satellite Positioning System) satellite.
14. a position control method may further comprise the steps:
The phase calculation step, that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the phase place of described location basic code;
The predicted phase calculation procedure calculates the predicted phase when having predicted current described phase place based on the described phase place of using, the Doppler shift of frequency of electric wave that is equipped with described location basic code and the elapsed time when locating since last time when locating last time;
The phase differential evaluation procedure, whether the phase differential of judging the described phase place calculate and described predicted phase in described phase calculation step is in the phase differential permissible range of regulation; And
Positioning step uses and the interior corresponding described phase place of described phase differential of described phase differential permissible range, and current location is positioned.
15. position control method according to claim 14, wherein,
Described phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and, calculate the step of the phase place of location basic code from the described relevant treatment of the location basic code of described communication sources,
Described positioning step comprises:
Phase place is selected step, and in the described phase place corresponding with described phase differential in the described phase differential permissible range, corresponding each described communication sources selects the described phase place of described phase differential minimum to be considered as selecting phase place;
Select phase place first evaluation procedure, judge whether the signal intensity of described selection phase place is maximum; And
Select phase place second evaluation procedure, judge in the described phase place stipulated number scope that whether number of times in described phase differential permissible range is being predesignated continuously in the affiliated described frequency series of described selection phase place;
Wherein, in described positioning step, when being sure, use described selection phase place that current location is positioned based on the judged result of described selection phase place first evaluation procedure and/or based on the judged result of described selection phase place second evaluation procedure.
16. position control method according to claim 14, it also comprises:
Phase differential permissible range determining step based on the accepting state of described location basic code, is determined described phase differential permissible range,
Described phase differential evaluation procedure is the step that judges whether in the described phase differential permissible range that is determined.
17. a positioning control program makes computing machine carry out following steps:
The phase calculation step, that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the current phase place of described location basic code;
The predicted phase calculation procedure calculates the predicted phase when having predicted current described phase place based on the described phase place of using, the Doppler shift of frequency of electric wave that is equipped with described location basic code and the elapsed time when locating since last time when locating last time;
The phase differential evaluation procedure, whether the phase differential of judging the current described phase place calculate and described predicted phase in described phase calculation step is in the phase differential permissible range of regulation; And
Positioning step uses and the interior corresponding described phase place of described phase differential of described phase differential permissible range, and current location is positioned.
18. positioning control program according to claim 17, wherein,
Described phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and, calculate the step of the phase place of location basic code from the described relevant treatment of the location basic code of described communication sources,
Described positioning step comprises:
Phase place is selected step, and in the described phase place corresponding with described phase differential in the described phase differential permissible range, corresponding each described communication sources selects the described phase place of described phase differential minimum to be considered as selecting phase place;
Select phase place first evaluation procedure, judge whether the signal intensity of described selection phase place is maximum; And
Select phase place second evaluation procedure, judge in the described phase place stipulated number scope that whether number of times in described phase differential permissible range is being predesignated continuously in the affiliated described frequency series of described selection phase place;
Wherein, in described positioning step, when being sure, use described selection phase place that current location is positioned based on the judged result of described selection phase place first evaluation procedure and/or based on the judged result of described selection phase place second evaluation procedure.
19. positioning control program according to claim 17, wherein,
Make described computing machine excute phase difference permissible range determining step,, determine described phase differential permissible range based on the accepting state of described location basic code,
Described phase differential evaluation procedure is the step that judges whether in the described phase differential permissible range that is determined.
20. a computer-readable recording medium that records positioning control program, described positioning control program make computing machine carry out following steps:
The phase calculation step, that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the current phase place of described location basic code;
The predicted phase calculation procedure calculates the predicted phase when having predicted current described phase place based on the described phase place of using, the Doppler shift of frequency of electric wave that is equipped with described location basic code and the elapsed time when locating since last time when locating last time;
The phase differential evaluation procedure, whether the phase differential of judging the described phase place calculate and described predicted phase in described phase calculation step is in the phase differential permissible range of regulation; And
Positioning step uses and the interior corresponding described phase place of described phase differential of described phase differential permissible range, and current location is positioned.
21. the storage medium that records described positioning control program according to claim 20, wherein,
Described phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and, calculate the step of the phase place of described location basic code from the described relevant treatment of the location basic code of described communication sources,
Described positioning step comprises:
Phase place is selected step, and in the described phase place corresponding with described phase differential in the described phase differential permissible range, corresponding each described communication sources selects the described phase place of described phase differential minimum to be considered as selecting phase place;
Select phase place first evaluation procedure, judge whether the signal intensity of described selection phase place is maximum; And
Select phase place second evaluation procedure, judge in the described phase place stipulated number scope that whether number of times in described phase differential permissible range is being predesignated continuously in the affiliated described frequency series of described selection phase place;
In described positioning step, when being sure, use described selection phase place that current location is positioned based on the judged result of described selection phase place first evaluation procedure and/or based on the judged result of described selection phase place second evaluation procedure.
22. the storage medium that records described positioning control program according to claim 20, described positioning control program makes described computing machine excute phase difference permissible range determining step, based on the accepting state of described location basic code, determine described phase differential permissible range
Described phase differential evaluation procedure is the step that judges whether in the described phase differential permissible range that is determined.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006123606A JP2007292698A (en) | 2006-04-27 | 2006-04-27 | Positioning device, method of controlling positioning device and program |
| JP123606/2006 | 2006-04-27 | ||
| JP126177/2006 | 2006-04-28 | ||
| JP2006126177A JP2007298374A (en) | 2006-04-28 | 2006-04-28 | Positioning device, control method of positioning device, and program |
| JP137618/2006 | 2006-05-17 | ||
| JP2006137618A JP2007309730A (en) | 2006-05-17 | 2006-05-17 | Positioning instrument, control method for the positioning instrument, and program |
| PCT/JP2007/059019 WO2007125978A1 (en) | 2006-04-27 | 2007-04-26 | Global positioning device, global positioning control method, global positioning control program, and recording medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101384920A true CN101384920A (en) | 2009-03-11 |
| CN101384920B CN101384920B (en) | 2012-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007800059588A Expired - Fee Related CN101384920B (en) | 2006-04-27 | 2007-04-26 | Positioning device, positioning control method |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2007292698A (en) |
| CN (1) | CN101384920B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783159A (en) * | 2016-08-31 | 2018-03-09 | 松下电器（美国）知识产权公司 | PALS, position measurement method and mobile robot |
| CN109557563A (en) * | 2017-09-25 | 2019-04-02 | 卡西欧计算机株式会社 | Satellite radio receiver, electronic clock, position control method and recording medium |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5808581A (en) * | 1995-12-07 | 1998-09-15 | Trimble Navigation Limited | Fault detection and exclusion method for navigation satellite receivers |
| US6075987A (en) * | 1998-02-27 | 2000-06-13 | Ericsson Inc. | Stand alone global positioning system (GPS) and method with high sensitivity |
-
2006
- 2006-04-27 JP JP2006123606A patent/JP2007292698A/en not_active Withdrawn
-
2007
- 2007-04-26 CN CN2007800059588A patent/CN101384920B/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783159A (en) * | 2016-08-31 | 2018-03-09 | 松下电器（美国）知识产权公司 | PALS, position measurement method and mobile robot |
| CN107783159B (en) * | 2016-08-31 | 2023-07-25 | 松下电器（美国）知识产权公司 | Position measurement system, position measurement method, and mobile robot |
| CN109557563A (en) * | 2017-09-25 | 2019-04-02 | 卡西欧计算机株式会社 | Satellite radio receiver, electronic clock, position control method and recording medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101384920B (en) | 2012-01-11 |
| JP2007292698A (en) | 2007-11-08 |
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