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CN101384920B - Positioning device, positioning control method - Google Patents

Positioning device, positioning control method Download PDF

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CN101384920B
CN101384920B CN 200780005958 CN200780005958A CN101384920B CN 101384920 B CN101384920 B CN 101384920B CN 200780005958 CN200780005958 CN 200780005958 CN 200780005958 A CN200780005958 A CN 200780005958A CN 101384920 B CN101384920 B CN 101384920B
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phase
positioning
difference
code
base
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CN 200780005958
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CN101384920A (en )
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吉冈宏树
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精工爱普生株式会社
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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 sectionwhich locates a present position using the phase within the phase difference allowable range.

Description

定位装置、定位控制方法 Positioning means positioning control method

技术领域 FIELD

[0001] 本发明涉及利用来自通信源的电波的定位装置、定位控制方法、定位控制程序以及存储介质。 [0001] The present invention relates to a positioning device using a radio wave from a transmission source, a positioning control method for positioning a control program and a storage medium.

背景技术 Background technique

[0002] 目前,利用卫星导航系统例如GPS (Global Positioning System :全球定位系统) 对GPS接收机的当前位置进行定位的定位系统被广泛应用。 [0002] Currently, GPS satellite navigation system, such as: positioning system (Global Positioning System GPS) receiver on the current position of the GPS positioning is widely used.

[0003] 该GPS接收机基于表示GPS卫星的轨道等的导航信息(包括概略卫星轨道信息: 概略星历、精密卫星轨道信息:精密星历等),接收搭载于GPS卫星发送的电波(以下称为卫星电波)上的伪噪声码(以下称为PN(Psuedo random noise code :伪随机码)码)的一个、即C/A(Clear and Acquision 或Coarse and Access :粗捕获码)码。 [0003] The GPS receiver based on the navigation information showing the GPS satellite orbit and the like (including a schematic satellite orbit information: almanac, accurate satellite orbit information: ephemeris precision, etc.), is mounted on the received radio waves transmitted by GPS satellites (hereinafter, referred to for the pseudo noise code in the satellite radio waves) (hereinafter, referred to as a PN (Psuedo random noise code: pseudo-random code) one yard), i.e., C / a (Clear and Acquision or coarse and Access: coarse Acquisition code) code. C/A 码是作为定位基础的码。 C / A code as a positioning base code.

[0004] GPS接收机在指定其C/A码是从哪个GPS卫星发送的之后,例如、基于其C/A码的相位(码相位),计算出GPS卫星和GPS接收机的距离(伪距)。 [0004] GPS receiver which is specified in C / A code from the GPS satellite which after transmission, e.g., based on the phase of its C / A code (code phase), calculates the distance of the GPS satellite and the GPS receiver (pseudorange ). 而且,GPS接收机基于大于等于3个的GPS卫星的伪距和各个GPS卫星在卫星轨道位置上的位置,对GPS接收机的位置进行定位。 Furthermore, the position of the GPS receiver based on not less than three GPS satellites pseudoranges and satellite orbit of each GPS satellite positions, the position of the GPS receiver for positioning. 例如、C/A码是1.023Mbps的位率、码的长度是1023片。 For example, C / A code is a bit rate of 1.023Mbps, the length of the code is 1023. 因此,可以认为C/ A码每隔作为1毫秒(ms)时间内电波前进的距离的约300千米(km),排列前进。 Accordingly, it is considered C / A code as about every 300km (km) over 1 millisecond (ms) time radio advancing distance, are arranged forward. 因此,根据GPS卫星在卫星轨道上的位置和GPS接收机的概略位置,通过计算出在GPS卫星和GPS接收机之间有多少个C/A 5马,能够计算出伪距。 Thus, according to the position and approximate position of the GPS receiver in the GPS satellite on the satellite orbit, by calculating the number of C / A 5 horses, it can be calculated pseudorange between the GPS satellite and the GPS receiver. 更详细地说,计算出对应C/A码1周期(1023 片)的距离(C/A码的整数部分),并且,如果指定C/A码的相位(C/A码的余数部分)就能够计算出伪距。 More specifically, to calculate the distance (C / integer part A code) corresponding to the C / A code cycle (1023), and, if the phase of the C / A code (C / A code of a remainder portion) designated to pseudorange can be calculated. 在这里,C/A码的整数部分可以推定GPS接收机的概略位置为一定的精度, 例如、在150km以内。 Here, the integer portion of the C / A code can be estimated approximate position of the GPS receiver is a certain accuracy, e.g., less than 150km. 因此,GPS接收机通过指定C/A码的相位能够计算出伪距。 Thus, GPS receiver can calculate the pseudo-range by specifying the C / A code phase.

[0005] 例如、GPS接收机取得接收的C/A码和在GPS接收机内部生成的复制C/A码的相关并进行累计,当相关累计值达到一定的水平(level)时指定C/A码的相位。 [0005] For example, a GPS receiver acquires the reception of the C / A code GPS receiver and within the generated replication C / A code correlation and accumulation, designated C / A when the correlation cumulative value reaches a certain level (Level) phase of the code. 这时,GPS接收机一边错开复制C/A码的相位及频率一边进行相关处理。 In this case, GPS receiver while the phase shifted copy and frequency C / A code correlation process side.

[0006] 不过,当搭载C/A码的卫星电波的电波强度弱时,得不到充足的信号强度,指定C/ A码的相位变得困难。 [0006] However, when mounting the radio wave strength C / A code of the satellite wave is weak, do not have adequate signal strength, the phase assignment C / A code becomes difficult.

[0007] 针对于此,有这样一种技术提案,在相干中(同步地)连续组合处理接收信号的部分(segment)的结果直到达到临界信号噪声比(SNR)(例如、专利文献1)。 Results [0007] In light of this, there is proposed a technique, in coherent (in synchronization) continuously combining processing of the received signal portion (segment) until it reaches the threshold signal to noise ratio (the SNR) (e.g., Patent Document 1).

[0008] 专利文献1 :特表2004-501352号公报 [0008] Patent Document 1: Japanese Patent Publication No. 2004-501352

[0009] 不过,由于GPS卫星和GPS接收机相对的移动,所以到达GPS接收机的卫星电波的到达频率因多普勒偏移而变化。 [0009] However, due to the relative movement of the GPS satellite and the GPS receiver, the receiver of the arrival frequency of the GPS satellite wave varies due to the Doppler shift.

[0010] 在这里,当信号强度弱时,存在到达GPS接收机的卫星电波的到达频率难以与对GPS接收机一侧的同步用频率进行连续地变化的到达频率同步的情况。 [0010] Here, when the signal strength is weak, there is the arrival frequency of the GPS receiver in a satellite radio wave is difficult to synchronize with the continuously changing frequency of the GPS receiver side reaching frequency synchronization.

[0011] 而且,当GPS接收机一侧的同步用频率偏离到达频率时,即使相关累计值达到一定的水平(级别),那时的C/A码的相位的精度也劣化。 [0011] Further, when the synchronization with the frequency of the GPS receiver side deviates from the arrival frequency, even if the correlation cumulative value reaches a certain level (the level), then the accuracy of the phase of the C / A code is also deteriorated. 因此,当使用其相位进行定位时,存在定位位置的精度劣化的情况。 Thus, when the phase of positioning, positioning accuracy of the position of the presence of degradation. 发明内容 SUMMARY

[0012] 因此,本发明的目的在于提供在电波强度处于微弱电场下,能够在验证定位基本码的相位的精度之后,精度良好地进行定位的定位装置、定位装置的控制方法及其控制程序、存储介质。 [0012] Accordingly, an object of the present invention is to provide a radio field intensity is faint, it is possible after verifying the accuracy of the positioning base code phase, accurately positioning means for positioning, a control method and control program for the positioning apparatus, storage media.

[0013] 本发明第一方面涉及一种定位装置,包括:相位计算部,进行规定的复制定位基本码和来自规定的通信源的定位基本码的相关处理,计算出所述定位基本码的当前的相位; 预测相位计算部,计算出基于在上次定位时使用的所述相位、搭载有所述定位基本码的电波的频率的多普勒偏移及从上次定位时开始的经过时间而预测了当前的所述相位时的预测相位;相位差评价部,判断通过所述相位计算部计算出的所述相位和所述预测相位的相位差是否在规定的相位差容许范围内;以及定位部,使用对应所述相位差容许范围内的所述相位差的所述相位,对当前位置进行定位。 [0013] In a first aspect of the present invention relates to a positioning apparatus, comprising: a phase calculating unit, performs the correlation process a predetermined location of replication positioning base code from the transmission source and a predetermined base code and calculating the current positioning base code phase; estimated phase calculation section calculates based on the phase used during preceding positioning, the frequency of a radio wave carrying the positioning base code, Doppler shift, and elapsed time from the preceding positioning from the beginning of the He predicted estimated phase when the phase current; inner phase difference evaluation unit determines the phase calculated by the phase calculation section and the estimated phase is within a predetermined phase difference allowable range; and a positioning section, corresponding to the use of the phase difference of the phase difference allowable range of phase, to locate the present position.

[0014] 根据本发明,定位装置由于具有相位差评价部,所以能够判断相位差是否在所述相位差容许范围内。 [0014] According to the present invention, since the positioning means having a phase difference evaluation section, it is possible to determine whether the phase difference within the phase difference allowable range. 也就是说,定位装置能够验证相位的精度。 That is, the positioning device can verify the accuracy of the phase.

[0015] 此外,定位装置由于具有定位部,所以能够使用对应相位差容许范围内的相位差的相位对当前位置进行定位。 [0015] Further, since the positioning means has a positioning portion, it is possible to use a phase difference corresponding to a phase difference allowable range to locate the present position.

[0016] 据此,在电波强度处于微弱电场下,定位装置能够在验证定位基本码的相位的精度之后,精度良好地进行定位。 [0016] Accordingly, in a weak electric field signal strength is lower, after the positioning device can verify the accuracy of the phase of the positioning base code and accurately positioned.

[0017] 此外,本发明第二方面涉及的定位装置,所述相位计算部使用多个频率系列计算出所述相位,所述相位差评价部判断使用所述多个频率系列中所述定位基本码的信号强度最大的频率系列计算出的所述相位和所述预测相位的相位差是否在所述相位差容许范围内。 [0017] Further, a second aspect of the present invention relates to a positioning device, the phase calculation unit using a plurality of frequency series of the calculated phase, the phase difference evaluation unit determines the plurality of frequencies using the positioning base series whether the signal strength maximum frequency sequence code is calculated and the phase of the estimated phase of the phase difference allowable range.

[0018] 根据本发明,相位计算部使用多个频率系列计算出相位。 [0018] According to the present invention, a plurality of phase calculation section calculating the phase frequency series. 任意一个的频率系列的接收频率的精度应比其他的频率系列的接收频率的精度高。 Any one of the reception frequency precision frequency sequences should be higher than the accuracy of the reception frequency of the other frequency range. 因此,在精度高的接收频率中定位装置能够计算出相位的可能性大。 Accordingly, the positioning device can calculate the phase of a high possibility of receiving a high precision frequency.

[0019] 在这里,通常能够推定在信号强度最大的频率系列中的接收频率的精度可靠性最高。 [0019] Here, the estimation accuracy can usually highest reliability in reception frequency is the maximum frequency of the signal strength in the series. 因此,通常能够推定在信号强度最大的频率系列中计算出的相位比其他的频率系列的相位精度高。 Thus, generally it can be calculated in the estimated maximum signal strength of a frequency range higher than the other phase of the phase accuracy of the frequency range.

[0020] 不过,在极其微弱电场下,在信号强度最大的频率系列中的接收频率的精度未必 [0020] However, in the extremely weak electric field, the accuracy of the reception frequency is the maximum frequency in the signal strength of the series are not necessarily

可靠性最高。 The highest reliability.

[0021] 关于这一点,由于能够验证在定位基本码的信号强度最大的频率系列中计算出的相位的精度,并从定位中排除,所以能够防止在电波强度处于微弱电场下计算出精度不好的定位位置。 [0021] In this regard, it is possible to verify the accuracy of the positioning phase of the signal strength of the base code of the maximum frequency calculated in series, and exclude from the positioning, it is possible to prevent the radio wave strength is weak electric field at the calculated accuracy is not good positioning location.

[0022] 此外,本发明第三方面涉及的定位装置,所述相位计算部对应各个通信源使用至少一个频率系列进行规定的复制定位基本码和来自所述通信源的定位基本码的所述相关处理,计算出定位基本码的相位,所述定位部包括:相位选择部,在对应所述相位差容许范围内的所述相位差的所述相位中,对应各个所述通信源选择所述相位差最小的所述相位视为选择相位;选择相位第一评价部,判断所述选择相位的信号强度是否最大;选择相位第二评价部,判断所述选择相位所属的所述频率系列中的所述相位连续在所述相位差容许范围内的次数是否在预先规定的规定次数范围内;当基于所述选择相位第一评价部的判断结果和/或基于所述选择相位第二评价部的判断结果为肯定的时,使用所述选择相位对当前位置进行定位。 The [0022] Further, a third aspect of the present invention relates to a positioning device, the phase calculation section corresponding to the respective communication using the copy source for at least a predetermined frequency range and the positioning base code from the transmission source positioning base code correlation processing to calculate the phase of the positioning base code, the positioning portion comprises: a phase selection section, corresponding to the phase difference of the phase of the phase difference allowable range in each of said communication corresponding to said source selection phase regarded as the phase difference between the minimum phase selection; selected phase first evaluation unit determines said selected phase signal strength is a maximum; selected phase second evaluation unit determines the selection of the frequency series of the phase belongs said number of consecutive phase within the phase difference allowable range is within a predetermined range of a predetermined number of times; when the determination result based on the selected phase first evaluation section and a second evaluation unit determines the phase and / or based on the selection when the result is affirmative, the selection phase using locate the current position.

[0023] 根据本发明,定位装置由于具有相位差评价部,所以能够判断相位差是否在相位差容许范围内。 [0023] According to the present invention, since the positioning means having a phase difference evaluation section, it is possible to determine whether the phase difference within the phase difference allowable range. 也就是说,定位装置能够验证相位的精度。 That is, the positioning device can verify the accuracy of the phase.

[0024] 此外,定位装置由于具有相位选择部,所以能够对应各个通信源计算出选择相位。 [0024] Further, since the positioning means has a phase selection unit, it can be calculated corresponding to the respective communication source selection phase. 因为选择相位是相位差最小的相位,所以比其他的频率系列的相位精度高。 Because selective phase retardation is minimum phase, the phase accuracy is higher than the frequency of the other series.

[0025] 定位装置由于还具有选择相位第一评价部,所以能够判断选择相位的信号强度是否最大。 [0025] Since the positioning means further having a first evaluation unit selects the phase, it is possible to determine whether the signal strength of the selected phase of the maximum. 如选择相位的信号强度最大,可以认为选择相位与其他的相位相比保证精度高。 The signal strength of the selected phase of the maximum, selects the phase be considered in comparison with the other phase to ensure high accuracy. 而且,定位装置由于具有定位部,所以当根据选择相位第一评价部的判断结果为肯定的时,能够使用选择相位对当前位置进行定位。 Further, since the positioning device has a positioning portion, so when the determination result according to the selected phase first evaluation section is affirmative, selects the phase to be used for positioning the current position.

[0026] 据此,在电波强度处于微弱电场下,定位装置能够在验证定位基本码的相位的精度之后,精度良好地进行定位。 [0026] Accordingly, in a weak electric field signal strength is lower, after the positioning device can verify the accuracy of the phase of the positioning base code and accurately positioned.

[0027] 在这里,在极其微弱电场下,相位差最小的相位的信号强度未必最大。 [0027] Here, under the extremely weak electric field strength minimum phase difference signal is not necessarily the maximum. 也就是说, 选择相位的精度与其他的相位相比尽管高,还是存在其信号强度不是最大的情况。 That is, the accuracy of the selected phase as compared with other phase despite high, or there is not a maximum signal strength of the case. 因此,优选即使在信号强度不是最大的情况下,只要能够确认选择相位的精度,就在定位中使用选择相位。 Accordingly, even when the signal strength is preferably not the maximum, as long as possible to confirm the accuracy of the phase selection, the phase selection would use in positioning.

[0028] 在这一点上,定位装置由于具有选择相位第二评价部,所以当选择相位所属的频率系列中的相位连续在相位差容许范围内的次数在规定次数范围内时,能够使用选择相位对当前位置进行定位。 [0028] In this regard, since the positioning means having a selected phase second evaluation section, so that when the phase of a frequency range selected phase belongs consecutive times within the phase difference allowable range is within a predetermined range of frequency and phase can be used to select to locate the present position.

[0029] 据此,定位装置即使在根据选择相位第一评价部的判断结果为否定的时,也能够使用精度高的相位进行定位。 [0029] Accordingly, even when the positioning means according to the judgment result of the first evaluation unit selects the phase is negative, it is possible to use a high precision positioning phase.

[0030] 此外,本发明第四方面涉及的定位装置,所述预测相位计算部可以使用作为上次定位时的所述相位、且在所述相关处理结束时的所述相位,计算出所述预测相位。 [0030] Further, a fourth aspect of the present invention relates to a positioning device, the estimated phase calculation section may be used as the phase preceding positioning time and the phase at the end of the correlation process, calculating the estimated phase.

[0031] 在相关处理的过程中,相关处理结束时比开始时诸如SNR(信号噪声比)提高,由于能够从噪声中明确地区别定位基本码,所以相位的精度高。 [0031] During the correlation processing, such as SNR (signal to noise ratio) higher than at the beginning and end of the relevant processing, it is possible to clearly distinguish the noise from the positioning base code, the phase accuracy is high.

[0032] 在这一点上,预测相位计算部由于使用上次定位时的所述相位、且在相关处理结束时的相位计算出预测相位,所以能够计算出精度高的所述预测相位。 [0032] At this point, since the estimated phase calculation section during the preceding positioning using the phase, and calculates the phase at the end of the predicted phase correlation process, it is possible to calculate the estimated phase with high accuracy.

[0033] 也就是说,定位装置能够计算出成为用于精度好地进行定位的基础的精度高的预测相位。 [0033] That is, the positioning device can calculate the estimated phase becomes the basis for the positioning accuracy of the well with high accuracy.

[0034] 此外,本发明第五方面涉及的定位装置,包括:接收频率指定部,指定接收搭载有所述定位基本码的电波时的接收频率;频率差评价部,判断上次定位时的所述接收频率和当前的所述接收频率的频率差是否在预先规定的频率差容许范围内;相位排除部,从定位中排除对应所述频率差容许范围外的所述频率差的所述定位基本码的相位。 [0034] Further, a fifth aspect of the present invention relates to a positioning device, comprising: receiving frequency specification unit specifying the mounted positioning receiver receives frequency radio base code; the frequency difference evaluation unit determines the time of previous positioning said frequency difference between the reception frequency and the reception frequency of the current is within a predetermined frequency difference allowable range; phase exclusion section, the positioning excluded from the frequency corresponding to the frequency difference is positioned outside the allowable range of the difference substantially phase of the code.

[0035] 根据本发明,定位装置由于具有相位排除部,所以能够从定位中排除对应频率差容许范围外的频率差的定位基本码的相位。 [0035] Because the phase exclusion section, it is possible to exclude the corresponding frequency range outside the frequency difference allowable positioning base code phase difference from the positioning of the present invention, the positioning means in accordance with.

[0036] 这意味定位装置不仅验证定位基本码的相位的精度,也能够验证计算出相位时的接收频率的精度。 [0036] This means that the positioning means is not only to verify the positioning accuracy of the phase of the basic code, it is possible to calculate the verification phase at the reception frequency precision. 而且,接收频率的精度越高,相位的精度也越高。 Further, the higher the accuracy of the reception frequency, the higher the accuracy of the phase. [0037] 据此,在电波强度处于微弱电场下,定位装置能够在验证定位基本码的相位的精度之后,更进一步精度良好地进行定位。 [0037] Accordingly, in a weak electric field is in the radio wave strength, the positioning device can verify after the positioning base code phase accuracy, further accurately positioned.

[0038] 此外,本发明第六方面涉及的定位装置,包括:指定接收搭载有所述定位基本码的电波时的接收频率的接收频率指定部;判断上次定位时的所述接收频率和当前的所述接收频率的频率差是否在预先规定的频率差容许范围内的频率差评价部;从定位中排除对应所述频率差容许范围外的所述频率差的所述定位基本码的相位的相位排除部,其中,所述各个频率系列互相偏离预先规定的频率间隔,所述频率差容许范围根据不足所述频率间隔的阈值被规定。 [0038] Further, a sixth aspect of the present invention relates to a positioning device, comprising: receiving a designated reception frequency carrying the positioning unit specifies a reception frequency when the radio base code; determining the time of last positioning and the current reception frequency the frequency difference if the frequency of the reception frequency difference evaluation section within an allowable range of a predetermined frequency difference; negative frequency corresponding to the frequency difference outside the range of the allowable phase difference of the positioning base code from the positioning of the negative phase portion, wherein each of said series of frequencies offset from one another a predetermined frequency interval, the frequency difference allowable range based on the frequency interval is less than the predetermined threshold value.

[0039] 根据本发明,当信号强度最大的所述频率系列转换时,能够从定位中排除那时的相位。 [0039] According to the present invention, when the signal strength of the frequency series of maximum transition phase can be excluded from time targeting. 这意味将连续信号强度最大的频率系列视为用于在定位中使用相位的条件。 This means that the maximum signal strength of a continuous series of frequencies considered for the conditions used in the positioning phase.

[0040] 据此,由于能够在定位中使用在最好追随到达定位装置的电波的频率的多普勒偏移的频率系列中计算出的相位,所以能够在电波强度处于微弱电场下更进一步精度良好地进行定位。 [0040] Accordingly, it is possible to reach the following is preferably used in the radio wave frequency range of the positioning device of the Doppler shift frequency calculated in the positioning phase, under a weak electric field can be further precision in the radio wave strength proper positioning.

[0041] 此外,本发明第七方面涉及的定位装置,包括基于所述定位基本码的接收状态确定所述相位差容许范围的相位差容许范围确定部,所述相位差评价部判断是否在所述被确定的相位差容许范围内。 [0041] Further, a seventh aspect of the present invention relates to a positioning device, comprising a reception state determined based on the positioning base code phase difference allowable range of the phase difference allowable range determination section, the phase difference evaluation unit determines whether the said phase difference is determined within the allowable range.

[0042] 根据本发明,定位装置由于具有相位差容许范围确定部,所以能够基于定位基本码的接收状态确定相位差容许范围。 [0042] Because the phase difference allowable range determination unit, it is possible to determine the phase difference allowable range based on a reception state of the positioning base code according to the present invention, the positioning means in accordance with.

[0043] 而且,定位装置由于具有相位差评价部,所以能够判断相位差是否在相位差容许范围内。 [0043] Further, since the positioning means having a phase difference evaluation section, the phase difference can be determined whether the phase difference allowable range. 因此,定位装置能够验证相位的精度。 Accordingly, the positioning device can verify the accuracy of the phase.

[0044] 此外,定位装置由于具有定位部,所以能够使用对应相位差容许范围内的相位差的相位,对当前位置进行定位。 [0044] Further, since the positioning means has a positioning portion, it is possible to use a phase difference corresponding to a phase difference allowable range, to locate the present position.

[0045] 据此,在电波强度处于微弱电场下,定位装置能够在验证定位基本码的相位的精度之后,精度良好地进行定位。 [0045] Accordingly, in a weak electric field signal strength is lower, after the positioning device can verify the accuracy of the phase of the positioning base code and accurately positioned.

[0046] 此外,本发明第八方面涉及的定位装置,所述接收状态包括所述定位装置接收到的所述定位基本码的所述通信源的数量。 [0046] Furthermore, an eighth aspect of the present invention relates to a positioning device, the reception state comprises a number of the communication source device receives the positioning of the positioning base code.

[0047] 根据本发明,例如、定位装置接收定位基本码的通信源的数量越多,定位装置能够越窄地设置相位差容许范围,在定位中只使用相对精度高的相位。 The greater the number [0047] According to the present invention, for example, the positioning device receives the positioning base code of a communication source, the positioning device can more narrow phase difference allowable range, only high relative precision in the positioning phase.

[0048] 据此,在电波强度处于微弱电场下,定位装置能够使用相对的精度高的相位进行定位。 [0048] Accordingly, in a weak electric field is in the radio wave strength, the positioning device can be used in relatively high positioning accuracy of the phase.

[0049] 此外,本发明第九方面涉及的定位装置,所述接收状态包括所述定位装置接收到的所述定位基本码的信号强度。 [0049] In the positioning device according to a ninth aspect of the present invention, the reception state comprises means for receiving the signal strength of the positioning the positioning base code.

[0050] 根据本发明,例如、定位装置接收的定位基本码的信号强度越强通信源的数量越多,定位装置能够越窄地设置相位差容许范围,在定位中只使用相对精度高的相位。 [0050] According to the present invention, e.g., the more the signal strength of the positioning base code received by the positioning means, the stronger the communication source, the positioning device can more narrow phase difference allowable range, only the high relative positioning accuracy of the phase .

[0051] 据此,在电波强度处于微弱电场下,定位装置能够使用相对精度高的相位进行定位。 [0051] Accordingly, in a weak electric field is in the radio wave strength, the positioning device can be used with high accuracy of phase relative positioning.

[0052] 此外,本发明第十方面涉及的定位装置,所述接收状态包括表示所述定位装置的基准时钟的漂移是否在预先规定的漂移容许范围内的信息。 [0052] Further, the positioning apparatus of the tenth aspect of the present invention, includes information indicating the reception state of the reference clock drift positioning means whether the information falls within a predetermined allowable range drift.

[0053] 根据本发明,所述漂移越小,定位装置越能够精度良好地计算出所述相位。 [0053] According to the present invention, the drift is smaller, the positioning means can be accurately calculated the phase. [0054] 例如、当漂移在漂移容许范围内时,能够较窄地设置相位差容许范围,在定位中只使用相对的精度高的相位。 [0054] For example, when the drift within the drift allowable range, it is possible to narrow the phase difference allowable range, only relatively high precision in the positioning phase.

[0055] 据此,在电波强度处于微弱电场下,定位装置能够使用相对精度高的所述相位进行定位。 [0055] Accordingly, in a weak electric field signal strength is lower, the phase positioning means can be used for high precision relative positioning.

[0056] 此外,本发明第十一方面涉及的定位装置,所述接收状态包括表示开始所述相关处理后的经过时间的信息。 [0056] Further, an eleventh aspect of the present invention relates to a positioning device, the reception state comprises indicating the start of the post-correlation processing elapsed time information.

[0057] 根据本发明,所述经过时间越长,越能够精密地指定定位基本码的相位。 [0057] According to the present invention, the longer the time elapsed, the base code phase can be specified precisely positioned. 例如、经过时间越长,越窄地设置相位差容许范围,能够在定位中只使用相对精度高的相位。 For example, the longer the time elapsed, the narrower the phase difference allowable range, can be used only in high relative positioning accuracy of the phase.

[0058] 据此,在电波强度处于微弱电场下,定位装置能够使用相对精度高的所述相位进行定位。 [0058] Accordingly, in a weak electric field signal strength is lower, the phase positioning means can be used for high precision relative positioning.

[0059] 此外,本发明第十二方面涉及的定位装置,所述定位装置接收所述定位基本码的所述通信源的数量越多,所述相位差容许范围确定部越窄设置所述相位差容许范围,所述定位装置接收所述定位基本码的所述通信源的数量越少,所述相位差容许范围确定部越宽地设置所述相位差容许范围。 [0059] Furthermore, a twelfth aspect of the present invention relates to a positioning device, the positioning device receives the greater the number of the communication source of the positioning base code, the phase difference allowable range determination section, the narrower the setting phase difference allowable range, the smaller the number of the source communication device receives the positioning of the positioning base code, the phase difference allowable range determination portion is provided wider the phase difference allowable range.

[0060] 根据本发明,由于定位装置接收定位基本码的通信源的数量越多,定位装置越窄地设置相位差容许范围,所以能够使用精度高的相位进行定位。 [0060] According to the present invention, since the positioning device receives the positioning basic number of the communication source code, the narrower the positioning means phase difference allowable range, it is possible to use a high precision positioning phase.

[0061] 此外,由于定位装置接收定位基本码的通信源的数量越少,定位装置越宽地设置相位差容许范围,所以能够提高能够计算出定位位置的可能性。 [0061] Further, since the positioning device receives the positioning basic small number of the communication source code, the wider the positioning means the phase difference allowable range, it is possible to increase the possibility of the position location can be calculated.

[0062] 并且,可以构成一种定位装置,所述通信源是SPSGatellitePositioning System :卫星定位系统)卫星。 [0062] and may constitute a positioning means, said communication source is SPSGatellitePositioning System: Satellite Positioning System) satellite.

[0063] 此外,本发明还涉及的一种定位控制方法,包括:相位计算步骤,进行规定的复制定位基本码和来自规定的通信源的定位基本码的相关处理,计算出所述定位基本码的相位;预测相位计算步骤,计算出基于在上次定位时使用的所述相位、搭载有所述定位基本码的电波的频率的多普勒偏移及从上次定位时开始的经过时间而预测了当前的所述相位时的预测相位;相位差评价步骤,判断在所述相位计算步骤中计算出的所述相位和所述预测相位的相位差是否在规定的相位差容许范围内;定位步骤,使用对应所述相位差容许范围内的所述相位差的所述相位,对当前位置进行定位。 [0063] In addition, A positioning control method of the present invention further relates, comprising: a phase calculation step of performing a predetermined copying position-related processing and positioning base code from the transmission source to a predetermined elementary code, calculating the positioning base code phase; estimated phase calculation step, is calculated based on the phase used during preceding positioning, the frequency of a radio wave carrying the positioning base code, Doppler shift, and elapsed time from the preceding positioning from the beginning of the predicted estimated phase when the phase current; the phase difference evaluation step of determining whether the phase calculated in the phase calculation step and the estimated phase is within a predetermined phase difference allowable range; Location step, corresponding to the use of the phase difference of the phase difference allowable range of phase, to locate the present position.

[0064] 此外,本发明另一方面涉及的定位控制方法,其中,所述相位计算步骤是对应各个通信源使用至少一个频率系列进行规定的复制定位基本码和来自所述通信源的定位基本码的所述相关处理,计算出定位基本码的相位的步骤,所述定位步骤包括:相位选择步骤, 在对应所述相位差容许范围内的所述相位差的所述相位中,对应各个所述通信源选择所述相位差最小的所述相位视为选择相位;选择相位第一评价步骤,判断所述选择相位的信号强度是否最大;选择相位第二评价步骤,判断所述选择相位所属的所述频率系列中的所述相位连续在所述相位差容许范围内的次数是否在预先规定的规定次数范围内;在所述定位步骤中,当根据所述选择相位第一评价步骤的判断结果和/或根据所述选择相位第二评价步骤的判断结果为肯定的时,使用所述选择相位对 [0064] Further, positioning control method according to another aspect of the present invention, wherein the phase calculation step corresponding to the respective communication source is used to copy the at least one predetermined frequency range of the positioning base code from the communication source and the positioning base code the correlation process, the step of calculating the phase of the positioning base code, said positioning step comprises: a phase selection step of selecting the phase corresponding to the phase difference allowable range of the phase difference in correspondence to the respective selecting a minimum of said communication source the phase retardation considered selection phase; selected phase first evaluation step of determining said selected phase signal strength is a maximum; selected phase second evaluation step of determining whether the selected phase belongs to the said phase of said frequency series of consecutive times within the phase difference allowable range is within a predetermined range of a predetermined number of times; in said positioning step, when the first evaluation step according to the selection result of phase determination and / or selection in accordance with the determination result of the phase second evaluation step is affirmative, a phase of selection using the 前位置进行定位。 Front position to position.

[0065] 此外,本发明另一方面涉及的一种定位控制方法,包括相位差容许范围确定步骤, 基于所述定位基本码的接收状态,确定所述相位差容许范围,所述相位差评价步骤是判断是否在所述被确定的相位差容许范围内的步骤。 [0065] In addition, A positioning control method of another aspect of the present invention, comprising a phase difference allowable range determination step, based on the reception state of the positioning base code, the phase difference allowable range is determined, the phase difference evaluation step a step of determining whether the determined phase difference allowable range. [0066] 此外,本发明还涉及一种定位控制程序,用于使计算机执行以下步骤:相位计算步骤,进行规定的复制定位基本码和来自规定的通信源的定位基本码的相关处理,计算出所述定位基本码的当前的相位;预测相位计算步骤,计算出基于在上次定位时使用的所述相位、搭载有所述定位基本码的电波的频率的多普勒偏移及从上次定位时开始的经过时间而预测了当前的所述相位时的预测相位;相位差评价步骤,判断在所述相位计算步骤中计算出的当前的所述相位和所述预测相位的相位差是否在规定的相位差容许范围内;以及定位步骤,使用对应所述相位差容许范围内的所述相位差的所述相位,对当前位置进行定位。 [0066] Further, the present invention relates to a positioning control program for causing a computer to execute: a phase calculation step of performing correlation processing of a predetermined copy targeting and positioning base code from a specific transmission source to a basic code is calculated the positioning base code phase current; estimated phase calculation step, is calculated based on the phase used during preceding positioning, the frequency of a radio wave carrying the positioning base code and a Doppler shift from the last positioning predicted elapsed time when the estimated phase of the phase current; a phase difference evaluation step of determining the phase calculated in the step of calculating the phase current and the estimated phase is in a phase difference within a predetermined allowable range; and a positioning step of using the phase difference corresponding to the phase difference allowable range of phase, to locate the present position.

[0067] 此外,本发明另一方面涉及的定位控制程序,其中,所述相位计算步骤是对应各个通信源使用至少一个频率系列进行规定的复制定位基本码和来自所述通信源的定位基本码的所述相关处理,计算出定位基本码的相位的步骤,所述定位步骤包括:相位选择步骤, 在对应所述相位差容许范围内的所述相位差的所述相位中,对应各个所述通信源选择所述相位差最小的所述相位视为选择相位;选择相位第一评价步骤,判断所述选择相位的信号强度是否最大;选择相位第二评价步骤,判断所述选择相位在所属的所述频率系列中的所述相位连续在所述相位差容许范围内的次数是否在预先规定的规定次数范围内;在所述定位步骤中,当根据所述选择相位第一评价步骤的判断结果及/或根据所述选择相位第二评价步骤的判断结果为肯定的时,使用所述选择相位 [0067] Further, the positioning control program according to another aspect of the present invention, wherein the phase calculation step corresponding to the respective communication source is used to copy the at least one predetermined frequency range of the positioning base code from the communication source and the positioning base code the correlation process, the step of calculating the phase of the positioning base code, said positioning step comprises: a phase selection step of selecting the phase corresponding to the phase difference allowable range of the phase difference in correspondence to the respective selecting a minimum of said communication source phase selection phase of the phase considered; evaluation step of selecting a first phase, the selection phase is determined whether the maximum signal strength; selected phase second evaluation step of determining whether the selected phase belongs the phase of the frequency number of consecutive series within the phase difference allowable range is within a predetermined range of a predetermined number of times; in said positioning step, when the judgment result of the phase of the first step of the evaluation according to the selection and / or the selection phase is affirmative, using a second evaluation step according to the selection result of phase determination 当前位置进行定位。 Locate the present position.

[0068] 此外,本发明另一方面涉及的定位控制程序,所述定位控制程序使所述计算机执行相位差容许范围确定步骤,基于所述定位基本码的接收状态,确定所述相位差容许范围, 所述相位差评价步骤是判断是否在所述被确定的相位差容许范围内的步骤。 [0068] Further, the positioning control program according to another aspect of the present invention, the positioning control program causing the computer to execute a phase difference allowable range determination step, the phase difference allowable range based on a reception state of the positioning base code, determining , the phase difference evaluation step determining whether or not the phase difference is determined in the allowable range.

[0069] 此外,本发明还涉及一种计算机可读存储介质,记录有定位控制程序,所述定位控制程序使计算机执行以下步骤:相位计算步骤,进行规定的复制定位基本码和来自规定的通信源的定位基本码的相关处理,计算出所述定位基本码的当前的相位;预测相位计算步骤,计算出基于在上次定位时使用的所述相位、搭载有所述定位基本码的电波的频率的多普勒偏移及从上次定位时开始的时间经过而预测了当前的所述相位时的预测相位;相位差评价步骤,判断在所述相位计算步骤中计算出的所述相位和所述预测相位的相位差是否在规定的相位差容许范围内;以及定位步骤,使用对应所述相位差容许范围内的所述相位差的所述相位,对当前位置进行定位。 [0069] The present invention further relates to a computer-readable storage medium, positioning control program recorded thereon, the positioning control program causing a computer to execute: a phase calculation step of performing a predetermined positioning base code and copied from the predetermined communication correlation process of the positioning base code source, to calculate the current phase of the positioning base code; estimated phase calculation step, is calculated based on the phase used during preceding positioning, carrying the positioning base code waves the Doppler offset frequency and the time since the last time the positioning predicted elapsed from when the estimated phase of the phase current; a phase difference evaluation step of determining the phase calculated in the phase calculating step, and the estimated phase is within a predetermined phase difference allowable range; and a positioning step of using the phase difference corresponding to the phase difference allowable range of phase, to locate the present position.

[0070] 此外,本发明另一方面涉及的存储介质,记录有所述定位控制程序,其中,所述相位计算步骤是对应各个通信源使用至少一个频率系列进行规定的复制定位基本码和来自所述通信源的定位基本码的所述相关处理,计算出定位基本码的相位的步骤,所述定位步骤包括:相位选择步骤,在对应所述相位差容许范围内的所述相位差的所述相位中,对应各个所述通信源选择所述相位差最小的所述相位视为选择相位;选择相位第一评价步骤,判断所述选择相位的信号强度是否最大;选择相位第二评价步骤,判断所述选择相位在所属的所述频率系列中的所述相位,连续在所述相位差容许范围内的次数是否在预先规定的规定次数范围内;在所述定位步骤中,当基于所述选择相位第一评价步骤的判断结果和/或基于所述选择相位第二评价步骤的判断结果为肯定 [0070] In addition, the storage medium according to another aspect of the present invention, the positioning control program is recorded, wherein said phase calculating step corresponding to the respective communication sources using at least one predetermined frequency range of the copy positioning base code and from the the correlation process of the positioning base code of said communication source, the step of calculating positioning base code phase of the positioning step comprises: selecting a phase step corresponding to the phase difference of the phase difference within the allowable range phase, corresponding to each of the communication source of the selected minimum phase selection phase of the phase considered; evaluation step of selecting a first phase, the selection signal determines whether the maximum intensity phases; selected phase second evaluation step, it is determined the phase of the selection of the frequency series belongs, consecutive times within the phase difference allowable range is within a predetermined range of a predetermined number of times; in said positioning step, based on the selection when a first determination result of the phase evaluation step and / or the determination result based on the selected phase second evaluation step is affirmative 时,使用所述选择相位对当前位置进行定位。 When using the selection phase locate the current position.

[0071] 此外,本发明另一方面涉及的存储介质,记录有所述定位控制程序,所述定位控制程序使所述计算机执行相位差容许范围确定步骤,基于所述定位基本码的接收状态,确定所述相位差容许范围,所述相位差评价步骤判断是否在所述被确定的相位差容许范围内。 [0071] In addition, the storage medium according to another aspect of the present invention, the positioning control program recorded thereon, the positioning control program causing the computer to execute a phase difference allowable range determination step, based on the reception state of the positioning base code, determining the phase difference allowable range, the phase difference evaluation step of determining whether the determination of the phase difference allowable range. 附图说明 BRIEF DESCRIPTION

[0072] 图1是表示第一实施例的终端等的概略图。 [0072] FIG. 1 is a schematic diagram of the terminal according to the first embodiment and the like.

[0073] 图2是表示在第一实施例中的定位方法的概念图。 [0073] FIG. 2 is a conceptual diagram showing a positioning method of the first embodiment in FIG.

[0074] 图3是在第一实施例中的相关处理的说明图。 [0074] FIG. 3 is a diagram illustrating a first embodiment of the correlation process.

[0075] 图4是表示在第一实施例中的相关累计值和码相位的关系的一例的图。 [0075] FIG. 4 shows an example of the relationship between the correlation cumulative value and the code phase of embodiment of the first embodiment.

[0076] 图5是表示在第一实施例中的候补码相位和时间经过等的关系的一例的图。 [0076] FIG. 5 is a diagram illustrating an example of the like through the relationship between the candidate code phase and the time in the first embodiment.

[0077] 图6是表示在第一实施例中的候补码相位和时间经过等的关系的一例的图。 [0077] FIG. 6 is a diagram illustrating an example of the like after the relationship between the candidate code phase and the time in the first embodiment.

[0078] 图7是表示第一实施例中的终端的主要硬件构成的概略图。 [0078] FIG. 7 is a schematic view showing the main hardware configuration of a terminal in the embodiment of the first embodiment.

[0079] 图8是表示第一实施例中的GPS装置的构成的一例的概略图。 [0079] FIG. 8 is a schematic diagram illustrating an example of the configuration of the GPS device according to the first embodiment.

[0080] 图9是表示第一实施例中的终端的主要硬件构成的概略图。 [0080] FIG. 9 is a schematic view showing the main hardware configuration of a terminal in the embodiment of the first embodiment.

[0081] 图10是第一实施例中的推定频率计算程序的说明图。 [0081] FIG. 10 illustrates the estimated frequency calculation program according to the first embodiment.

[0082] 图IlA是第一实施例中的测量计算程序的说明图。 [0082] FIG IlA is a first illustrative of a measurement calculation program according to the embodiment.

[0083] 图IlB是第一实施例中的测量计算程序的说明图。 [0083] FIG IlB is a first illustrative of a measurement calculation program according to the embodiment.

[0084] 图IlC是第一实施例中的测量计算程序的说明图。 [0084] FIG IlC is a first illustrative of a measurement calculation program according to the embodiment.

[0085] 图12是第一实施例中的预测码相位计算程序的说明图。 [0085] FIG. 12 is a diagram illustrating estimated code phase calculation program in the first embodiment.

[0086] 图13是表示第一实施例中的终端的动作例的概略流程图。 [0086] FIG. 13 is a schematic flowchart showing an operation example of a terminal in the first embodiment embodiment.

[0087] 图14是表示第二实施例的终端等的概略图(示意图)。 [0087] FIG. 14 is a schematic view (schematic) of the second embodiment of the terminal or the like.

[0088] 图15是表示第二实施例中的定位方法的概念图。 [0088] FIG. 15 is a conceptual diagram showing a positioning method according to a second embodiment.

[0089] 图16是第二实施例中的相关处理的说明图。 [0089] FIG. 16 is a second explanatory view of the embodiment of the correlation process.

[0090] 图17是表示第二实施例中的相关累计值和码相位的关系的一例的图。 [0090] FIG. 17 shows an example of the relationship between the correlation cumulative value and the second embodiment of the code phase.

[0091] 图18是表示第二实施例中的候补码相位和时间经过等之间的关系的一例的图。 [0091] FIG. 18 is a diagram of a second embodiment showing an example of the candidate code phase relationship between the elapsed time and the like.

[0092] 图19是表示第二实施例中的候补码相位和时间经过等之间的关系的一例的图。 [0092] FIG. 19 is a diagram of a second embodiment showing an example of the candidate code phase relationship between the elapsed time and the like.

[0093] 图20是表示第二实施例中的主要硬件构成的概略图。 [0093] FIG. 20 is a schematic view of a main hardware configuration of the second embodiment.

[0094] 图21是表示第二实施例中的GPS装置的构成的一例的图。 [0094] FIG. 21 is a diagram illustrating an example of configuration of a second embodiment of a GPS device.

[0095] 图22是表示第二实施例中的终端的主要软件构成的概略图。 [0095] FIG. 22 is a schematic diagram showing the main software configuration of the terminal embodiment of the second embodiment.

[0096] 图23是第二实施例中的推定频率计算程序的说明图。 [0096] FIG estimated frequency calculation program 23 is an explanatory view of a second embodiment.

[0097] 图24A是第二实施例中的测量计算程序的说明图。 [0097] FIG 24A is an explanatory view of a measurement calculation program of the second embodiment.

[0098] 图24B是第二实施例中的测量计算程序的说明图。 [0098] FIG. 24B is an explanatory view of a measurement calculation program of the second embodiment.

[0099] 图24C是第二实施例中的测量计算程序的说明图。 [0099] FIG 24C is an explanatory view of a measurement calculation program of the second embodiment.

[0100] 图25是表示第二实施例中的当前测量信息的一例的图。 [0100] FIG. 25 is a diagram illustrating an example of current measurement information in the second embodiment.

[0101] 图26是表示第二实施例中的上次测量信息的一例的图。 [0101] FIG. 26 is a diagram illustrating an example of information of a second embodiment of the last measurement.

[0102] 图27是第二实施例中的预测码相位计算程序的说明图。 [0102] FIG. 27 is a diagram illustrating estimated code phase calculation program of the second embodiment.

[0103] 图28是表示第二实施例中的预测码相位信息的一例的图。 [0103] FIG. 28 is a diagram illustrating an example of code phase prediction information according to a second embodiment of the.

[0104] 图29是第二实施例中的选择码相位程序的说明图。 [0104] FIG. 29 is a code phase selection program described in the second embodiment of FIG.

[0105] 图30是表示第二实施例中的选择码相位信息的一例的图。 [0105] FIG. 30 shows the selected code phase information showing an example of the second embodiment.

[0106] 图31A是第二实施例中的选择码相位第二评价程序的说明图。 [0106] FIG 31A is an explanatory view of a second embodiment of a selected code phase second evaluation program.

[0107] 图31B是第二实施例中的选择码相位第二评价程序的说明图。 [0107] FIG. 31B is an explanatory view of a second embodiment of a selected code phase second evaluation program. [0108] 图31C是第二实施例中的选择码相位第二评价程序的说明图。 [0108] FIG 31C is a diagram illustrating a second embodiment of a selected code phase second evaluation program.

[0109] 图32是表示第二实施例中的定位使用码相位信息的一例的图。 [0109] FIG. 32 shows the positioning of the second embodiment illustrating an example using the code phase information.

[0110] 图33是表示第二实施例中的终端的动作例的概略流程图。 [0110] FIG. 33 is a schematic flowchart showing an operation example of the second embodiment of the terminal.

[0111] 图34是表示第二实施例中的终端的动作例的概略流程图。 [0111] FIG. 34 is a schematic flowchart showing an operation example of the second embodiment of the terminal.

[0112] 图35是表示第三实施例的终端等的概略图。 [0112] FIG. 35 is a schematic diagram of the terminal according to the third embodiment and the like.

[0113] 图36是表示在第三实施例中的定位方法的概念图。 [0113] FIG. 36 is a conceptual diagram showing a positioning method in the third embodiment.

[0114] 图37是在第三实施例中的相关处理的说明图。 [0114] FIG. 37 is a diagram illustrating the correlation process in the third embodiment.

[0115] 图38是表示在第三实施例中的相关累计值和码相位的关系的一例的图。 [0115] FIG. 38 shows an example of the relationship between the correlation cumulative value in the third embodiment and the code phase.

[0116] 图39是表示在第三实施例中的候补码相位和时间经过等之间的关系的一例的图。 [0116] FIG. 39 is a candidate code phase and the time elapsed in the third embodiment showing an example of a relationship between the like.

[0117] 图40是表示在第三实施例中的候补码相位和时间经过等之间的关系的一例的图。 [0117] FIG. 40 is a candidate code in the third embodiment and a time chart showing an example of the phase relationship between the like passes.

[0118] 图41是表示第三实施例中的终端的主要硬件构成的概略图。 [0118] FIG. 41 is a schematic diagram showing the main hardware embodiment of a terminal configuration of the third embodiment.

[0119] 图42是表示第三实施例中的GPS装置的构成的一例的概略图。 [0119] FIG. 42 is a schematic view showing an example of configuration of the GPS device according to the third embodiment.

[0120] 图43是表示第三实施例中的终端的主要软件构成的概略图。 [0120] FIG. 43 is a schematic view of a main software configuration of a third embodiment of the terminal.

[0121] 图44是第三实施例中的推定频率计算程序的说明图。 [0121] FIG estimated frequency calculation program 44 is an explanatory view of a third embodiment.

[0122] 图45A是第三实施例中的测量计算程序的说明图。 [0122] FIG 45A is an explanatory view showing a third embodiment of a measurement calculation program of the embodiment.

[0123] 图45B是第三实施例中的测量计算程序的说明图。 [0123] FIG. 45B is illustrative of a measurement calculation program of the third embodiment of the embodiment.

[0124] 图45C是第三实施例中的测量计算程序的说明图。 [0124] FIG 45C is a third illustrative of a measurement calculation program of the embodiment.

[0125] 图46是第三实施例中的预测码相位计算程序的说明图。 [0125] FIG. 46 is a diagram illustrating estimated code phase calculation program of the third embodiment.

[0126] 图47是第三实施例中的码相位阈值设定程序的说明图。 [0126] FIG. 47 is a code phase threshold value setting program described in the third embodiment of FIG.

[0127] 图48是表示第三实施例中的终端的动作例的概略流程图。 [0127] FIG. 48 is a schematic flowchart showing an example of a third embodiment of the terminal in FIG.

具体实施方式 detailed description

[0128] 下面,参照附图等详细地说明本发明的优选实施例。 DESCRIPTION [0128] Referring to the drawings in detail and other preferred embodiments of the present invention.

[0129] 此外,以下描述的实施例是本发明的优选的具体实施例,因此,在技术上附加了各种优选的限定,在以下说明中,只要没有用于特别限定本发明的描述,则本发明的范围不限于这些实施方式。 [0129] Further, the embodiments described below are preferred specific embodiments of the present invention, therefore, technically preferable various defined added, in the following description, unless specifically limited to description of the present invention, the the scope of the present invention is not limited to these embodiments.

[0130] 此外,下面对三大实施例进行说明。 [0130] Further, on the three following embodiments will be described. 各个实施例包含有共同的事项。 Various embodiments include a common matters. 不过,为了明确各个实施例的终端可以独立构成,对共同的事项特意重复地描述。 However, in order to clarify the respective terminal of the embodiment may be formed independently, repeatedly expressly described common matters.

[0131](第一实施例) [0131] (First Embodiment)

[0132] 图1是表示第一实施例的终端1020的概略图。 [0132] FIG. 1 is a schematic diagram of a terminal 1020 of the first embodiment.

[0133] 如图1所示,终端1020能够接收来自定位卫星例如、GPS(Global Positioning System :全球定位系统)卫星12a、12b、12c、12d、12e、12f、12g 以及12h 的电波Si、S2、 S3、S4、S5、S6、S7以及S8。 [0133] As shown, the terminal 10201 can be received from a positioning satellite, for example, GPS (Global Positioning System: Global Positioning System) satellites 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h radio Si, S2, S3, S4, S5, S6, S7, and S8. GPS卫星12a等是通信源的一例。 GPS satellites 12a and the like exemplify a transmission source. 就是说,通信源可以是SPS (Satellite Positioning System :卫星定位系统)卫星,不限于GPS卫星。 That is, the communication may be a source of SPS (Satellite Positioning System: Satellite Positioning System) satellite, is not limited to the GPS satellite.

[0134] 在电波Sl等上搭载各种的码(代码)。 [0134] Various mounting code (codes) in radio Sl like. 其中一个是C/A码Sea。 Wherein a is a C / A code Sea. 该C/A码Sca是1. 023Mbps 位率、1023bit( = lmsec)位长的信号。 The C / A code Sca is 1. 023Mbps bit rate, bit length of 1023bit (= lmsec). C/A 码Sca 由1023 片(chip :码片、码元)构成。 C / A code Sca includes 1023: constituting (chip chips, symbols). 终端1020是定位当前位置的定位装置的一例,利用该C/A码Sca对当前位置进行定位。 The terminal 1020 exemplifies a positioning device positioning a current position using the C / A code Sca to locate the present position. 该C/A码Sca是定位基本码的一例。 The C / A code Sca is an example of the positioning base code.

[0135] 此外,作为搭载在电波Sl等上的信息,有概略星历Sal和精密星历Seh。 [0135] Further, as the information on the mounted radio Sl or the like, an almanac Sal and the ephemeris Seh. 概略星历Sal是表示全部的GPS卫星12a等的概略的卫星轨道的信息,精密星历Seh是表示各个GPS 卫星12a等的精密的卫星轨道的信息。 Almanac Sal is information indicating satellite orbits outline of all of the GPS satellites 12a and the like, the ephemeris Seh is information indicating the GPS satellites 12a and the like precise satellite orbit. 将概略星历Sal及精密星历Seh统称为导航信息。 The almanac Sal and the ephemeris Seh are collectively referred to as navigation information.

[0136] 终端1020能够诸如指定大于等于3个的不同的GPS卫星12a等发送的C/A码的相位,对当前位置进行定位。 Phase C / A code is transmitted [0136] terminal 1020 can be specified, such as three or more different GPS satellites 12a and the like, to locate the present position.

[0137] 图2是表示定位方法的一例的概念图(示意图)。 [0137] FIG. 2 is a conceptual diagram showing an example (schematic view) positioning method.

[0138] 如图2所示,例如、可以理解为C/A码在GPS卫星12a和终端1020之间连续地排列。 [0138] As shown in FIG 2, for example, can be understood as C / A codes continuously line up between the GPS satellite 12a and the 1020 terminal. 而且,GPS卫星12a和终端1020之间的距离不限于C/A码的长度(300千米(km))的整数倍,所以存在码余数部分C/Aa。 Further, the distance between the GPS satellite 12a and the terminal 1020 is not limited to C / A code length (300km (km)) of an integral multiple, there code fraction C / Aa. 就是说,在GPS卫星12a和终端1020之间存在C/A码的整数倍的部分和余数部分。 That is, the presence of C / A code between the GPS satellite 12a and the terminal 1020 and a portion of an integral multiple of the remainder portion. C/A码的整数倍的部分和余数部分的合计的长度为伪距。 The total length of the portion and the remainder portion of the number of an integral multiple of the C / A code is a pseudo-range. 终端1020利用有关大于等于3个的GPS卫星12a等的伪距进行定位。 For terminal 1020 using a pseudo three or more GPS satellites 12a and the like from the positioning.

[0139] 在本实施例中,把C/A码的余数部分C/Aa称为码相位。 [0139] In the present embodiment, the fraction portion C C / A code / Aa called code phase. 码相位诸如既能用C/A码1023的某片的第多少片来表示,又能够换算为距离表示。 Such as code phase using both C / A code chip 1023 of a number of the chip is represented, and can be converted into distance. 当计算出伪距时,将码相位换算成距离。 When calculating the pseudo-range, the code phase is converted into a distance.

[0140] 利用精密星历Seh可以计算出GPS卫星12a在轨道上的位置。 [0140] using the ephemeris Seh can calculate the position of the GPS satellite 12a in the orbit. 而且,根据计算出GPS卫星12a在轨道上的位置和后述的初始位置QAO之间的距离,就能够确定C/A码的整数倍的部分。 Further, the distance between the initial position of the GPS satellite 12a QAO calculated position on the track and to be described later, it is possible to determine an integer multiple of the C / A code portion. 另外,C/A码的长度为300千米(km),所以初始位置QAO的位置误差必须在150 千米(km)以内。 Further, the length of the C / A code is 300km (km), the position error of the initial position so QAO must be 150 kilometers (km).

[0141] 而且,如图2所示,诸如一边把复制C/A码的相位向箭头Xl方向移动,一边进行相关处理。 [0141] Further, as shown in Figure 2, such as a copy while C / A code phase shift the direction of the arrow Xl, while the correlation process. 这时,终端1020 —边改变同步用频率一边进行相关处理。 At this time, terminal 1020 - Edge while changing the synchronization frequency correlation process. 该相关处理由后述的相干处理和非相干处理构成。 The correlation process includes a coherent process described later and constitute a non-coherent processing.

[0142] 相关累计值成为最大的相位是码余数C/Aa。 Maximum phase [0142] correlation cumulative value is the code fraction becomes C / Aa.

[0143] 另外,可以与第一实施例不同,终端1020诸如可以利用便携式电话机的通信基站发送的电波进行定位。 [0143] Further, different from the first embodiment, terminal 1020 can use the radio communication base station such as a portable telephone locate the position. 还可以与第一实施例不同,终端1020也可以利用LAN (Local Area Network :局域网)发送的电波进行定位。 May also be different from the first embodiment, terminal 1020 can utilize LAN (Local Area Network: local area network) transmits radio waves for positioning.

[0144] 图3是相关处理的说明图。 [0144] FIG. 3 is a diagram illustrating the correlation process.

[0145] 相干是取得终端1020接收到的C/A码和复制C/A码之间的相关的处理。 [0145] Coherent terminal 1020 is to obtain the received C / A code replica correlation processing between the C / A code. 复制C/ A码是终端1020产生的代码。 Copy C / A code is a 1020 terminal. 复制C/A码是复制定位基本码的一例。 Copy C / A code is an example of the positioning base code copy.

[0146] 如图3所示,如相干时间为10msec,则计算出在IOmsec期间内同步累计(积分) 的C/A码和复制C/A码之间的相关值等。 [0146] 3, such as the coherent time is 10msec, then calculate the accumulated synchronization (integration) of the C / A code replica and the correlation value between the C A code period IOmsec / like. 作为相干处理的结果输出取得相关后的相位(码相位)和相关值。 After obtaining the phase correlation coherent processing result as output (code phase) and the correlation value.

[0147] 非相干是通过累计相干结果的相关值来计算出相关累计值(非相干值)的处理。 [0147] Non-coherent correlation result is accumulated by the correlation process a value calculated correlation cumulative value (incoherent value).

[0148] 作为相关处理的结果,输出在相干处理中被输出的码相位和相关累计值。 [0148] As a result of the correlation process, the correlation cumulative value and the code phase output by the coherent process is outputted.

[0149] 图4是表示相关累计值和码相位的关系的一例的图。 [0149] FIG. 4 shows an example of the relationship between the correlation cumulative value and the code phase.

[0150] 对应图4的相关累计值的最大值Pmax的码相位CPl为复制C/A码的码相位、即C/ A码的码相位。 [0150] code phases corresponding to the maximum value Pmax CPl correlation cumulative value Figure 4 is a phase of the replica code C / A code, i.e., C / A code of the code phase.

[0151] 而且,终端1020诸如在从码相位CPl距离二分之一片的码相位中,将相关累计值小的一方的相关累计值视为噪声的相关累计值Pnoise。 [0151] Further, the terminal 1020 such as the code phase CPl distance from one-half of the code phase, the correlation accumulated value is smaller correlation cumulative value of one of the considered correlation cumulative value Pnoise of noise. [0152] 终端1020把Pmax和Pnoise的差分除以Pmax的值规定作为信号强度XPR。 [0152] 1020 Pmax and Pnoise differential value obtained by dividing a predetermined terminal Pmax as a signal strength XPR. 信号强度XPR是信号强度的一例。 Signal strength XPR exemplifies a signal strength.

[0153] 而且,例如、当XPR大于等于0. 2时,终端1020将码相位CPl视为在定位中使用的码相位的候补。 [0153] Further, for example, when the signal strength XPR is 0.2, the terminal 1020 sets the code phase candidate code phase CPl considered for use in positioning. 以下,将该码相位称为“候补码相位”。 Hereinafter, the code phase is called a "candidate code phase." 候补码相位是在定位中使用的候补, 实际上终端1020在定位中不一定使用。 The candidate code phase is a candidate for use in positioning, and the terminal 1020 is not necessarily used in the positioning.

[0154] 图5及图6是表示候补码相位和时间经过等的关系的一例的图。 [0154] FIG. 5 and FIG. 6 shows an example of the relationship between the candidate code phase and the elapsed time and the like.

[0155] 例如、图5示出GPS卫星12a正在接近终端1020的状态。 [0155] For example, FIG. 5 shows a state of the GPS satellite 12a approaches the terminal 1020.

[0156] 如GPS卫星12a接近终端1020,则GPS卫星12a和终端1020之间的距离变短,所以候补码相位Cl在时间经过的同时接近于0。 [0156] The GPS satellite 12a approaches the terminal 1020, 1020 of the distance between the GPS satellite 12a and the terminal is short, the candidate code phase at the Cl close to zero as time elapses.

[0157] 此外,同步用频率Fl在时间经过的同时进行设定以使频率变高。 [0157] Further, while simultaneously setting the frequency Fl time elapsed so that the frequency becomes higher. 这是因为由于为了GPS卫星12a接近终端1020而产生的多普勒偏移,对应电波Sl到达终端1020时的到达 This is because the Doppler due to the GPS satellite 12a approaches the terminal 1020 is generated offset corresponding to the arrival Sl radio terminal 1020

频率变高。 The frequency becomes higher.

[0158] 终端1020为了有效地与要改变的到达频率同步,例如、如图6所示,使用3个频率系列Fl、F2以及F3。 [0158] The terminal 1020 in order to effectively reach and frequency synchronization to be changed, for example, as shown in Figure 6, three series of frequencies Fl, F2 and F3. 频率系列Fl等是频率系列的一例。 Series frequency Fl and the like exemplify a frequency series. 频率系列Fl和F2偏离50赫兹(Hz)的频率宽度。 Fl and F2 frequency range offset from 50 Hertz (Hz) frequency width. 此外,频率系列Fl和F3偏离50赫兹(Hz)的频率宽度。 In addition, the frequency Fl and F3 departing from the series 50 Hertz (Hz) frequency width. 预先设定50赫兹(Hz)的频率间隔。 Preset 50 Hertz (Hz) frequency interval. 也就是说,50赫兹(Hz)的频率间隔是频率间隔的一例。 That is, 50 Hertz (Hz) is an example of a frequency interval frequency interval. 该频率间隔是以未满终端1020在实施的相关处理中的频率搜索的步进间隔被规定的。 The step interval is less than the frequency interval is related to the terminal 1020 in the embodiment of the process of searching the frequency to be predetermined. 诸如频率搜索的步进间隔为100赫兹(Hz)(参照图11B),则以未满100赫兹被来规定。 Such as a frequency search step interval is 100 Hertz (Hz) (see FIG. 11B), places to less than 100 Hz is specified.

[0159] 另外,频率系列Fl等可以是多个,也可以与第一实施例不同,例如、大于等于4个。 [0159] Further, the frequency may be a plurality of series Fl etc., may be different from the first embodiment, for example, not less than four.

[0160] 如图6所示,预测到达频率的多普勒偏移,以使各个频率系列Fl等在时间经过的同时进行设定以发生变化。 As shown in [0160] FIG. 6, the predicted Doppler shift of the arrival frequency, so that each series of frequency Fl while the other is set to the time elapsed change.

[0161] 而且,各频率系列Fl等的任意一个应该精度最好地追随到达频率的多普勒偏移。 [0161] Moreover, any other frequency sequences Fl a best accuracy should follow the Doppler shift of the arrival frequency.

[0162] 计算出在频率系列Fl中的码相位Cl。 [0162] Cl code phase calculated using the frequency sequence of Fl. 并且,计算出在频率系列F2中的码相位C2。 And calculate the frequency sequence F2 code phase C2. 并且,计算出在频率系列F3中的码相位C3。 And calculates a code phase of the frequency sequence F3 C3.

[0163] 这样,可以假定同时计算出三个码相位Cl等,但在信号强度XI^R最高的状态下被计算出的候补码相位的可靠性也最高。 [0163] Thus, while it may be assumed Cl calculated phase three yards and the like, but is calculated at the highest signal strength XI ^ R reliability of the candidate code phase is highest.

[0164] 不过,不限于XI3R被维持在最高的频率系列Fl等。 [0164] However, not limited to XI3R is maintained at the highest frequency Fl series like. 例如、如图6所示,诸如在时间tl和t2之间的期间在频率系列Fl中计算出的候补码相位Cl的XPR最高,在时间t2和t3 之间的期间在频率系列F2中计算出的候补码相位C2的XI3R最高。 For example, as shown in FIG highest XPR, 6 such as between the times tl and t2 calculated using the frequency sequence in the candidate code phase Cl Fl period between times t2 and t3 calculated in the frequency sequence F2 code phase candidates of the highest XI3R C2.

[0165] 基于预测的多普勒偏移,改变各个频率系列Fl等的频率,所以在任意一个的频率系列中计算出的候补码相位,应该比在继续的其他的频率系列中计算出的候补码相位精度高。 [0165] Based on the predicted Doppler shift changes the frequency of each frequency Fl series like, so calculated in a frequency range in any of the candidate code phase, continues to be calculated in other than the candidate frequency in the series code phase high accuracy. 换句话说,例如、频率系列Fl与其他的频率系列F2及F3相比,应该精度最好的连续追随于实际的到达频率。 In other words, for example, the frequency sequence Fl as compared with other frequency sequences F2 and F3, the best accuracy should continuously follow the actual arrival frequency.

[0166] 因此,当因时间经过而改变频率系列时,在XPR高的状态下计算出的候补码相位精度未必最高。 [0166] Thus, when the frequency is changed due to elapsed time series, calculated at a high accuracy of the candidate code phase state XPR are not necessarily the highest.

[0167] 这一点,终端1020通过以下的硬件构成及软件构成在弱电场下验证候补码相位的精度之后,能够精度高的进行定位。 After [0167] that, the following hardware configuration and software configuration of the terminal 1020 to verify the accuracy of the candidate code phase at a weak electric field, can be positioned with high accuracy.

[0168](终端1020的主要硬件构成) [0168] (Main hardware configuration of terminal 1020)

[0169] 图7是表示终端1020的主要硬件构成的概略图。 [0169] FIG. 7 is a schematic diagram of a terminal 1020 of the main hardware configuration. [0170] 如图7所示,终端1020包括有计算机,计算机包括有总线1022。 [0170] As shown in FIG. 7, the terminal 1020 includes a computer, a computer which includes a bus 1022. 在总线1022上连接有CPU (Central Processing Unit :中央处理装置)1024、存储装置1026等。 The bus 1022 is connected to CPU (Central Processing Unit: a central processing unit) 1024, memory device 1026 and the like. 存储装置1026 诸如是RAM (Random AccessMemory :随机存取存储器)、ROM (Read Only Memory :只读存储器)等。 1026 is a storage device such as a RAM (Random AccessMemory: Random Access Memory), ROM (Read Only Memory: Read Only Memory) and the like.

[0171] 此外,在总线1022上连接有输入装置1028、电源装置1030、GPS装置1032、显示装置1034、通信装置1036、以及时钟1038。 [0171] Further, in the 1028 bus 1022, the power supply device 1030, GPS means has an input device 1032, a display device 1034, a communication device 1036, and a clock 1038.

[0172] (GPS装置1032的构成) [0172] (GPS apparatus 1032 constituted)

[0173] 图8是表示GPS装置1032的构成的概略图。 [0173] FIG. 8 is a schematic diagram showing the configuration of the GPS device 1032.

[0174] 如图8所示,GPS装置1032由RF部1032a和基带部1032b构成。 [0174] 8, GPS device 1032 is constituted by RF section 1032a and a baseband section 1032b.

[0175] RF部1032a用天线1033a接收电波Sl等。 [0175] RF section 1032a receives the radio waves Sl like antenna 1033a. 而且,作为放大器的LNA1033b放大搭载在电波Sl上的C/A码等的信号。 Further, LNA1033b as an amplifier amplifying the signal C / A code and the like is mounted on the wave Sl. 而且,变频器1033c将信号的频率进行降频转换。 Also, the frequency converter 1033c down-converted signal. 而且, 正交(IQ)检测器(传感器)1033d将信号IQ分离。 A quadrature (IQ) detector (sensor) 1033D IQ signal separation. 接着,A/D转换器1033el及1033e2分别将IQ分离的信号转换为数字信号。 Subsequently, A / D converters 1033e2 and 1033el respectively IQ separated signals into digital signals.

[0176] 基带部1032b从RF部1032a接收被转换为数字信号的信号,取样信号进行累计, 取得基带部1032b保持的C/A码之间的相关。 [0176] The baseband section 1032b is converted from the RF section 1032a receives a signal of a digital signal, the sampling signal is integrated to obtain the correlation between the C / A code held by the baseband section 1032b. 基带部1032b诸如包含有128个相关器(未图示)及累计器(未图示),能够在128相位中同时进行相关处理。 The baseband section 1032b includes 128 such correlators (not shown) and accumulators (not shown), correlation processing can be performed simultaneously in the 128 phase. 相关器是用于进行上述的相干处理的结构。 Correlator for performing the above-described structure of the coherent process. 累计器具有用于进行上述的非相干处理的结构。 Accumulator has a structure for performing the above-described non-coherent processing.

[0177](终端1020的主要软件构成) [0177] (Main software configuration of terminal 1020)

[0178] 图9是表示终端1020的主要软件构成的概略图。 [0178] FIG. 9 is a schematic view showing the main software configuration of the terminal 1020 is.

[0179] 如图9所示,终端1020包括:控制各部的控制部1100、与图7的GPS装置1032对应的GPS部1102以及与时钟1038对应的计时部1104等。 [0179] As shown in FIG. 9, the terminal 1020 comprises: a control unit 1100 controlling each with the GPS device 1032 of FIG. 7 corresponding to the GPS section 1038 corresponding to the clock 1102, and a timing unit 1104 and the like.

[0180] 终端1020还包括:存储各种程序的第一存储部1110以及存储各种信息的第二存储部1150。 [0180] The terminal 1020 further includes: a first storage section 1110 which stores various programs and a second storage unit 1150 for storing various information.

[0181] 如图9所示,终端1020在第二存储部1150中存储有导航信息1152。 [0181] As shown in FIG. 9, the 1152 terminal 1020 in the second navigation information storage unit 1150. 导航信息1152包含有概略星历1152a及精密星历1152b。 Navigation information 1152 includes an almanac 1152a and precise ephemeris 1152b.

[0182] 终端1020使用概略星历1152a及精密星历1152b进行定位。 [0182] The terminal 1020 using the almanac 1152a and the ephemeris 1152b for positioning precision.

[0183] 如图9所示,终端1020在第二存储部1150中存储有初始位置信息1154。 [0183] As shown in FIG. 9, the terminal 1020 has an initial position information 1154 in the second storage unit 1150. 初始位置QAO诸如为上次的定位位置。 QAO initial position such as a position of the last positioning.

[0184] 如图9所示,终端1020在第一存储部1110中存储有可观测卫星计算程序1112。 [0184] As shown in FIG. 9, the terminal 1020 has observable satellite calculation program 1112 in the first storage unit 1110. 可观测卫星计算程序1112是控制部1100以在初始位置信息1154中示出的初始位置QAO 为基准,用于计算出可观测到的GPS卫星12a等的程序。 Observable satellite calculation program 1112 is a control unit in an initial position information 1100 to 1154 illustrated QAO initial position as a reference for calculating the observable GPS satellites 12a and the like procedures.

[0185] 具体地说,控制部1100参照概略星历1152a判断在通过计时部1104计量的当前时间中的可观测到的GPS卫星12a等。 [0185] Specifically, the control unit 1100 referring to the almanac 1152a is determined by the current time counted by the clock section 1104 in the observable GPS satellites 12a and the like. 控制部1100将表示可观测到的GPS卫星12a等(以下称为“可观测卫星”)的可观测卫星信息1156存储到第二存储部1150中。 The control unit 1100 indicating the observable GPS satellites 12a and the like (hereinafter called "observable satellite") observable satellite information 1156 stored in the second storage section 1150. 在第一实施例中,可观测卫星为GPS卫星12a至12h (参照图1及图9)。 In the first embodiment, the observable satellites to the GPS satellites 12a to 12h (see FIG. 1 and FIG. 9).

[0186] 如图9所示,终端1020在第一存储部1110中存储有推定频率计算程序1114。 [0186] As shown in FIG. 9, the terminal 1020 has estimated frequency calculation program 1114 in the first storage unit 1110. 推定频率计算程序1114是控制部1100用于推定GPS卫星12a等发送的电波Sl等的接收频率的程序。 Estimated frequency calculation program 1114 is a program control unit 1100 receives frequency GPS satellites 12a and the like transmit radio waves Sl and the like for estimation.

[0187] 该接收频率是电波Sl到达终端1020时的到达频率。 [0187] The reception frequency is the arrival frequency when the radio wave reaches the terminal 1020 Sl. 更详细地说,该接收频率是电波Sl到达终端1020、而且在终端1020中被降频转换时的中间(IF)频率(中频)。 More specifically, the radio reception frequency is Sl reaches the terminal 1020 and the terminal 1020 is down-converted at intermediate (IF) frequency (IF).

[0188] 图10是推定频率计算程序1114的说明图。 [0188] FIG 10 is an estimated frequency calculation program 1114 in FIG.

[0189] 如图10所示,控制部1100将来自GPS卫星12a等的通信频率Hl加上多普勒偏移H2,计算出推定频率Al。 [0189] As shown in FIG. 10, the control unit 1100 from the GPS satellites 12a and the like Hl communication frequency plus Doppler shift H2, the estimated frequency is calculated Al. GPS卫星12a等发送的通信频率Hl为既知,诸如是1575.42MHz。 GPS satellites 12a and the like transmitted from the communication frequency of known-Hl, such as a 1575.42MHz.

[0190] 多普勒偏移H2由于各个GPS卫星12a等和终端1020之间的相对移动而产生。 [0190] H2 Doppler shift due to relative movement between the respective GPS satellites 12a and the like and the terminal 1020 is generated. 控制部1100根据精密星历1152b和初始位置QAO计算出在当前时刻的各个GPS卫星12a等的视线速度(相对终端1020的方向的速度)。 The control section 1100 calculates the precise ephemeris 1152b and the initial position QAO the current time of the GPS satellites 12a and the like of the radial velocity (direction 1020 opposite terminal velocity). 而且,基于该视线速度计算出多普勒偏移H2。 Further, based on the calculated line of sight velocity the Doppler shift H2.

[0191] 控制部1100对应可观测卫星、即GPS卫星12a等计算出推定频率Al。 [0191] Control unit 1100 may correspond to observation satellites, i.e. the GPS satellites 12a and the like calculates the estimated frequency Al.

[0192] 此外,在推定频率Al中包含有对应终端1020的时钟脉冲(基准振荡器:未图示) 的漂移的误差。 [0192] In addition, with the clock pulse corresponding to the terminal 1020 (reference oscillator: not shown) in the Al estimated frequency drift errors. 漂移就是由于温度变化的原因而导致振荡频率的变化。 Drift due to temperature change is caused by a change in oscillation frequency.

[0193] 因此,控制部1100在规定的宽度的频率中以推定频率Al为中心检索电波Sl等。 [0193] Thus, the control unit 1100 in a predetermined frequency width is estimated to retrieve the center frequency of radio waves Sl Al and the like. 诸如在从(A1-100)kMz的频率到(Al+100)kMz的频率的范围以每IOOHz的频率检索电波Si。 Such as from (A1-100) kMz frequency to (Al + 100) at a frequency range KMZ each retrieved radio frequency IOOHz Si.

[0194] 如图9所示,终端1020在第一存储部1110中存储有测量计算程序1116。 [0194] As shown in FIG. 9, the terminal 1020 in the first storage unit 1110 stores a measurement calculation program 1116. 测量计算程序1116是用于控制部1100进行GPS卫星12a等发送的C/A码和终端1020生成的复制C/A码的相关处理,计算出包含有相关累计值的最大值Pmax、噪声的相关累计值Pnoise、 候补码相位以及接收频率的测量的程序。 Correlation measurement calculation program 1116 is a control unit 1100 performs the correlation process GPS satellites 12a and the like transmit the C / A code generated by the terminal 1020 and a copy C / A code, and calculates the maximum correlation cumulative value Pmax with the noise of measured integrated value Pnoise, the candidate code phase and the reception frequency of the program. 测量计算程序1116和控制部1100是相位计算部的一例,也是接收频率指定部的一例。 Measurement calculation program 1116 and the control section 1100 exemplify a phase calculation section, and also exemplify a reception frequency.

[0195] 图IlA〜IlC是测量计算程序1116的说明图。 [0195] FIG IlA~IlC is described measurement calculation program 1116 in FIG.

[0196] 如图IlA所示,控制部1100诸如通过基带部1032b以相等间隔分割C/A码的1片, 进行相关处理。 [0196] As shown in FIG IlA, such as the control unit 1100 1032b divided at equal intervals C / A code in the baseband unit 1, performs the correlation process. 例如、C/A码的1片被32等分。 For example, C / A code is an 1/32. 也就是说,以32分之一片的相位宽度(第一相位宽度Wl)间隔进行相关处理。 That is, the width of a phase (first phase width Wl) 32 parts per one correlation processing intervals. 而且,将控制部1100进行相关处理时的第一相位宽度Wl间隔的相位称为第一取样相位SCl。 Further, the phase of the first phase width Wl when the control section 1100 performs the correlation process is called a first sampling phase interval SCl.

[0197] 当电波Sl等到达终端1020时的信号强度为大于等于_155dBm时,第一相位宽度Wl被规定作为能够检测出相关最大值Prnax的相位宽度。 [0197] When the signal strength of the radio wave arrival Sl 1020 and the like when a terminal is greater than or equal _155dBm, width Wl of the first phase can be detected is defined as a phase width of the correlation maximum Prnax. 当为32分之一片的相位宽度时, 且在信号强度大于等于_155dBm的弱电场下,能够检测出相关最大值Pmax的事情也通过模拟而变明显。 When the phase per a width of 32, and the signal strength is greater than equal _155dBm weak electric field, the maximum correlation value Pmax can be detected also by simulating what becomes apparent.

[0198] 如图1IB所示,控制部1100以推定频率Al为中心,在士IOOkHz的频率范围边错开第一相位宽度Wl边进行相关处理。 As shown in [0198] FIG 1IB, the control section 1100 to estimate the center frequency of Al, the width Wl of the first phase shifted performs the correlation process in the frequency range of persons IOOkHz side. 这时,边ΙΟΟΗζΙΟΟΗζ地将频率错开边进行相关处理。 At this time, the frequency offset edge ΙΟΟΗζΙΟΟΗζ performs the correlation process.

[0199] 如图IlC所示,从基带部1032b输出对应2片的相位Cl至C64的相关值累计P。 [0199] As shown in FIG IlC, the corresponding phase plate Cl 2 to C64 accumulated correlation values ​​from the baseband section 1032b outputs P. 各相位Cl至C64为第一取样相位SCl。 Each phase Cl to C64 is the first sampling phase SCl.

[0200] 控制部1100基于测量计算程序1116诸如从C/A码的第一片一直检索到第1023片。 [0200] Control unit 1100 based on the measurement calculation program 1116 from a first sheet such as a C / A code has been retrieved to the first 1023.

[0201] 控制部1100基于Pmax和Pnoise计算出XPR,将对应XPR最大状态的码相位CPAl、 接收频率fAl、PAmaxl以及PAnoisel视为当前测量信息1160。 [0201] The control unit 1100 based on the calculated XPR Pmax and Pnoise, corresponding to the maximum code phase cPAL XPR state, the reception frequency fAl, PAmaxl and PAnoisel deemed present measurement information 1160. 把码相位CPA1、接收频率fAU PAmaxl以及PAnoisel通称称为测量。 The code phase CPA1, the reception frequency fAU PAmaxl PAnoisel known and referred to as measurement. 终端1020对应各个GPS卫星12a等计算出测量。 Terminal 1020 corresponding to the GPS satellites 12a and the like to calculate the measurement.

[0202] 而且,码相位CPAl被换算为距离。 [0202] Further, CPAl code phase is converted into distance. 如上所述,C/A码的码长度诸如为300千米(km),所以C/A码的余数部分、即码相位也能够换算为距离。 As described above, the length of the code C / A code, such as 300km (km), so that the remainder portion of C / A code, i.e. code phase can be converted into distance. [0203] 控制部1100在可观测卫星中诸如分别计算出关于6个GPS卫星12a等各自的测量。 [0203] such as the control unit 1100 calculates the respective measurement about six GPS satellites 12a and the like observable satellites. 而且,将关于同一GPS卫星12a等的测量称为对应的测量。 Moreover, the measurements of a single GPS satellite 12a or the like is referred to the corresponding measurement. 例如、关于GPS卫星12a的码相位CPAl和关于GPS卫星12a的频率fAl是对应的测量。 For example, with respect to the GPS satellite 12a cPAL code phase and frequency of the GPS satellite 12a fAl on the corresponding measurement. 频率fAl是接收来自GPS卫星12a的电波SI时的接收频率。 FAl frequency is the reception frequency when receiving the radio wave from the GPS satellite 12a in the SI.

[0204] 而且,可以不同于第一实施例,也可以采用窄相关器(例如、参照日本特开2000-312163号公报)作为相关处理的方法。 [0204] Furthermore, embodiments may be different from the first embodiment, the narrow correlator may be employed (e.g., refer to Japanese Laid-Open Patent Publication No. 2000-312163) as a method of correlation processing.

[0205] 如图9所示,终端1020在第一存储部1110中存储有测量保存程序1118。 [0205] As shown in FIG. 9, the terminal 1020 in the first storage unit 1110 stores a measurement storage program 1118. 测量保存程序1118是控制部1100用于将测量保存到第二存储部1150中的程序。 Measuring the control section 1118 stores a program 1100 for saving measurements to the program storage unit 1150 in the second.

[0206] 控制部1100在把新的测量作为当前测量信息1160存储到第二存储部1150中的同时,将现有的当前测量信息1160作为上次测量信息1162存储到第二存储部1150中。 [0206] The control unit 1100 while the current measurement information 1160 in the second storage section 1150 as in the new measurement, the existing present measurement information 1160 as a previous measurement information 1162 in the second storage section 1150. 上次测量信息1162包含有上次定位时的码相位CPA0、频率fAO、PAmaxO以及PAnoiseO。 Last measurement information 1162 includes the code phase during the preceding positioning CPA0, frequency fAO, PAmaxO and PAnoiseO.

[0207] 如图9所示,终端1020在第一存储部1110中存储有频率评价程序1120。 [0207] As shown in FIG. 9, the terminal 1020 has a frequency evaluation program 1120 in the first storage unit 1110. 频率评价程序1120是控制部1100用于判断上次定位时的接收频率fAO和当前定位时的接收频率fAl的频率差是否在频率阈值α 1以内的程序。 Frequency evaluation program 1120 is a control unit 1100 for receiving a frequency difference is determined when the frequency fAO preceding positioning and the present reception frequency fAl procedure when positioning is less than the frequency threshold value α 1. 频率阈值α 1以内的范围是根据未满频率系列Fl、F2以及F3的频率间隔的阈值而被预先规定。 Within a range of frequencies less than the threshold value α is a series of frequency Fl, F2, and F3 frequency threshold value is a predetermined interval. 如上所述,如频率间隔为50赫兹(Hz),则频率阈值αϊ诸如为30赫兹(Hz)。 As described above, as the frequency interval is 50 Hz (Hz), the frequency threshold value such as a αϊ 30 hertz (Hz). 上述的频率评价程序1120及控制部1100是频率差评价部的一例。 The above frequency evaluation program 1120 and the control section 1100 exemplify a frequency difference evaluation section. 而且,频率阈值αϊ以内的范围是预先规定的频率差容许范围内的一例。 Also an example of the range of frequencies within the frequency range of difference threshold value is a predetermined allowable αϊ.

[0208] 如图9所示,终端1020在第一存储部1110中存储有预测码相位计算程序1122。 [0208] As shown in FIG. 9, the terminal 1020 has estimated code phase calculation program 1122 in the first storage unit 1110 stores. 预测码相位计算程序1122是控制部1100基于上次定位时的码相位CPA0、电波Sl等的多普勒偏移以及上次定位时开始的时间经过dt,用于预测了当前的相位并计算出预测码相位CPAe的程序。 The estimated code phase calculation program 1122 is a control unit 1100 based on the start time code for the last time the positioning phase CPA0, Sl wave Doppler shift and the like after the last positioning dt, for predicting the current phase is calculated and CPAe estimated code phase program. 预测码相位CPAe是预测相位的一例。 CPAe is an example of estimated code phase prediction phase. 预测码相位计算程序1122和控制部1100是预测相位计算部的一例。 The estimated code phase calculation program 1122 and the control section 1100 exemplify an estimated phase calculation section.

[0209] 而且,预测码相位CPAe被换算为距离。 [0209] Further, CPAe estimated code phase is converted into distance.

[0210] 图12是预测码相位计算程序1122的说明图。 [0210] FIG. 12 is the estimated code phase calculation program 1122 in FIG.

[0211] 如图12所示,控制部1100诸如根据公式1计算出预测码相位CPAe。 [0211] 12, such as the control unit 1100 calculates the estimated code phase CPAe according to Equation 1.

[0212] 如公式1所示,控制部1100诸如根据从上次定位时的码相位CPAO减去上次定位时开始的时间经过dt乘以GPS卫星12a和终端1020的相对移动速度的值,计算出预测码相位CPAe。 [0212] As shown in Equation 1, the control unit 1100 according to time such as a start time by subtracting from the preceding positioning code phase during the preceding positioning through CPAO dt multiplied by the relative moving speed of the GPS satellite 12a and the terminal 1020, the following calculation an estimated code phase CPAe.

[0213] 而且,在公式1中,预测码相位CPAe、上次码相位CPAO被换算为距离。 [0213] Further, in Equation 1, the estimated code phase CPAe, CPAO last code phase is converted into distance.

[0214] 在这里,电波Sl等以光速传播。 [0214] Here, the propagation speed of light and other radio waves Sl. 因此,通过用光速除以电波Sl等的发送频率H1, 能够计算出对应多普勒偏移1赫兹(Hz)的概略的速度。 Thus, by dividing the speed of light and other radio waves Sl transmission frequency H1, the speed can be calculated corresponding to the outline of a Doppler shift Hertz (Hz) of. 也就是说,多普勒偏移加(+) 1赫兹(Hz)意味着GPS卫星12a以秒速0. 19米(m/s)接近终端1020。 That is, the Doppler shift plus (+) 1 hertz (Hz) GPS satellite 12a to second speed of 0.19 meters (m / s) close to the terminal 1020. 因此,预测码相位CPAe 比上次定位时的码相位CPAO变短。 Thus, when the predicted code phase CPAO code phase CPAe shorter than the previous positioning. 在这里,多普勒偏移诸如为上次定位时的频率fAO和发送频率Hl之间的差分。 Here, such as a Doppler shift difference between the transmission frequency and the frequency fAO Hl during the preceding positioning.

[0215] 针对于此,多普勒偏移减(_) 1赫兹(Hz)意味着GPS卫星12a以秒速0. 19米(m/ s)远离终端1020。 [0215] In light of this, when the Doppler shift (_) 1 hertz (Hz) GPS satellite 12a to second speed of 0.19 meters (m / s) remote from the terminal 1020. 因此,预测码相位CPAe比上次定位时的码相位CPAO变长。 Therefore, the estimated code phase when the code phase positioned CPAO CPAe last time becomes long.

[0216] 而且,公式1在上次定位时开始的时间经过为短时间的条件下是成立的。 [0216] Moreover, the formula 1 start time in the last time under the conditions of a short time after positioning is established. 换句话说,公式1限于在图表上把码相位和时间经过的关系作为直线示出下成立。 In other words, Equation 1 is limited in relation to the chart on the code phase and the elapsed time established as the straight line shown. [0217] 此外,不同于第一实施例,可以将上次定位时的频率fAO和发送频率Hl的差分与当前定位时的频率fAl和发送频率Hl的差分的平均值视为多普勒偏移。 [0217] Further, the embodiment differs from the first embodiment, the difference may be the average frequency of the transmission frequency Hl fAl and when the transmission frequency and the difference frequency fAO Hl preceding positioning when considered with the current position of the Doppler shift . 基于此,能够进一步准确地计算出预测码相位CPAe。 Based on this, it is possible to further accurately calculate the estimated code phase CPAe.

[0218] 控制部1100把表示计算出的预测码相位CPAe的预测码相位信息1164存储到第二存储部1150中。 [0218] Control unit 1100 indicating the calculated estimated code phase estimated code phase information 1164 in the second storage section 1150 CPAe in.

[0219] 如图9所示,终端1020在第一存储部1110中存储有码相位评价程序1124。 [0219] As shown in FIG. 9, the terminal 1020 with a code phase evaluation program 1124 in the first storage unit 1110. 码相位评价程序1124是控制部1100用于判断当前的码相位CPAl和预测码相位CPAe的码相位差是否小于等于码相位阈值β 1(以下称为“阈值β 1”)的程序。 Code phase evaluation program 1124 is a control section 1100 for determining the current code phase and the predicted code phase CPAe CPAl code phase difference is equal to the code phase threshold value beta] is less than 1 (hereinafter referred to as "threshold value beta] 1") program. 小于等于阈值β 1的范围是相位差容许范围内的一例。 Range of less than or equal to the threshold value β 1 exemplifies a phase difference allowable range. 码相位评价程序1124和控制部1100是相位差评价部的一例。 Code phase evaluation program 1124 and the control section 1100 exemplify a phase difference evaluation section.

[0220] 阈值β 1被预先规定。 [0220] threshold β 1 are predetermined. 例如、阈值β 1是80米(m)。 For example, the threshold value β 1 is 80 meters (m).

[0221] 控制部1100把通过上述的频率评价程序1120而判断出小于等于阈值α 1的频率差分的码相位CPAl,视为基于码相位评价程序1124的判断的对象。 [0221] Control unit 1100 via the frequency evaluation program 1120 determines that the code phase CPAl less frequency difference threshold value α 1, and as an object of determination based on the code phase evaluation program 1124.

[0222] 如图9所示,终端1020在第一存储部1110中存储有定位使用码相位确定程序1126。 [0222] As shown in FIG. 9, the terminal 1020 with a positioning code phase determination program 1126 in the first storage unit 1110. 定位使用码相位确定程序1126是控制部1100用于确定把频率阈值αϊ以内的频率差、且码相位差小于等于阈值β 1的GPS卫星12a等的码相位CPAl等作为定位使用码相位CPAlf的程序。 Positioning code phase determination program 1126 is a control section 1100 for determining the frequency within a frequency threshold αϊ difference, and the code phase difference smaller than the threshold value β GPS satellites 12a and the like of a code phase CPAl like as a positioning program code phase CPAlf of .

[0223] 对应不在频率阈值α 1以内的频率差的GPS卫星12a等的码相位CPAl等不确定为定位使用码相位CPAlf,从定位中排除。 [0223] corresponding to the frequency threshold value α is not less than a difference frequency of the GPS satellites 12a and the like and other uncertainties code phases CPAl positioning code phases CPAlf excluded from positioning. 而且,在定位中使用对应频率差在频率阈值αϊ 以内、且对应码相位差在小于等于阈值β 1的码相位CPA1。 Further, in positioning corresponding to a frequency difference within a frequency threshold αϊ, and the corresponding code phase difference equal to a phase CPA1 less than the threshold value β 1 code. 也就是说,定位使用码相位确定程序1126和控制部1100是相位排除部的一例。 That is, the positioning code phase determination program 1126 and the control section 1100 exemplify a phase exclusion section.

[0224] 在第一实施例中,定位使用码相位CPAlf诸如视为分别对应GPS卫星12a、12b、 12c、以及12d 的CPAlfa、CPAlfb, CPAlfc 以及CPAlfd。 [0224] In the first embodiment, the positioning code phase corresponding CPAlf regarded as the GPS satellites 12a, 12b, 12c, and 12d of CPAlfa, CPAlfb, CPAlfc and CPAlfd.

[0225] 控制部1100把表示定位使用码相位CPAlf的定位使用码相位信息1166存储到第二存储部1150中。 [0225] The control unit 1100 indicates the positioning code phase CPAlf positioning code phase information 1166 in the second storage section 1150.

[0226] 如图9所示,终端1020在第一存储部1110中存储有定位程序1128。 [0226] As shown in FIG. 9, the terminal 1020 with a positioning program 1128 in the first storage unit 1110. 定位程序1128是控制部1100用于使用定位使用码相位CPAlf对当前位置进行定位的程序。 Positioning program 1128 is a control unit 1100 for using the positioning code phase position of the current program CPAlf positioning. 定位程序1128和控制部1100是定位部的一例。 Positioning program 1128 and the control section 1100 exemplify a positioning section.

[0227] 定位使用码相位CPAlf是上述的阈值β 1以内的码相位CPAl等。 [0227] CPAlf positioning code phase threshold β is the above code phases within 1 CPAl the like. 也就是说,使用定位使用码相位CPAlf对当前位置进行定位与使用阈值β 1以内的码相位CPAl等对当前位置进行定位是一样的。 That is, using the positioning code phase CPAlf to locate the present position using the code threshold value β within a current position of the other phase CPAl locate the same.

[0228] 当定位使用码相位CPAlf大于等于3个的情况下,控制部1100使用这些定位使用码相位CPAlf定位当前位置,计算出定位位置QA1。 In the case [0228] When positioning code phases CPAlf three or more, the control unit 1100 using the positioning code phases CPAlf positioning a current position, to calculate the positioning position QA1.

[0229] 控制部1100把表示计算出的定位位置QAl的定位位置信息1168存储到第二存储部1150中。 [0229] The control unit 1100 indicates the calculated position location information of localization position QAl 1168 in the second storage section 1150.

[0230] 如图9所示,终端1020在第一存储部1110中存储有定位位置输出程序1130。 [0230] As shown in FIG. 9, the terminal 1020 outputs a positioning program 1130 in the first position of the storage unit 1110. 定位位置输出程序1130是控制部1100用于在显示装置1034 (参照图7)上显示定位位置QAl 的程序。 Localization position output program 1130 is a control unit 1100 for displaying the position location QAl program on the display device 1034 (see FIG. 7).

[0231] 终端1020如上所述构成。 Constituting the [0231] terminal 1020 as described above. [0232] 终端1020能够判断当前的码相位CPAl和预测码相位CPAe的码相位差是否小于等于预先规定的阈值β 1。 [0232] Terminal 1020 can determine whether the current code phase and the predicted code phase CPAl CPAe the code phase difference is less than a predetermined threshold value β is equal to 1. 因此,终端1020能够验证码相位CPAl的精度。 Therefore, the terminal 1020 can verify the accuracy of the code phase CPAl.

[0233] 此外,终端1020能够使用对应小于等于阈值β 1的码相位差的码相位CPAlJii 前位置进行定位。 [0233] In addition, terminal 1020 can be smaller than the threshold value using a corresponding one of the phase difference β code CPAlJii code phase position before positioning.

[0234] 基于此,在信号强度为微弱的弱电场下,终端1020能够在验证定位基本码的码相位的精度之后,精度良好的进行定位。 [0234] Based on this, the weak weak electric field, after the terminal 1020 can verify the accuracy of the code phase of the positioning base code and accurately locate a good signal strength.

[0235] 此外,终端1020能够从定位中排除对应频率阈值α 1以内的范围外的频率fAl的码相位CPAl。 [0235] In addition, terminal 1020 can exclude the code phase CPAl fAl frequency outside a range within a frequency corresponding to the threshold value α 1 from the targeting.

[0236] 这意味着终端1020不仅能够验证C/A码的码相位CPAl的精度,也能够验证计算出码相位CPAl时的接收频率fAl的精度。 [0236] This means that the terminal 1020 can verify not only the accuracy of the code phase cPAL the C / A code, it is possible to verify the accuracy of the reception frequency when calculating the fAl code phase CPAl.

[0237] 基于此,在信号强度为微弱的弱电场下,终端1020能够在验证定位基本码的码相位的精度之后,进一步精度良好的进行定位。 [0237] Based on this, the weak weak electric field, after the terminal 1020 can verify the accuracy of the code phase of the positioning base code, be further accurately positioned in the signal intensity.

[0238] 以上是第一实施例涉及的终端1020的构成,但下面主要使用图13对其动作例进行说明。 [0238] The above is a first configuration of the terminal 1020 according to Examples, but the following its main operation example FIG. 13 will be described.

[0239] 图13是表示终端1020的动作例的概略流程图。 [0239] FIG. 13 is a schematic flowchart showing an operation example of the terminal 1020.

[0240] 首先,终端1020接收电波Sl等,计算出测量(图13的步骤S101)。 [0240] First, the terminal 1020 receives radio waves Sl and the like, calculates the measurement (step 13 of FIG S101). 该步骤SlOl 是相位计算步骤的一例。 This step SlOl exemplify a phase calculation step.

[0241] 接着,终端1020保存测量(步骤S102)。 [0241] Next, save the measurement terminal 1020 (step S102).

[0242] 接着,终端1020判断当前频率fAl和上次频率fAO的频率差分的绝对值是否小于等于频率阈值α 1 (步骤S103)。 [0242] Next, the terminal 1020 determines whether the absolute value of the current frequency and the frequency difference fAl fAO previous frequency equal to the frequency is less than the threshold value α 1 (step S103).

[0243] 在步骤S103中,终端1020在定位中不使用对应判断不是小于等于频率阈值α 1 的频率差分的码相位CPAl (步骤S109)。 [0243] In step S103, the terminal 1020 does not use the corresponding judgment threshold value α is smaller than the frequency equal to the frequency difference of 1 cPAL code phase (step S109) in positioning. 也就是说,不是定位使用码相位CPAlf。 That is, instead of positioning code phase CPAlf.

[0244] 针对于此,在步骤S103中,关于对应判断小于等于频率阈值α 1的频率差分的码相位CPA1,计算出对应的预测码相位CPAe (步骤S104)。 [0244] For this, in step S103, the determination regarding a corresponding frequency equal to the frequency difference is less than the threshold value α 1 is the code phase CPA1, the calculated estimated code phase corresponding CPAe (step S104). 该步骤S104是预测相位计算步骤的一例。 This step S104 is an example of an estimated phase calculation step.

[0245] 接着,终端1020判断码相位CPAl和预测码相位CPAe的码相位差的绝对值是否小于等于阈值βΐ(步骤S105)。 [0245] Next, 1020 determines the code phase and the predicted code phase CPAe CPAl terminal code phase difference equal to the absolute value is smaller than the threshold value βΐ (step S105). 该步骤S105是相位评价步骤的一例。 This step S105 is an example of a phase evaluation step. 终端1020把判断码相位差的绝对值小于等于阈值β 1的码相位CPA1,视为定位使用码相位CPAlf。 Terminal 1020 determines code phase difference equal to a threshold less than the absolute value of the code phase CPA1 1 is β, as the positioning code phase CPAlf.

[0246] 接着,终端1020判断定位使用码相位CPAlf是否为大于等于3个(步骤S106)。 [0246] Next, the terminal 1020 determines the positioning code phases if three or more of CPAlf (step S106).

[0247] 在步骤S106中,当判断定位使用码相位CPAlf不足3个时,终端1020不能定位, 所以不必定位就可以结束。 [0247] In step S106, when it is determined using the positioning code phases when three CPAlf insufficient, terminal 1020 can not be located, it is not necessary positioning can end.

[0248] 针对于此,在步骤S106中,当判断定位使用码相位CPAlf大于等于3个时,终端1020使用定位使用码相位CPAlf进行定位(步骤S107)。 [0248] For this, in step S106, when it is determined positioning code phases than 3 CPAlf equal, the terminal 1020 using the positioning code phase CPAlf positioning (step S107). 该步骤S107是定位步骤的一例。 The step S107 exemplifies a positioning step.

[0249] 接着,终端1020输出定位位置QAl (参照图9)(步骤S108)。 [0249] Next, the terminal 1020 outputs localization position QA1 (see FIG. 9) (step S108).

[0250] 通过以上步骤,终端1020能够在信号强度为微弱的弱电场下,在验证定位基本码的相位的精度之后,精度良好的进行定位。 [0250] Through the above steps, the signal terminal 1020 can be in a weak electric field strength at the weak, after verifying the accuracy of the phase positioning base code, be accurately positioned.

[0251][第二实施例] [0251] [Second Embodiment]

[0252] 图14是表示第二实施例的终端2020等的概略图。 [0252] FIG. 14 is a schematic view showing a second embodiment of the terminal 2020 or the like.

[0253] 如图14所示,终端2020能够接收来自定位卫星例如、GPS(Global PositioningSystem :全球定位系统)卫星12a、12b、12c、12d、12e、12f、12g 以及12h 的电波Si、S2、S3、 S4、S5、S6、S7以及S8。 [0253] As shown in FIG. 14, the terminal 2020 can receive, for example, GPS satellites from the positioning (Global PositioningSystem: Global Positioning System) satellites 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h radio Si, S2, S3 , S4, S5, S6, S7, and S8. GPS卫星1¾等是通信源的一例。 GPS is an example of a communication satellite 1¾ other sources. 而且,定位卫星不限于GPS卫星, 也可以广泛的使用SPSGatellite Positioing System :卫星定位系统)卫星。 Further, a positioning satellite is not limited to GPS satellites and can be widely used SPSGatellite Positioing System: Satellite Positioning System) satellite.

[0254] 在电波Sl等上搭载各种的码(代码)。 [0254] Various mounting code (codes) in radio Sl like. 其中的一个是C/A码ka。 Which is a C / A code ka. 该C/A码Sca 是1. 023Mbps的位率、1023bit( = lmsec)的位长的信号。 The C / A code Sca is 1. 023Mbps bit rate, 1023bit (= lmsec) bit long signal. C/A码Sca由1023片(chip :码片、码元)构成。 C / A code Sca includes 1023: constituting (chip chips, symbols). 终端2020是定位当前位置的定位装置的一例,利用该C/A码对当前位置进行定位。 The terminal 2020 exemplifies a positioning device positioning a current position using the C / A code to locate the present position. 该C/A码Sca是定位基本码的一例。 The C / A code Sca is an example of the positioning base code.

[0255] 此外,作为搭载在电波Sl等上的信息,有概略星历Sal和精密星历kh。 [0255] Further, as the information on the mounted radio Sl or the like, an almanac Sal and the ephemeris kh. 概略星历Sal是表示全部的GPS卫星1¾等的概略的卫星轨道的信息,精密星历Seh是表示各个GPS 卫星1¾等的精密的卫星轨道的信息。 Almanac Sal is information indicating satellite orbits of all GPS satellites outline 1¾ like, ephemeris Seh is information of each GPS satellite 1¾ such precise satellite orbit. 将概略星历Sal和精密星历Seh统称为导航信息。 The almanac Sal and the ephemeris Seh are collectively referred to as navigation information.

[0256] 终端2020能够指定诸如大于等于3个的不同的GPS卫星1¾等发送的C/A码的码相位(相位),对当前位置进行定位。 [0256] The terminal 2020 can specify, such as three or more different GPS satellites and other code phase 1¾ C / A code is transmitted (phase), to locate the present position.

[0257] 图15是表示定位方法的一例的概念图。 [0257] FIG. 15 is a conceptual diagram showing an example of a positioning method.

[0258] 如图15所示,例如、能够理解为C/A码在GPS卫星12a和终端2020之间连续地排列。 [0258] As shown in FIG. 15, for example, can be understood as C / A codes continuously line up between the GPS satellite 12a and the 2020 terminal. 而且,GPS卫星1¾和终端2020之间的距离不限于C/A码的长度(300千米(km))的整数倍,所以存在码余数部分C/Aa。 Further, GPS satellites 1¾ and the terminal 2020 is not limited to the distance between the longitudinal (300km (km)) of the C / A code is an integral multiple, there code fraction C / Aa. 也就是说,在GPS卫星1¾和终端2020之间存在C/A码的整数倍的部分和余数部分。 That is, the presence of C / integral multiple of the number part I and part A code between the GPS satellite and the terminal 2020 1¾. C/A码的整数倍的部分和余数部分的合计的长度为伪距。 The total length of the portion and the remainder portion of the number of an integral multiple of the C / A code is a pseudo-range. 终端2020利用关于大于等于3个的GPS卫星1¾等的伪距进行定位。 Using a pseudo terminal 2020 on three or more GPS satellites and the like from 1¾ positioning.

[0259] 在本实施例中,把C/A码的余数部分C/Aa称为码相位(相位)。 [0259] In the present embodiment, the fraction portion C C / A code / Aa called code phase (phase). 码相位、例如既可以用C/A码1032的某片的第多少片表示,也可以换算为距离表示。 Code phase, for example, may be a sheet of a number of the chip C / A code representation 1032 may be converted into distance. 当计算出伪距时,也可以把码相位换算为距离。 When calculating the pseudo-range, the code phase may be converted into distance.

[0260] 利用精密星历Seh可以计算出GPS卫星1¾在轨道上的位置。 [0260] using the ephemeris Seh can calculate the position of the GPS satellites in orbit 1¾. 而且,根据计算出GPS卫星1¾在轨道上的位置和后述的初始位置QBO之间的距离,能够确定C/A码的整数倍的部分。 Further, the distance between the initial position of the GPS satellite 1¾ QBO calculated position on the track and to be described later, it is possible to determine an integer multiple of the C / A code portion. 并且,由于C/A码的长度为300千米(km),所以初始位置QBO的位置误差需在150 千米(km)以内。 Further, since the length of the C / A code is 300km (km), the position error of the initial position so QBO in need within 150km (km).

[0261] 而且,如图15所示,诸如一边把复制C/A码的相位向箭头Xl方向移动一边进行相关处理。 [0261] Further, as shown in Figure 15, such as a copy while C / A code phase shift while the direction of the arrow Xl performs the correlation process. 这时,终端2020 —边改变同步用频率一边进行相关处理。 At this time, terminal 2020 - Edge while changing the synchronization frequency correlation process. 该相关处理由后述的相干处理和非相干处理构成。 The correlation process includes a coherent process described later and constitute a non-coherent processing.

[0262] 相关累计值成为最大的相位是码余数C/Aa。 Maximum phase [0262] correlation cumulative value is the code fraction becomes C / Aa.

[0263] 并且,可以与第二实施例不同,终端2020诸如利用便携式电话机的通信基站发送的电波进行定位。 [0263] and may be different from the second embodiment, the communication terminal 2020 via radio waves such as a portable telephone base station positioning transmitted. 此外,与第二实施例不同,终端2020也可以接收LAN(Local Area Network :局域网)发送的电波进行定位。 Further, different from the second embodiment, terminal 2020 can also receive LAN (Local Area Network: local area network) transmits radio waves for positioning.

[0264] 图16是相关处理的说明图。 [0264] FIG. 16 is a diagram illustrating the correlation process.

[0265] 相干是取得终端2020接收的C/A码和复制C/A码之间的相关的处理。 [0265] coherence is achieved C / A code received by the terminal 2020 and the replication process between the associated C / A code. 复制C/A 码是终端2020产生的代码。 Copy C / A code is the code generated by the terminal 2020. 复制C/A码是复制定位基本码的一例。 Copy C / A code is an example of the positioning base code copy.

[0266] 例如、如图16所示,如相干时间为10msec,则计算出在IOmsec期间内同步累计(积分)的C/A码和复制C/A码之间的相关值等。 [0266] For example, as shown in Figure 16, as the coherent time is 10msec, then calculate the accumulated synchronization (integration) of the C / A code replica and the correlation value between the C A code period IOmsec / like. 作为相干处理的结果、输出取得相关时的码相位、以及相关值。 As a result of the coherent process, code phase acquisition when the output correlation, and correlation value.

[0267] 非相干是通过累计相干结果的相关值计算出相关累计值(非相干值)的处理。 [0267] incoherent process is calculated correlation cumulative value (incoherent value) by the accumulated correlation values ​​as the coherent results. [0268] 作为相关处理的结果,输出在相干处理中被输出的码相位和相关累计值。 [0268] As a result of the correlation process, the correlation cumulative value and the code phase output by the coherent process is outputted.

[0269] 图17是表示相关累计值和码相位的关系的一例的图。 [0269] FIG. 17 shows an example of the relationship between the correlation cumulative value and the code phase.

[0270] 对应图17的相关累计值的最大值Pmax的码相位CPl为C/A码的码相位(等于复制C/A码的码相位)。 [0270] code phases corresponding to the maximum value Pmax CPl correlation cumulative value is the code phase of 17 C / A code (equal to the phase of the replica code C / A code).

[0271] 而且,终端2020诸如在从码相位CPl距离二分之一片的码相位中,把相关累计值小的一方的相关累计值视为噪声的相关累计值Pnoise。 [0271] Further, the terminal 2020 such as the distance from the phase CPl code phase of the code in one-half, the correlation accumulated value is smaller correlation cumulative value of one of the considered correlation cumulative value Pnoise of noise.

[0272] 终端2020把Pmax和Pnoise的差分除以Pmax的值规定作为信号强度XPR。 [0272] 2020 Pmax and Pnoise differential value obtained by dividing a predetermined terminal Pmax as a signal strength XPR. 信号强度XPR是信号强度的一例。 Signal strength XPR exemplifies a signal strength.

[0273] 而且,例如、当XPR大于等于0. 2时,终端2020将码相位CPl视为在定位中使用的码相位的候补。 When [0273] Further, for example, when the signal strength XPR is 0.2, the terminal 2020 sets the code phase candidate code phase CPl considered for use in positioning. 以下,将该码相位称为“候补码相位”。 Hereinafter, the code phase is called a "candidate code phase." 候补码相位是在定位中使用的候补, 实际上终端2020不一定在定位使用。 The candidate code phase is a candidate for use in positioning, and the positioning terminal 2020 is not necessarily used.

[0274] 图18及图19是表示候补码相位和时间经过等的关系的一例的图。 [0274] FIG. 18 and FIG. 19 shows an example of the relationship between the candidate code phase and the elapsed time and the like.

[0275] 例如、图18示出GPS卫星1¾接近终端2020的状态。 [0275] For example, FIG. 18 shows a close state of the terminal GPS satellite 1¾ 2020.

[0276] 例如、如GPS卫星1¾接近终端2020,则GPS卫星1¾和终端2020之间的距离变短,所以候补码相位Cl在时间经过的同时接近0。 [0276] For example, as the GPS satellite 1¾ approaches the terminal 2020, the distance between the GPS satellite 1¾ 2020 and the terminal is short, the candidate code phase Cl passage of time at close to zero.

[0277] 此外,属于频率系列Fl的频率在时间经过的同时被变高地设定。 [0277] In addition, the frequency belonging to the frequency range Fl is set at the same time the elapsed time becomes Heights. 这是因为由于GPS卫星1¾正在接近终端2020而产生的多普勒偏移,对应电波Sl到达终端2020时的到 This is because the GPS satellite Doppler due 1¾ approaches the terminal 2020 is generated offset Sl corresponding to the radio wave arrival time of the terminal 2020 to

达频率变高。 Of the frequency becomes higher.

[0278] 终端2020为了有效地与要改变的到达频率同步,例如、如图19所示,使用3个频率系列F1、F2以及F3。 [0278] The terminal 2020 in order to effectively reach and frequency synchronization to be changed, for example, shown in Figure 19, using three frequency sequences F1, F2 and F3. 频率系列Fl等是频率系列的一例。 Series frequency Fl and the like exemplify a frequency series. 频率系列Fl和F2诸如偏离50 赫兹(Hz)的频率宽度。 Series such as frequencies Fl and F2 deviates from 50 Hertz (Hz) frequency width. 此外,频率系列Fl和F3也偏离50赫兹(Hz)的频率宽度。 In addition, the frequency Fl and F3 series deviate from 50 Hertz (Hz) frequency width. 预先设定50赫兹(Hz)的频率间隔。 Preset 50 Hertz (Hz) frequency interval. 也就是说,50赫兹(Hz)的频率间隔是频率间隔的一例。 That is, 50 Hertz (Hz) is an example of a frequency interval frequency interval. 该频率间隔是以未满终端2020在实施的相关处理中的频率搜索的步进间隔而被规定。 The step interval is less than the frequency interval is related to the terminal 2020 in the embodiment of the process of searching the frequency to be predetermined. 例如、当频率搜索的步进间隔为100赫兹(Hz)时(参照图MB),以未满100赫兹被规定。 For example, when the frequency search step interval is 100 hertz (Hz) (see FIG MB), it is defined to less than 100 Hz.

[0279] 而且,频率系列Fl等可以是至少1个,与第二实施例不同,例如、既可以是1个,也可以大于等于4个。 [0279] Further, a frequency Fl series may be at least one other, different from the second embodiment, for example, either one may be 4 or greater.

[0280] 如图19所示,预测到达频率的多普勒偏移,各频率系列Fl等在时间经过的同时变化设定。 As shown in [0280] 19, the predicted arrival frequency Doppler shift of the frequency sequences and the like, while Fl temporal change settings.

[0281] 而且,各频率系列Fl等的任一个应该精度最好地追随到达频率的多普勒偏移。 [0281] Further, any of the series for each frequency Fl like a best accuracy should follow the Doppler shift of the arrival frequency.

[0282] 在频率系列Fl中计算出码相位Cl。 [0282] The code phase calculated using the frequency sequence Fl of Cl. 并且,在频率系列F2中计算出码相位C2。 And calculate the frequency sequence F2 code phase C2. 并且,在频率系列F3中计算出码相位C3。 And calculate the frequency sequence F3 code phase C3.

[0283] 这样,计算出并行3个码相位Cl等,但一般的在信号强度XPR最高的状态下被计算出的码相位可靠性最高。 [0283] Thus, the calculation of parallel phase Cl 3 yards and the like, but generally are calculated at the highest signal strength XPR of the code phase state of the highest reliability.

[0284] 不过,XPR不限于维持最高的频率系列Fl等。 [0284] However, XPR are not limited to maintaining the highest frequency of the series Fl like. 例如、如图19所示,诸如在时间tl 和t2之间的期间在频率系列Fl中计算出的码相位Cl的XI3R最高,在时间t2和t3之间的期间在频率系列F2中计算出的码相位C2的XI3R最高。 For example, as shown in FIG. 19, such as during the time between tl and t2 calculated in a frequency range in code phase Cl Fl highest XI3R, the period between times t2 and t3 calculated in the frequency sequence F2 the maximum code phase XI3R C2.

[0285] 基于预测的多普勒偏移的共同的要素而改变各个频率系列Fl等的频率,所以如在任一个频率系列中计算出的码相位精度高,则应该比继续地在其他频率系列中计算出的码相位精度高。 [0285] Based on common elements of the predicted Doppler shift frequency is changed each frequency Fl series or the like, so as either a high-frequency range of the calculated code phase accuracy, it should continue to other frequencies than the series the calculated code phase high accuracy. [0286] 在这里,“精度高”意味着计算出的码相位和真实的码相位的偏离小。 [0286] Here, the "high accuracy" means that a small deviation from the calculated code phase and the true code phase.

[0287] 例如、当频率系列Fl的精度比其他的频率系列F2和F3精度高时,频率系列Fl与其他的频率系列F2和F3相比,应该精度最好的连续地追随实际的到达频率。 [0287] For example, when the accuracy of the frequency range higher than the other Fl's precision frequency range F2 and F3, the frequency sequence Fl as compared with other frequency sequences F2 and F3, the best accuracy should continuously follow the actual arrival frequency. 因此,在频率系列Fl中比其他的频率系列F2和F3即使有作为信号强度XI3R低的时间段,那么在频率系列Fl中被计算出的候补码相位精度也应该是最高。 Thus, in the frequency range than in other frequency Fl F2 and F3 series even with a low signal strength XI3R period, then be calculated using the frequency sequence in the candidate code phase Fl should be the highest accuracy.

[0288] 这一点,终端2020能够在弱电场下根据以下的硬件构成及软件构成验证候补码相位的精度之后,精度良好的进行定位。 After [0288] that, the terminal 2020 can verify the accuracy of the candidate code phase of the following hardware configuration and software configuration in accordance with a weak field, the positioning accuracy.

[0289](终端2020的主要硬件构成) [0289] (Main hardware configuration of terminal 2020)

[0290] 图20是表示终端2020的主要硬件构成的概略图。 [0290] FIG. 20 is a schematic view showing the main hardware configuration of terminal 2020.

[0291] 如图20所示,终端2020包括有计算机,计算机包括有总线2022。 [0291] As shown, the terminal 202,020 includes a computer, a computer which includes a bus 2022. 在总线2022上连接有CPU (Central Processing Unit :中央处理装置)2024、存储装置20¾等。 The bus 2022 is connected to CPU (Central Processing Unit: a central processing unit) 2024, a storage device 20¾ like. 存储装置2026 诸如是RAM (Random Access Memory :随机存取存储器)、ROM (Read OnlyMemory :只读存储器)等。 2026 is a storage device such as a RAM (Random Access Memory: random access memory), ROM (Read OnlyMemory: Read Only Memory) and the like.

[0292] 此外,在总线2022上连接有输入装置2(^8、电源装置2030、GPS装置2032、显示装置20;34、通信装置2036以及时钟2038。 [0292] Further, connected to the bus 20 222 (^ 8, the power supply means has an input means 2030, GPS device 2032, a display device 20; 34, a communication device 2036 and a clock 2038.

[0293] (GPS装置2032的构成) [0293] (GPS apparatus 2032 constituted)

[0294] 图21是表示GPS装置2032的构成的概略图。 [0294] FIG. 21 is a schematic diagram of the configuration of the GPS device 2032.

[0295] 如图21所示,GPS装置2032由RF部2032a和基带部2032b构成。 [0295] shown in Figure 21, GPS device 2032 is constituted by RF section 2032a and a baseband section 2032b.

[0296] RF部203¾用天线2033a接收电波Sl等。 [0296] RF unit receives radio waves Sl 203¾ like antenna 2033a. 而且,放大器、即LNA203!3b放大搭载在电波Sl上的C/A码等的信号。 Further, an amplifier, i.e. LNA203! 3b amplified signal C / A code and the like mounted on the radio Sl. 而且,变频器2033c降频转换信号的频率。 Further, 2033c down-converts the frequency of the drive signal. 而且,正交(IQ) 滤波器2033d将信号IQ分离。 A quadrature (IQ) IQ signal separation filter 2033d. 接着,A/D转换器2033el及2033e2分别将IQ分离的信号转换为各自的数字信号。 Subsequently, A / D converters 2033e2 and 2033el the IQ separated signals are converted to respective digital signals.

[0297] 基带部2032b从RF部203¾接收被转换成数字信号的信号,取样信号进行累计, 取得基带部2032b保持的C/A码的相关。 [0297] The baseband section 2032b receives the RF unit 203¾ signal is converted into a digital signal, the sampling signal is integrated to obtain the relevant baseband section 2032b holding the C / A code. 基带部2032b诸如包含有1¾个相关器(未图示)及累计器(未图示),能够同时在1¾相位中进行相关处理。 The baseband section 2032b includes such 1¾ correlators (not shown) and accumulators (not shown), the correlation process can be simultaneously performed in 1¾ phase. 相关器是用于进行上述的相干处理的结构。 Correlator for performing the above-described structure of the coherent process. 累计器是用于进行上述的非相干处理的结构。 Accumulator is a configuration for performing the incoherent process described above.

[0298](终端2020的主要软件构成) [0298] (Main software configuration of terminal 2020)

[0299] 图22是表示终端2020的主要软件构成的概略图。 [0299] FIG. 22 is a schematic view showing the main software configuration of terminal 2020.

[0300] 如图22所示,终端2020包括:控制各部的控制部2100、与图20的GPS装置2032 对应的GPS部2102以及与时钟2038对应的计时部2104等。 , The terminal [0300] 22 2020 includes: a control unit 2100 controlling each, GPS part GPS device corresponding to FIG. 20 chronograph section 2032 2102 2104 2038 corresponding to the clock and the like.

[0301] 终端2020还包括:存储各种程序的第一存储部2110以及存储各种信息的第二存储部2150。 [0301] The terminal 2020 further includes: a first storage section 2110 which stores various programs and a second storage unit 2150 for storing various information.

[0302] 如图22所示,终端2020在第二存储部2150中存储有导航信息2152。 [0302] 22, 2152 terminal 2020 in the second navigation information storage unit 2150. 导航信息2152包含有概略星历215¾及精密星历2152b。 Navigation information 2152 includes an almanac 215¾ and precise ephemeris 2152b.

[0303] 终端2020使用概略星历215¾及精密星历2152b用于定位。 [0303] The terminal 2020 using the almanac 215¾ and precision ephemeris 2152b for positioning.

[0304] 如图22所示,终端2020在第二存储部2150中存储有初始位置信息2154。 [0304] As shown, the terminal 2020 in the second storage unit 2150 has an initial position information of 215,422. 初始位置QBO诸如为上次的定位位置。 QBO initial position such as a position of the last positioning.

[0305] 如图22所示,终端2020在第一存储部2110中存储有可观测卫星计算程序2112。 [0305] As illustrated, terminal 2020 can have a first observation satellite storage unit 2110 211222 calculation program. 可观测卫星计算程序2112是控制部2100以在初始位置信息21M中示出的初始位置QBO作为基准,用于计算出可观测到的GPS卫星1¾等的程序。 Observable satellite calculation program 2112 is a control section 2100 to the information in the initial position shown in 21M QBO initial position as a reference for calculating the observable GPS satellites 1¾ like procedures.

[0306] 具体地说,控制部2100参照概略星历215¾判断在通过计时部2104计量的当前时刻内可观测到的GPS卫星12a等。 [0306] Specifically, the control unit 2100 referring to the almanac 215¾ determines the current time measured by the timer portion 2104 observable GPS satellites 12a and the like. 控制部2100将表示可观测到的GPS卫星12a等(以下称为“可观测卫星”)的可观测卫星信息2156存储到第二存储部2150中。 The control unit 2100 indicating the observable GPS satellites 12a and the like (hereinafter called "observable satellite") observable satellite information 2156 stored in the second storage section 2150. FIG. 在第二实施例中,可观测卫星为GPS卫星1¾至12h(参照图1及图22)。 In the second embodiment, the observable satellites to the GPS satellites 1¾ 12h (see FIG. 1 and FIG. 22).

[0307] 如图22所示,终端2020在第一存储部2110中存储有推定频率计算程序2114。 [0307] As shown, the terminal 2020 in the first storage unit 2110 22 estimated frequency calculation program 2114. 推定频率计算程序2114是控制部2100用于推定GPS卫星1¾等发送的电波Sl等的到达接收频率的程序。 Estimated frequency calculation program 2114 is a program control unit 2100 reaches the GPS satellites Sl 1¾ other radio transmission reception frequency and the like for estimation.

[0308] 该到达频率是电波Sl到达终端2020时的频率。 [0308] The arrival frequency is the frequency of the radio wave reaches Sl 2020 when a terminal. 更详细地说,该到达频率是电波Sl到达终端2020、并且在终端2020中被降频转换时的中间(IF)频率(中频)。 In more detail, the arrival frequency radio waves Sl reaches the terminal 2020 and the terminal 2020 when the intermediate frequency is down-converted (IF) frequency (IF).

[0309] 图23是推定频率计算程序2114的说明图。 [0309] FIG 23 is an estimated frequency calculation program 2114 in FIG.

[0310] 如图23所示,控制部2100将GPS卫星1¾等发送的发送频率Hl加上多普勒偏移H2,计算出推定频率A2。 [0310] 23, the control unit 2100 and the like transmitted from GPS satellites 1¾ Hl transmission frequency plus Doppler shift H2, calculate an estimated frequency A2. 来自GPS卫星1¾等的发送频率Hl为已知,诸如是1575. 42MHz。 Hl transmission frequency 1¾ like from the GPS satellites are known, such as a 1575. 42MHz.

[0311] 多普勒偏移H2是由于各个GPS卫星1¾等和终端2020之间的相对移动而产生。 [0311] Doppler shift due to relative movement between H2 2020 of the respective GPS satellites and the like and the terminal 1¾ generated. 控制部2100根据精密星历2152b和初始位置QBO计算出在当前时刻的各个GPS卫星12a等的视线速度(对终端2020的方向的速度)。 The control section 2100 calculates the precise ephemeris 2152b and the initial position QBO current time of the GPS satellites 12a and the like of the radial velocity (velocity on the direction of the terminal 2020). 而且,基于其视线速度计算出多普勒偏移H2。 Further, based on the calculated line of sight velocity the Doppler shift H2.

[0312] 控制部2100对应可观测卫星、即GPS卫星1¾等计算出推定频率A2。 [0312] The control section 2100 corresponding to observable satellites, GPS satellites 1¾ i.e. the like calculates the estimated frequency A2.

[0313] 而且,在推定频率A2中包含有对应终端2020的时钟脉冲(基准振荡器:未图示) 的漂移的误差。 [0313] Further, with a clock (reference oscillator: not shown) corresponding to the terminal 2020 of the estimated frequency drift errors A2. 漂移就是由于温度变化的原因而导致振荡频率的变化。 Drift due to temperature change is caused by a change in oscillation frequency.

[0314] 因此,控制部2100以推定频率A2为中心在规定宽度的频率中检索电波Si。 [0314] Thus, the control unit 2100 of the estimated frequency A2 in a predetermined frequency width center retrieves the radio wave Si. 诸如在从(A2-100) kMz的频率到(A2+100) kMz的频率的范围以每IOOHz的频率检索电波Sl等。 Such as from (A2-100) kMz frequency to (A2 + 100) KMZ frequency range at a frequency of each radio IOOHz retrieval Sl like.

[0315] 另外,也可以与第二实施例不同,当能够预先推定漂移时,基于推定频率A2及推定的漂移也可以计算出开始搜索的中心频率。 [0315] Further, the second embodiment may be different, it can be estimated in advance when the drift, based on the estimated frequency A2 and the estimated drift of the center frequency may be calculated to begin the search.

[0316] 如图22所示,终端2020在第一存储部2110中存储有测量计算程序2116。 [0316] As shown in FIG 22, the terminal 2020 in the first storage unit 2110 has a measurement calculation program 2116. 测量计算程序2116是控制部2100对应各个GPS卫星1¾等在各频率系列F 1至F3中,进行从GPS卫星1¾等接收的C/A码和终端2020生成的复制C/A码的相关处理,用于计算出包含有相关累计值Pmax、噪声的相关累计值Pnoise、候补码相位以及接收频率的测量的程序。 Measurement calculation program 2116 is a control unit 2100 corresponding to the respective GPS satellites 1¾ like frequency sequences F 1 to F3, correlation processing received from the GPS satellites 1¾ like C / A code and the terminal 2020 generates replication C / A code, a program for calculating the correlation cumulative value measured with Pnoise, the candidate code phase and the reception frequency correlation cumulative value Pmax, noise. 测量计算程序2116和控制部2100是相位计算部的一例,也是接收频率指定部的一例。 Measurement calculation program 2116 and the control section 2100 exemplify a phase calculation section, and also exemplify a reception frequency.

[0317] 图24A〜24C是测量计算程序2116的说明图。 [0317] FIG 24A~24C is described measurement calculation program 2116 of FIG.

[0318] 如图24A所示,控制部2100通过基带部2032b诸如以相等间隔分割C/A码的1片, 进行相关处理。 [0318] As shown in FIG. 24A, the control unit 2100 at equal intervals, such as a split C / A code in the baseband section 2032b, the correlation processing. 例如、C/A码的1片被32等分。 For example, C / A code is an 1/32. 也就是说,以32分之一片的相位宽度(第一相位宽度Wl)间隔进行相关处理。 That is, the width of a phase (first phase width Wl) 32 parts per one correlation processing intervals. 而且,将控制部2100进行相关处理时的第一相位宽度Wl间隔的相位称为第一取样相位SCl。 Further, when the phase of the first phase width Wl of the control section 2100 performs the correlation process is called a first sampling phase interval SCl.

[0319] 当电波Sl等到达终端2020时的信号强度大于等于_155dBm时,第一相位宽度Wl 规定作为能够检测出相关最大值Pmax的相位宽度。 [0319] When the signal strength of the radio wave arrival Sl 2020 and the like at the terminal or greater _155dBm, a predetermined width Wl of the first phase can be detected as a phase width maximum correlation value Pmax. 如是32分之一片的相位宽度,即使在信号强度大于等于_155dBm、且为弱电场下,能够检测出相关最大值Pmax的事情通过模拟而变明显。 Case of a phase width of 32 ppm, even if the signal strength is greater than or equal _155dBm, and is a weak field, the maximum correlation value Pmax can be detected by simulating what becomes apparent.

[0320] 如图24B所示,控制部2100以推定频率A2为中心,在士IOOkHz的频率范围边错开第一相位宽度Wl边进行相关处理。 As shown in [0320] FIG. 24B, the control unit 2100 the estimated frequency A2 at intervals of the width Wl of a first phase performs the correlation process in the frequency range of persons IOOkHz side. 这时,一边边将频率错开IOOHz —边进行相关处理。 At this time, while the frequency shifting edge IOOHz - performs the correlation process. [0321] 如图24C所示,从基带部2032b输出对应2片的相位Cl至C64的相关值累计P。 [0321] FIG. 24C, the corresponding phase plate Cl 2 to C64 accumulated correlation values ​​output from the baseband section 2032b P. 各相位Cl至C64为第一取样相位SCl。 Each phase Cl to C64 is the first sampling phase SCl.

[0322] 控制部2100基于测量计算程序2116诸如从C/A码的第一片一直检索到第1023片。 [0322] The control section 2100 based on the measurement calculation program 2116 from a first sheet such as a C / A code has been retrieved to the first 1023.

[0323] 控制部2100对应各个GPS卫星12a等在各频率系列Fl至F3中,计算出码相位CPB1、接收频率fBl、PBmaxl以及PBnoisel,并视为当前测量信息2160。 [0323] The control section 2100 corresponding to the respective GPS satellites 12a and the like in each frequency Fl to F3 in series, calculates the code phase CPB1, the reception frequency fBl, PBmaxl and PBnoisel, 2160 and treated as the current measurement information. 把码相位CPB1、接收频率fBl、PBmaxl以及PBnoisel统称称为测量。 The code phase CPB1, the reception frequency fBl, PBmaxl PBnoisel and collectively referred to as measurement.

[0324] 而且,码相位CPBl被换算为距离。 [0324] Further, CPBl code phase is converted into distance. 如上所述,C/A码的码长度诸如为300千米(kM),所以能够把C/A码的余数部分、即码相位换算为距离。 As described above, the length of the code C / A code, such as 300km (kM), can be the fraction portion C / A code, i.e. the code phase is converted into distance.

[0325] 图25是表示当前测量信息2160的一例的图。 [0325] FIG. 25 is a diagram illustrating an example of information of 2160 current measurement.

[0326] 如图25所示,例如、当前测量信息2160示出关于GPS卫星1¾在频率系列Fl中的频率fBl la、码相位CPBl la、PBmaxl Ia 以及PBnoisel la。 [0326] As shown in FIG 25, for example, present measurement information 2160 shown on fBl la GPS satellites 1¾ frequency in a frequency range of Fl code phase CPBl la, PBmaxl Ia and PBnoisel la.

[0327] 此外,当前测量信息2160示出关于GPS卫星1¾在频率系列F2中的频率fB12a、 码相位CPB12a、PBmax 12a 以及PBnoisel2a。 [0327] Further, the present measurement information 2160 is shown on the frequency of the GPS satellite in the frequency sequence F2 fB12a code phase 1¾ CPB12a, PBmax 12a and PBnoisel2a.

[0328] 此外,当前测量信息2160示出关于GPS卫星1¾在频率系列F3中的频率fB13a、 码相位CPB13a、PBmax 13a 以及PBnoisel3a。 [0328] Further, the present measurement information 2160 is shown on the frequency of the GPS satellite in the frequency sequence F3 fB13a code phase 1¾ CPB13a, PBmax 13a and PBnoisel3a.

[0329] 频率fBlIa至fB13a是接收来自GPS卫星1¾的电波Sl时的接收频率。 [0329] Frequency fBlIa to fB13a receiving frequency when receiving radio waves from GPS satellites Sl of 1¾.

[0330] 同样,当前测量信息2160示出关于GPS卫星12b至12f在频率系列Fl至F3等中的频率fllb等(未图示)。 [0330] Also, the present measurement information 2160 is shown on the frequency of the GPS satellites 12b to 12f using the frequency sequence fllb like Fl to F3 and the like (not shown).

[0331] 而且,把关于同一GPS卫星1¾等在同一频率系列Fl等中的测量称为对应的测量。 [0331] Further, the other on the same GPS satellites in the measurement 1¾ same frequency Fl and the like series called corresponding measurements. 例如、GPS卫星1¾在频率系列Fl中的码相位CPBlla和频率fBlla是对应的测量。 For example, GPS satellite 1¾ phase frequency Fl series of codes corresponding fBlla CPBlla and frequency measurements.

[0332] 并且,可以不同于第二实施例,采用窄相关器(例如、参照日本特开2000-312163 号公报)作为相关处理的方法。 [0332] Further, the embodiment may be different from the second embodiment, using the narrow correlators (e.g., see Japanese Laid-Open Patent Publication No. 2000-312163) as a method of correlation processing.

[0333] 如图22所示,终端2020在第一存储部2110中存储有测量保存程序2118。 [0333] 22, with a measurement terminal 2020 stores a program 2118 stored in the first storage section 2110. 测量保存程序2118是控制部2100用于将测量保存到第二存储部2150中的程序。 Measuring the control unit 2118 stores a program 2100 for saving measurements to the program storage unit 2150 in the second.

[0334] 控制部2100在把新的测量作为当前测量信息2160存储到第二存储部2150中的同时,将原有的当前测量信息2160作为上次测量信息2162存储到第二存储部2150中。 While [0334] the control unit present measurement information 2160 in the second storage unit 2150 to 2100 as the new measurement, the existing present measurement information 2160 as a previous measurement information 2162 in the second storage section 2150. FIG. 上次测量信息2162包含有上次定位时的码相位CPB0、频率fBO、PBmaxO以及PBnoiseO。 Last measurement information 2162 includes the code phase CPB0 during the preceding positioning, the frequency fBO, PBmaxO and PBnoiseO.

[0335] 图沈是表示上次测量信息2162的图。 [0335] FIG. Shen is a last measurement information 2162 in FIG.

[0336] 如图沈所示,上次测量信息2162示出对应各个GPS卫星1¾等在各频率系列Fl 至F3中被计算出的频率fBOla等。 [0336] As shown in FIG Shen, 2162 shows the last measurement information corresponding to each of the GPS satellites in each frequency range 1¾ like Fl to F3 are calculated frequency fBOla like. 而且,在图沈中只示出关于GPS卫星12a的测量,对其他的关于GPS卫星12b等的测量省略图示。 Further, in FIG sink on the measurement shows only the GPS satellite 12a, the other not shown on measurements of GPS satellites 12b and the like.

[0337] 如图22所示,终端2020在第一存储部2110中存储有频率评价程序2120。 [0337] 22, the terminal 2020 has a frequency evaluation program 2120 in the first storage unit 2110. 频率评价程序2120是控制部2100用于判断上次定位时的接收频率fBO和当前定位时的接收频率fBl的频率差是否小于等于频率阈值α 2的程序。 Frequency evaluation program 2120 is a control unit 2100 for receiving a frequency difference is determined when the frequency fBO preceding positioning and the present reception frequency fBl when positioning is smaller than the threshold value α equal to the frequency of the program 2. 小于等于频率阈值α 2的范围是根据未满频率系列F1、F2、以及F3的频率间隔的阈值而预先规定。 Less than equal to the frequency range threshold α 2 is less than the frequency range according to F1, F2, F3 and a threshold frequency interval specified in advance. 如上所述,如频率间隔为50赫兹(Hz),则频率阈值α 2诸如为30赫兹(Hz)。 As described above, as the frequency interval is 50 Hz (Hz), the frequency threshold value α 2 such as a 30 hertz (Hz).

[0338] 上述的频率评价程序2120及控制部2100是频率差评价部的一例。 [0338] The frequency evaluation program 2120 and the control section 2100 exemplify a frequency difference evaluation section. 而且,小于等于频率阈值α 2的范围是预先规定的频率差容许范围内的一例。 Further, a frequency less exemplifies a frequency difference allowable range of the range of the threshold value α 2 is predetermined. [0339] 控制部2100关于在当前测量信息2160中示出的全部的码相位CPBlla等(参照图25)进行上述的判断。 [0339] Control unit 2100 about the current measurement information 2160 shown in all code phase CPBlla like (see FIG. 25) of the above-described determination. 例如、判断关于GPS卫星12a的当前的频率fBlla和上次的频率fBOla的频率差是否小于等于频率阈值α 2。 For example, determining the current frequency of the GPS satellite 12a fBlla on the frequency and the last frequency difference fBOla frequency equal to the threshold value is smaller than α 2. 同样,判断频率fBUa和频率fB02a的频率差是否小于等于频率阈值α 2,判断频率fB13a和频率fB03a的频率差是否小于等于频率阈值α 2。 Similarly, the frequency difference determination and the frequency fBUa fB02a frequency equal to the frequency is less than the threshold value α 2, and the frequency difference is determined frequency fB13a fB03a frequency equal to the frequency is less than the threshold value α 2. 同样,对GPS卫星12b至12f进行同样的频率判断。 Similarly, the GPS satellites 12b to 12f is determined for the same frequency.

[0340] 当频率差不小于等于频率阈值α 2时,终端2020在定位中不使用对应的码相位CPBlla等。 [0340] When the frequency is equal to the frequency difference is not less than the threshold value α 2, the terminal 2020 does not use the corresponding code in the positioning phase CPBlla like. 也就是说,频率评价程序2120和控制部2100是相位排除部的一例。 That is, the frequency evaluation program 2120 and the control section 2100 exemplify a phase exclusion section.

[0341] 如图22所示,终端2020在第一存储部2110中存储有预测码相位程序2122。 [0341] 22, the terminal 2020 has estimated code phase program 2122 in the first storage unit 2110 stores. 预测码相位程序2122是控制部2100基于上次定位时的码相位CPB0、电波Sl等的多普勒偏移以及上次定位时开始的时间经过dt,用于预测了当前的相位计算出预测码相位CPBe的程序。 The estimated code phase program 2122 is a control unit 2100 based on the start time code for the last time the positioning phase CPB0, Sl wave Doppler shift and the like after the last positioning dt, the current prediction for the estimated code phase calculation CPBe phase procedure. 预测码相位CPBe是预测相位的一例。 CPBe is an example of estimated code phase prediction phase. 预测码相位程序2122和控制部2100是预测相位计算部的一例。 The estimated code phase program 2122 and the control section 2100 exemplify an estimated phase calculation section. 关于各个GPS卫星12a等的关于各个频率系列Fl至F3,控制部2100分别计算出预测码相位。 About each of the GPS satellites 12a and the like on respective frequency series Fl to F3, the control unit 2100 calculates the estimated code phase.

[0342] 而且,预测码相位CPBe被换算为距离。 [0342] Moreover, the predicted code phase is converted into distance CPBe.

[0343] 图27是预测码相位程序2122的说明图。 [0343] FIG 27 is an estimated code phase program 2122. FIG.

[0344] 如图27所示,控制部2100诸如根据公式2计算出预测码相位CPBe。 [0344] As shown in FIG. 27, the control section 2100 calculates the estimated code phase, such as a CPBe according to Equation 2.

[0345] 如公式2所示,控制部2100诸如通过从上次定位时的码相位CPBO中减去上次定位时开始的经过时间dt乘以GPS卫星1¾和终端2020的相对移动速度的值,计算出预测码相位CPBe。 [0345] As shown in Equation 2, the control unit 2100, such as a value obtained by multiplying the relative moving velocity dt GPS satellite and the terminal 2020 1¾ by subtracting the elapsed time from the last time the positioning code phase CPBO during the preceding positioning, calculates the estimated code phase CPBe.

[0346] 而且,在公式2中,预测码相位CPBe、上次码相位CPBO被换算为距离。 [0346] Further, in Equation 2, the estimated code phase CPBe, CPBO last code phase is converted into distance.

[0347] 在这里,电波Sl以光速传播。 [0347] Here, the radio wave propagation speed of light Sl. 因此,通过用电波Sl等的发送频率Hl除光速,能够计算出对应多普勒偏移1赫兹(Hz)的概略的速度。 Accordingly, by transmitting a radio wave with a frequency Hl Sl like the speed of light, it can be calculated corresponding to a Doppler shift schematic Hertz (Hz) the speed of the addition. 也就是说,多普勒偏移加(+)1赫兹(Hz)意味着GPS卫星12a以秒速0. 19米(m/s)接近终端2020。 That is, the Doppler shift plus (+) 1 hertz (Hz) GPS satellite 12a to second speed of 0.19 meters (m / s) close to the terminal 2020. 因此,预测码相位CPBe比上次定位时的码相位CPBO变短。 Thus, when the code phase estimated code phase CPBO CPBe shorter than the previous positioning. 在这里,多普勒偏移诸如为上次定位时的频率fBO和发送频率Hl之间的差分。 Here, such as a Doppler shift difference between the transmission frequency and the frequency fBO Hl during the preceding positioning.

[0348] 针对于此,多普勒偏移减(_) 1赫兹(Hz)意味着GPS卫星12a以秒速0. 19米(m/ s)远离终端2020。 [0348] In light of this, when the Doppler shift (_) 1 hertz (Hz) GPS satellite 12a to second speed of 0.19 meters (m / s) remote from the terminal 2020. 因此,预测码相位CPBe比上次定位时的码相位CPBO变长。 Therefore, the estimated code phase when the code phase positioned CPBO CPBe last time becomes long.

[0349] 而且,公式2在上次定位时开始的经过时间为短时间的条件下成立。 [0349] Moreover, the formula 2 starting at the last positioning elapsed time under the conditions established for the short period of time. 换句话说,公式2限于在图表上把码相位和时间经过的关系作为直线示出下成立。 In other words, Equation 2 is limited in relation to the chart on the code phase and the elapsed time established as the straight line shown.

[0350] 此外,不同于第二实施例,可以将上次定位时的频率fBO和发送频率Hl的差分与当前定位时的频率fBl和发送频率Hl的差分的平均值,视为多普勒偏移。 [0350] Further, the second embodiment differs from the average difference may be fBl frequency and the transmission frequency at the difference frequency of Hl fBO Hl and the transmission frequency during the preceding positioning and the current position, the Doppler considered partial shift. 基于此,能够进一步准确地计算出预测码相位CPBe。 Based on this, it is possible to further accurately calculate the estimated code phase CPBe.

[0351] 此外,不同于第二实施例,控制部2100可以使用上次定位时的码相位CPB0、而且是在相关处理结束时的码相位CPB0,计算出预测码相位CPBe。 [0351] Further, unlike the second embodiment, the control unit 2100 may use the code phase CPB0 during the preceding positioning, but at the end of a code phase CPB0 correlation processing, calculates the estimated code phase CPBe. 相关处理结束时的码相位CPBO由于通过累计抵消噪声,所以比相关处理开始时或在相关处理的过程中的码相位精度高,预测码相位CPBe的精度也高。 CPBO code phase noise cancellation since by accumulated, so at the beginning of the processing or the ratio dependent code phase high accuracy during the correlation process at the end of the correlation process, the accuracy of the estimated code phase CPBe is high.

[0352] 控制部2100把表示计算出的预测码相位CPBe的预测码相位信息2164存储到第二存储部2150中。 [0352] Control unit 2100 indicating the calculated estimated code phase CPBe predicted code phase information 2164 in the second storage section 2150. FIG.

[0353] 图28是表示预测码相位信息2164的一例的图。 [0353] FIG. 28 shows an example of estimated code phase information 2164. [0354] 如图观所示,预测码相位信息2164诸如表示关于GPS卫星1¾在频率系列Fl中的预测码相位CPBela、在频率系列F2中的预测码相位CPBeh、在频率系列F3中的预测码相位CPBe3a。 [0354] As shown in FIG concept, such as the estimated code phase information 2164 indicates estimated code 1¾ GPS satellite on the frequency range of the phase Fl CPBela, the estimated code phase of the frequency sequence F2 CPBeh, estimated code in the frequency sequence F3 phase CPBe3a. 同样,预测码相位信息2164表示关于GPS卫星12b至12f在各频率系列Fl 至F3中的预测码相位CPBelb等(未图示)。 Likewise, the estimated code phase information 2164 indicates estimated code on the GPS satellites in each frequency Fl to F3 in series 12b to 12f CPBelb phase (not shown).

[0355] 如图22所示,终端2020在第一存储部2110中存储有码相位评价程序2124。 As shown in [0355] 22, 2020 with a terminal code phase evaluation program 2124 in the first storage unit 2110. 码相位评价程序21M是控制部2100用于判断当前的码相位CPBl和预测码相位CPBe的码相位差是否小于等于码相位阈值β2(以下称为“阈值β 2”)的程序。 21M code phase evaluation program 2100 is a control unit for determining the current code phase and the predicted code phase CPBl CPBe whether a code phase difference equal to less than the code phase threshold value beta] 2 (hereinafter referred to as "threshold value β 2") procedure. 小于等于阈值β 2的范围是相位差容许范围内的一例。 Range smaller than the threshold value β 2 is an example of the phase difference allowable range. 码相位评价程序21Μ和控制部2100是相位差评价部的一例。 21Μ code phase evaluation program and the control section 2100 exemplify a phase difference evaluation section.

[0356] 控制部2100通过上述的频率评价程序2120,将对应判断小于等于阈值α 2的频率差分的码相位CPBl视为基于码相位评价程序21Μ的判断的对象。 [0356] The control section 2100 via the frequency evaluation program 2120, the code phases corresponding to less CPBl determined frequency difference threshold value α 2 is determined as an object based on the code phase evaluation program of 21Μ.

[0357] 此外,控制部2100基于码相位评价程序21Μ,对应各个GPS卫星12a等的各个频率系列Fl至F3,当码相位差小于等于阈值β 2时,将码相位差评价通过次数(以下称为“通过次数”)一个个相加。 [0357] Further, the control unit 2100 based on the code phase evaluation program 21Μ, the GPS satellites 12a and the like corresponding to each respective frequency Fl to F3 series, when the phase difference is less than two yards beta] equal to the threshold value, the code phase difference evaluated by the number of times (hereinafter referred to as "pass count") are added one by one. 而且,控制部2100对应各个GPS卫星1¾等的各个频率系列Fl至F3,当码相位差比阈值β 2大时,通过次数为0。 Further, the control unit 2100 and the like corresponding to the respective GPS satellites 1¾ respective frequency Fl to F3 series, when the code phase difference is large than the threshold value beta] 2, by the number zero.

[0358] 控制部2100将表示通过次数的码相位评价通过次数信息2166存储到第二存储部2150 中。 [0358] The control unit 2100 is represented by the number of the code phase evaluation pass count information 2166 in the second storage section 2150. FIG.

[0359] 如图22所示,终端2020在第一存储部2110中存储有码相位选择程序21沈。 [0359] 22, the terminal 2020 in the first storage unit 2110 has a code phase selection program 21 sink. 码相位选择程序21¾是控制部2100用于在对应小于等于上述的阈值β 2的码相位差的码相位CPBl中,对应各个GPS卫星1¾等选择码相位差最小的码相位CPBl视为选择码相位CPls 的程序。 21¾ code phase selection program 2100 is a control section for less than the corresponding threshold value equal to said phase difference β 2 code CPBl code phase in units of the GPS satellites and the like 1¾ selected code phase considered the minimum code phase selected code phase CPBl CPls program. 选择码相位CPls是选择相位的一例。 CPls selected code phase is a phase selected one case. 码相位选择程序21¾和控制部2100是相位选择部的一例。 21¾ code phase selection program and the control section 2100 exemplify a phase selection section.

[0360] 图四是码相位选择程序21¾的说明图。 [0360] Figure IV is a code phase selection program 21¾ explanatory FIG.

[0361] 如图四所示,控制部2100诸如计算出关于GPS卫星1¾在频率系列Fl中的码相位CPBlla和CPBela的差分的绝对值dCPBlla。 [0361] As shown in FIG four, such as the control unit 2100 calculates the absolute value of the GPS satellite dCPBlla about 1¾ CPBlla differential phase and frequency sequence Fl CPBela the code. 此外,控制部2100计算出在频率系列F2 中的码相位CPBUa和CPBda的差分的绝对值dCPBUa,以及在频率系列F3中的码相位CPB 13a和CPBe3a的差分的绝对值dCPB13a。 Further, the control unit 2100 calculates the frequency sequence F2 code the absolute value of the phase difference CPBUa dCPBUa and CPBda, and the frequency sequence F3 code phase difference absolute value dCPB13a CPB 13a and the CPBe3a.

[0362] 而且,如图四所示,在绝对值dCPBlla至绝对值dCPB13a中,当绝对值dCPBlla最小时,选择码相位CPBlla。 [0362] Further, as shown in FIG four in absolute value to the absolute value dCPB13a dCPBlla in dCPBlla when the absolute minimum, the selected code phase CPBlla.

[0363] 而且,控制部2100将码相位CPBlla视为选择码相位CPlsa。 [0363] Further, the control unit 2100 sets the code phase CPBlla regarded as the selected code phase CPlsa.

[0364] 控制部2100分别关于各个GPS卫星12a等进行上述的选择。 [0364] Control unit 2100 are the GPS satellites 12a and the like on the above-described selection.

[0365] 控制部2100将表示选择的选择码相位CPls的选择码相位信息2168存储到第二存储部2150中。 [0365] The control section 2100 indicating the selected code phase selection CPls selected code phase information 2168 in the second storage section 2150. FIG.

[0366] 图30是表示选择码相位信息2168的一例的图。 [0366] FIG. 30 is a diagram showing an example of selected code phase information 2168.

[0367] 选择码相位信息2168表示对应各个GPS卫星12a等在频率系列Fl至F3中的任一个中被计算出的码相位。 [0367] indicates the selected code phase information 2168 corresponding to the respective GPS satellites 12a and the like to the frequency sequence Fl code phase is calculated in any one of F3.

[0368] 如图22所示,终端2020在第一存储部2110中存储有选择码相位第一评价程序21观。 [0368], the terminal 2020 shown in Figure 22. Views in the first storage unit 2110 stores a selected code phase first evaluation program 21. 选择码相位第一评价程序21¾是控制部2100用于判断选择码相位CPlsa等的信号强度XPR是否最大的程序。 Selecting a first code phase evaluation program 2100 21¾ control unit for determining whether the selected code phase CPlsa like maximum signal strength XPR program. 选择码相位第一评价程序21¾和控制部2100是选择相位第一评价部的一例。 Selected code phase first evaluation program 2100 and the control section is 21¾ selective phase example of the first evaluation portion.

[0369] 具体地说,控制部2100对应各个GPS卫星1¾等,判断选择码相位CPlsa的XPR 在码相位CPBl等之中是否最大。 [0369] Specifically, the control unit 2100 and other units of the GPS satellites 1¾ determined XPR of the selected code phase CPlsa whether the maximum phase among CPBl like code.

[0370] 如图22所示,终端2020在第一存储部2110中存储有选择码相位第二评价程序2130。 [0370], the terminal 2020 in the first storage unit 2110 in FIG. 22 has the selected code phase second evaluation program 2130. 选择码相位第二评价程序2130是控制部2100用于判断上述的通过次数是否大于等于、次的程序。 Selected code phase second evaluation program 2130 is a control unit 2100 for judging whether the above number of times by greater than or equal, the program times. 、次诸如是3次,被预先规定。 , Such as a three times, specified in advance. 大于等于、次的范围是规定次数范围内的一例。 Or greater, it is an example of the range of times within a predetermined range of times. 选择码相位第二评价程序2130和控制部2100是选择相位第二评价部的一例。 Selected code phase second evaluation program 2130 and the control section 2100 exemplify a phase selection in the second evaluation portion.

[0371] 而且,通过次数只要码相位差小于等于阈值β 2不连续,则归0,所以通过次数大于等于、次意味着码相位连续小于等于阈值β2连续大于等于、次。 [0371] Further, by the number of long code phase difference is smaller than the threshold value β 2 is not continuous, is reset to 0, so by not less than the number, the code phase means a continuous time less than or equal to the threshold value β2 continuous, times.

[0372] 此外,选择码相位第二评价程序2130是控制部2100用于判断在累计时间中的XPR 的下降次数是否为预先规定诸如大于等于10次的程序。 [0372] In addition, the selected code phase second evaluation program 2130 is a control unit 2100 for judging whether the accumulated number of times the signal strength XPR decreased for a predetermined time such as greater than or equal to 10 times the program.

[0373] 具体地说,控制部2100根据上述的选择码相位第一评价程序21¾当判断选择码相位CPlsa等的信号强度XPR不是最大时,进行根据选择码相位第二评价程序2130的判断。 [0373] Specifically, the control unit 2100 based on the selected code phase first evaluation program 21¾ XPR not maximum when the selected code phase is determined such CPlsa signal strength, the determination in accordance with the selected code phase second evaluation program 2130.

[0374] 图31A至31C是选择码相位第二评价程序2130的说明图。 [0374] FIGS. 31A to 31C is the selected code phase second evaluation program 2130 is described in FIG.

[0375] 如图31A所示,假如将累计时间视为16秒(s),则在16秒(s)经过时间(累计结束时)中的XI3R为最大。 [0375] As shown in FIG 31A, if the accumulation time considered 16 seconds (s), then 16 seconds (s) elapsed time (accumulation end time) of the maximum XI3R. 这是因为噪声相互抵消而累计C/A码。 This is because the noise cancel each other and the cumulative C / A code. 在该累计结束时的码相位 At the end of the code phase accumulated

可靠性高。 High reliability.

[0376] 而且,在理论上XPR从累计开始时到累计结束时逐渐变大。 [0376] Further, when the accumulated gradually increases at the end of the accumulation start XPR theoretically.

[0377] 不过,实际上,如在图31B中所示,存在在累计开始之后不久XPR降低的情况。 [0377] However, in practice, as shown in FIG. 31B, there is a case shortly after the integration start XPR reduced. 因此,不能准确地计算出码相位。 Thus, the code can not be accurately calculated phase.

[0378] 而且,如图31C所示,当终端2020接收到的信号为噪声(伪信号)时,即使到累计结束时XI3R也不变大。 [0378] Further, as shown in FIG 31C, when the terminal receives the signal 2020 is noise (false signal), even when the total end XI3R also become large. 因此,很难计算出码相位。 Thus, it is difficult to calculate the code phase.

[0379] 这样,接收到的电波不论是搭载C/A码的电波还是搭载噪声的电波,都往往存在累计开始之后不久XPR较小,且XPR有下降的情况,因此,当接收到的电波为搭载C/A码的电波时,随着经过累计时间XI3R变大。 [0379] Thus, whether the received radio waves carrying C / A code or noise electric wave is mounted, often there are small XPR shortly after the integration start, and where XPR has lowered, and therefore, when a radio wave is received when mounted on the radio wave C / a code, as the elapsed accumulation time increases XI3R.

[0380] 因此,从累计开始经过适当程度的时间之后,当码相位差小于等于阈值β 2的状态继续时,可以认为接收到的信号不是噪声。 [0380] Thus, the integration start after appropriate amount of time, when the code phase difference is less than the threshold value β is equal to 2 when the state continues to be that the received signal is not noise.

[0381] 另外,当从累计时间开始即使持续适当程度的时间也发生XPR的降低时,可以认为接收的信号为噪声。 [0381] Further, when the elapsed time from the start for a suitable amount of time even if the XPR reduction also occurred, the received signal can be considered as noise. 换言之,当从累计时间开始继续适当程度的时间之后没有发生XPR 的降低时,这就意味着可以认为接收到的信号不是噪声。 In other words, when the lower XPR did not happen after the start time from continuing an appropriate level of cumulative time, which means that you can consider the received signal is not noise.

[0382] 因此,在终端2020中,以码相位差小于等于β 2的状态是否继续和XPR的降低是否连续,作为用于判断接收到的信号是否为噪声的基准。 If [0382] Thus, in the terminal 2020 to code phase difference β 2 or less and a reduced state continued reference XPR are continuous, as the received signal for determining whether the noise.

[0383] 如图22所示,终端2020在第一存储部2110中存储有定位程序2132。 [0383] As shown, the terminal 2020 in the first storage unit stores a positioning program 2110 213222. 定位程序2132是控制部2100在根据选择码相位第一评价程序21¾或选择码相位第二评价程序2130的判断结果为肯定时,用于把选择码相位CPls视为定位使用码相CPBlf位对当前位置进行定位的程序。 Positioning program 2132 is a control unit 2100 according to the determination result when the selected code phase first evaluation program 21¾ or the selected code phase second evaluation program 2130 is positive, is used to select as the positioning code phase CPls bits of the current code phase CPBlf location positioning program. 也就是说,定位程序2132和控制部2100是定位部的一例。 That is, the positioning program 2132 and the control section 2100 exemplify a positioning section.

[0384] 例如、当选择码相位CPlsa的XPR为最大时,控制部2100把其选择码相位CPlsa 视为定位使用码相位CPBlfa。 [0384] For example, when the selected code phase CPlsa signal strength XPR is maximum, the control unit 2100 which selects the code phase as the positioning code phase CPlsa CPBlfa. [0385] 即使选择码相位CPlsa的XPR不是最大时,但当码相位评价通过次数大于等于Y 次、且XPR的下降不足10次时,控制部2100也将选择码相位CPlsa视为定位使用码相位CPBlfa。 [0385] Even if not maximum code phase CPlsa XPR selected, but when the code phase evaluation pass number is greater than equal to Y times, and 10 times less than the XPR lowered, the control section 2100 will be selected as the positioning code phase code phase CPlsa CPBlfa.

[0386] 针对于此,控制部2100在选择码相位CPlsa的XPR不是最大的情况下,当码相位评价通过次数不足Y次或XI3R的下降大于等于10次时,将在除选择码相位CPlsa (码相位CPB1 la)之外的码相位CPB12a及CPB13a中的XPR大的一方,视为定位使用码相位CPB1 fa。 [0386] In light of this, the control unit 2100 in the case where XPR is not the maximum CPlsa selected code phase when the code phase evaluation frequency decreased by less than Y times or 10 times greater than XI3R equal, in addition to the selected code phase CPlsa ( code code phase CPB1 la) larger than the XPR phase and CPB13a in one CPB12a, as the positioning code phase CPB1 fa.

[0387] 控制部2100将表示确定的定位使用码相位CPBlf的定位使用码相位信息2170存储到第二存储部2150中。 [0387] The control section 2100 indicating the determined positioning code phase CPBlf using the positioning code phase information 2170 in the second storage section 2150. FIG.

[0388] 图32是表示定位使用码相位信息2170的一例的图。 [0388] FIG. 32 is a diagram illustrating an example of using the positioning code phase information 2170.

[0389] 如图32所示,定位使用码相位信息2170是表示分别对应诸如GPS卫星12a、12b、 12c以及12d的定位使用码相位CPBlfa、CPBlfb, CPBlfc以及CPBlfd的信息。 [0389] As shown in FIG. 32, the positioning code phase information 2170 is represented as corresponding GPS satellite 12a, 12b, 12c and 12d of the positioning code phase information CPBlfa, CPBlfb, CPBlfc and the CPBlfd.

[0390] 控制部2100使用定位使用码相位信息2170表示的定位使用码相位CPBlfa、 CPBlfb、CPBlfc以及CPBlfd,计算出当前位置Q1。 [0390] The control section 2100 using the positioning code phase information 2170 indicates the positioning code phase CPBlfa, CPBlfb, CPBlfc and CPBlfd, calculate the current position Q1.

[0391] 控制部2100将表示计算出的定位位置QBl的定位位置信息2172存储到第二存储部2150中。 [0391] The control section 2100 indicating the calculated position location position location QBl information 2172 in the second storage section 2150. FIG.

[0392] 如图22所示,终端2020在第一存储部2110中存储有定位位置输出程序2134。 [0392] 22, a positioning terminal position output program 2020 in the first storage unit 2134 stores 2110. 定位位置输出程序2134是控制部2100用于在显示装置2034(参照图20)上显示定位位置QBl的程序。 Localization position output program 2134 is a control unit 2100 for the position location procedure QBl displayed (refer to FIG. 20) in the display device 2034.

[0393] 终端2020如上述构成。 [0393] The terminal 2020 configured as described above.

[0394] 终端2020能够判断码相位差是否小于等于阈值β 2。 [0394] The terminal 2020 can be determined whether the code phase difference is smaller than the threshold value β 2. 也就是说,终端2020能够验证码相位CPBl的精度。 That is, the terminal 2020 can verify the accuracy of the code phase CPBl.

[0395] 此外,终端2020能够在对应码相位差小于等于阈值β 2的码相位差的码相位CPBl 中,将选择对应各个GPS卫星1¾等码相位差最小的码相位CPB1,视为选择码相位CPls。 [0395] In addition, terminal 2020 can be in the corresponding code phase difference is smaller than the threshold value β code phase difference in code phase CPBl 2, each of the GPS satellites corresponding to the selected code phase 1¾ like minimum code phase CPB1, considered as the selected code phase CPls. 由于选择码相位CPls是码相位差最小的码相位,所以比其他频率系列的码相位CPBl精度 Since the selected code phase CPls code phase is the smallest code phase, the phase CPBl accuracy than other frequencies of the series code

尚ο Ο yet

[0396] 并且,终端2020能够判断选择码相位CPls的信号强度XPR是否最大。 [0396] In addition, terminal 2020 can select the code phase determines the signal strength XPR CPls whether the maximum. 如选择码相位CPls的XPR是最大,则能理解选择码相位CPls保证比其他的码相位CPBl精度高。 The selected code phase CPls signal strength XPR is maximum, then the selected code phase can be appreciated CPBl CPls ensure high accuracy of the phase other than the code.

[0397] 而且,当根据选择码相位第一评价程序21¾的判断结果为肯定的情况下,终端2020能够把选择码相位CPls视为定位使用码相位CPBlf,对当前位置进行定位。 [0397] Further, when the judgment result according to the selected code phase first evaluation program 21¾ is affirmative, the terminal 2020 can select the code phase CPls as the positioning code phase CPBlf, to locate the present position.

[0398] 基于此,终端2020能够在电波强度为微弱电场下,在验证定位基本码的相位的精度之后,精度良好地进行定位。 [0398] Based on this, the terminal 2020 can be in a weak electric field intensity of the radio wave, after verifying the accuracy of the positioning base code phase, accurately positioned.

[0399] 此外,终端2020包括选择码相位第二评价程序2130,所以当选择码相位CPls所属的频率系列Fl至F3中的码相位连续小于等于阈值β 2次数大于等于3次时,能够使用选择码相位CPls对当前位置进行定位。 [0399] Further, the terminal 2020 includes the selected code phase second evaluation program 2130, so when the frequency sequence Fl selected code phase CPls belongs to the code phase F3 is continuously less than the threshold value β is equal to 3 times 2 times or greater, can be used to select code phase CPls to locate the present position.

[0400] 选择码相位CPls所属的频率系列Fl等中的码相位,连续小于等于阈值β 2次数大于等于3次就是意味着选择码相位CPls所属的频率系列Fl等中的码相位,比在其他的频率系列中的码相位精度高。 Code phase [0400] selected code phase CPls relevant frequency range Fl and the like, the continuous smaller than the threshold value β 2 times is greater than or equal to 3 times that means that the selected code phase code phase CPls relevant frequency range Fl and the like, than in other code phase high precision frequency series.

[0401] 基于此,即使根据选择码相位评价程序21¾的判断结果为否定的情况下,终端2020也能够使用精度高的码相位进行定位。 [0401] Based on this, even if the judgment result according to the selected code phase evaluation program 21¾ is negative, the terminal 2020 can be used for high precision positioning code phase. [0402] 另外,终端2020能够从定位中排除对应频率阈值α 2以内的范围之外的频率fBl 的码相位CPBl。 [0402] In addition, terminal 2020 can exclude the code phase CPBl fBl frequency outside the range of the corresponding frequency less than the threshold value α 2 from the positioning.

[0403] 这意味着终端2020不仅能够验证C/A码的码相位CPBl的精度,也能够验证计算出码相位CPBl时的接收频率fBl的精度。 [0403] This means that the terminal 2020 can verify not only the accuracy of the code phase CPBL the C / A code, it is possible to verify the accuracy of the reception frequency when calculating the fBl code phase CPBl.

[0404] 基于此,在信号强度微弱电场下,终端2020能够在验证定位基本码的码相位的精度之后,进一步精度良好地进行定位。 After [0404] Based on this, a weak electric field signal strength at the terminal 2020 can verify the accuracy of the code phase of the positioning base code, be further accurately positioned.

[0405] 以上是第二实施例涉及的终端2020的构成,但下面使用图33主要对其动作例进行说明。 [0405] The above is configuration embodiment of a terminal according to the second embodiment 2020, but below using FIG 33 mainly its operation will be described.

[0406] 图33是表示终端2020的动作例的概略流程图。 [0406] FIG. 33 is a schematic flowchart showing an operation example of the terminal 2020.

[0407] 首先,终端2020接收电波Sl等,计算出测量(图33的步骤S201)。 [0407] First, the terminal 2020 receives radio waves Sl and the like, the measurement is calculated (step 33 of FIG S201). 该步骤S201 是相位计算步骤的一例。 Step S201 is an example of a phase calculation step.

[0408] 接着,终端2020保存测量(步骤S202)。 [0408] Next, save the measurement terminal 2020 (step S202).

[0409] 接着,终端2020判断当前频率fBl和上次频率fBO的频率差分的绝对值是否小于等于频率阈值α 2 (步骤S203)。 [0409] Next, the terminal 2020 determines whether the current absolute value of the difference frequency and the last frequency fBl fBO frequency equal to the frequency is less than the threshold α 2 (step S203).

[0410] 在步骤S203中,终端2020在定位中不使用对应判断为不是小于等于频率阈值α 2 的频率差分的码相位CPBl (步骤S211)。 [0410] In step S203, the terminal 2020 does not use the corresponding positioning is determined not equal to the frequency difference is less than the threshold value α 2 is CPBL code phase (step S211).

[0411] 针对于此,在步骤S203中,关于对应判断小于等于频率阈值α 2的频率差分的码相位CPB1,对应计算出预测码相位CPBe (步骤S204)。 [0411] For this, in step S203, the determination regarding a corresponding frequency equal to the frequency difference is less than the threshold value α 2 of the code phase CPB1, the corresponding predicted code phase CPBe calculated (step S204). 该步骤S204是预测相位计算步骤的一例。 This step S204 is an example of an estimated phase calculation step.

[0412] 接着,终端2020判断码相位CPBl和预测码相位CPBe的码相位差的绝对值是否小于等于阈值β 2 (步骤S2(^)。该步骤S205是相位评价步骤的一例。 [0412] Next, the terminal 2020 determines whether the absolute value of the code phase of the code phase and the predicted code phase CPBe CPBl is less than equal to the threshold value β 2 (step S2 (^). This step S205 is an example of a phase evaluation step.

[0413] 在步骤S205中,终端2020在定位中不使用对应判断不是小于等于阈值β 2的码相位差的码相位CPBl (步骤S211)。 [0413] In step S205, the terminal 2020 is not used in the positioning is determined corresponding to not less than the code phase difference equal to a threshold β phase CPBL code 2 (step S211).

[0414] 针对于此,在步骤S205中,终端2020关于对应判断不是小于等于阈值β 2的码相位差的码相位CPB1,对应各个GPS卫星1¾等,将选择对应最小的码相位差的码相位CPB1, 视为选择码相位CPls (步骤S206)。 [0414] For this, in step S205, the terminal 2020 is determined corresponding to about less than the threshold value β 2 code code phase CPB1 of the phase difference, corresponding to the respective GPS satellites 1¾ the like, the selected code phase corresponding to the minimum code phase CPB1, the selected code phase cPLS considered (step S206). 该步骤S206是相位选择步骤的一例。 This step S206 is an example of a phase selection step.

[0415] 接着,终端2020确定定位使用码相位CPBlf (步骤S207)。 [0415] Next, the terminal 2020 determines the positioning code phase CPBlf (step S207).

[0416] 在这里,使用图34把在GPS卫星12a的定位系列Fl中的选择码相位CPlsa确定是否在定位中使用的情况为例,对步骤S207进行详细说明。 [0416] Here, FIG 34 GPS satellites in series Fl 12a in the selected code phase CPlsa determine if this is used for positioning in an example, step S207 described in detail.

[0417] 图34是表示步骤S207的详细的流程图。 [0417] FIG. 34 is a detailed flowchart of step S207.

[0418] 首先。 [0418] first. 终端2020判断选择码相位CPlsa的XPR是否最大(图34的步骤S221)。 The terminal 2020 determines the selected code phase CPlsa whether the maximum signal strength XPR (FIG. 34 step S221). 该步骤S221是选择相位第一评价步骤的一例。 The step S221 is to select the one case phase first evaluation step.

[0419] 当在步骤S221中的判断为肯定的时,终端2020把选择码相位CPlsa确定为定位使用码相位CPBlfa (步骤S224)。 [0419] When it is determined in step S221 is affirmative, the terminal 2020 determines the selected code phase CPlsa code phase CPBlfa (step S224) to be positioned.

[0420] 针对于此,当在步骤S221中的评价为否定的时,终端2020判断在频率系列Fl中的码相位评价的通过次数是否大于等于3次(步骤S22》。该步骤S222是选择相位第二评价步骤的一例。 [0420] In light of this, if the number of times when the code phase evaluation by the evaluation in step S221 is negative, the terminal 2020 determines the frequency sequence Fl is greater than or equal to 3 times (step S22. "The step S222 is to select the phase evaluation example of the second step.

[0421] 当在步骤S222中的判断为肯定的时,终端2020判断频率系列Fl的XI3R下降次数是否不足10次(步骤S223)。 [0421] When it is determined in step S222 is affirmative, the terminal 2020 determines the frequency range of Fl is insufficient XI3R fall times 10 times (step S223). [0422] 在步骤S223中,当判断频率系列Fl的XPR下降次数不足10次时,终端2020将选择码相位CPlsa确定为定位使用码相位CPBlfa (步骤S2M)。 [0422] In step S223, when it is determined XPR series of frequency Fl is less than 10 times the number of drops, the terminal 2020 determines the selected code phase CPlsa code phase CPBlfa (step S2M,) to be positioned.

[0423] 针对于此,当判断在步骤S222中的评价为否定的时、或在步骤S223中频率系列Fl 的XPR下降次数不是不足10次时,终端2020把在CPlh或CP 13a中的XPR最大的码相位, 确定为定位使用码相位CPBlfa (步骤S225)。 [0423] In light of this, when it is determined in step S222, the evaluation is negative, at step S223, or XPR series of frequency Fl fall times are not less than 10 times, the terminal 2020 or CP 13a XPR in CPlh maximum code phase, code phase is determined CPBlfa (step S225) to be positioned.

[0424] 终端2020对应各个GPS卫星1¾等执行上述的各步骤S221至步骤S225。 [0424] The terminal 2020 and the like corresponding to the respective GPS satellites 1¾ perform each of the above step S221 to step S225.

[0425] 接着,终端2020判断定位使用码相位CPBlf是否大于等于3个(步骤S208)。 [0425] Next, the terminal 2020 determines the positioning code phases if three or more CPBlf (step S208).

[0426] 在步骤S208中,当终端2020判断定位使用码相位CPBlf不足3个时,由于不能定位,所以不必定位就结束。 [0426] In step S208, when the terminal 2020 determines the positioning code phase CPBlf less than three, because it is not positioned, it is not necessary to end the positioning.

[0427] 针对于此,在步骤S206中,当终端2020判断定位使用码相位CPBlf大于等于3个时,使用定位使用码相位CPBlf进行定位(步骤S209)。 [0427] For this, in step S206, when the terminal 2020 determines the positioning code phase equal CPBlf than 3, using the positioning code phase CPBlf positioning (step S209). 该步骤S209是定位步骤的一例。 The step S209 exemplifies a positioning step.

[0428] 接着,终端2020输出定位位置QBl (参照图2¾ (步骤S210)。 [0428] Next, the output terminal 2020 QBL localization position (see FIG 2¾ (step S210).

[0429] 通过上述步骤,在信号强度微弱电场下,终端2020能够在验证定位基本码的相位的精度之后,精度良好地进行定位。 After [0429] Through the above steps, the signal intensity at a weak electric field, the terminal 2020 can verify the positioning accuracy of the phase of the basic code, accurately positioned.

[0430][第三实施例] [0430] [Third Embodiment]

[0431] 图35是表示第三实施例的终端3020等的概略图。 [0431] FIG. 35 is a schematic view showing an example of the terminal 3020 like the third embodiment.

[0432] 如图35所示,终端3020能够从定位卫星例如、GPS卫星12a、12b、12c、12d、12e、 12f、12g以及12h,接收电波S1、S2、S3、S4、S5、S6、S7以及S8。 [0432] As illustrated, terminal 3020 from a positioning satellite 35 can, for example, GPS satellites 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h, received radio waves S1, S2, S3, S4, S5, S6, S7 and S8. GPS卫星1¾等是通信源的一例。 GPS is an example of a communication satellite 1¾ other sources. 而且,通信源也可以是SPSGatellite Positioning System :卫星定位系统)卫星, 不限于GPS卫星。 Further, the communication may be a source SPSGatellite Positioning System: Satellite Positioning System) satellite, is not limited to the GPS satellite.

[0433] 在电波Sl等上搭载各种的码(代码)。 [0433] Various mounting code (codes) in radio Sl like. 其中的一个是C/A码ka。 Which is a C / A code ka. 该C/A码Sca 是1. 023Mbps的位率、1023bit( = lmsec)的位长的信号。 The C / A code Sca is 1. 023Mbps bit rate, 1023bit (= lmsec) bit long signal. C/A码Sca由1023片(chip :码片、码元)构成。 C / A code Sca includes 1023: constituting (chip chips, symbols). 终端3020是定位当前位置的定位装置的一例,利用该C/A码对当前位置进行定位。 The terminal 3020 exemplifies a positioning device positioning a current position using the C / A code to locate the present position. 该C/A码Sca是定位基本码的一例。 The C / A code Sca is an example of the positioning base code.

[0434] 此外,作为搭载在电波Sl等上的信息,有概略星历Sal及精密星历kh。 [0434] Further, as the information on the mounted radio Sl or the like, an almanac Sal and precision ephemeris kh. 概略星历Sal是表示全部的GPS卫星1¾等的概略的卫星轨道的信息,精密星历Seh是表示各个GPS 卫星1¾等的精密的卫星轨道的信息。 Almanac Sal is information indicating satellite orbits of all GPS satellites outline 1¾ like, ephemeris Seh is information of each GPS satellite 1¾ such precise satellite orbit. 将概略星历Sal和精密星历Seh统称为导航信息。 The almanac Sal and the ephemeris Seh are collectively referred to as navigation information.

[0435] 终端3020能够指定诸如大于等于3个的不同的GPS卫星1¾等发送的C/A码的相位,对当前位置进行定位。 Phase [0435] The terminal 3020 can specify, such as three or more different GPS satellites transmitted 1¾ like C / A code, to locate the present position.

[0436] 图36是表示定位方法的一例的概念图。 [0436] FIG. 36 is a conceptual diagram showing an example of a positioning method.

[0437] 如图36所示,例如、能够理解为C/A码在GPS卫星12a和终端2020之间连续地排列。 [0437] As shown in FIG 36, for example, can be understood as C / A codes continuously line up between the GPS satellite 12a and the 2020 terminal. 而且,GPS卫星1¾和终端3020之间的距离不限于C/A码的长度(300千米(km))的整数倍,所以存在码余数部分C/Aa。 Further, the distance between the GPS satellite and the terminal 3020 is not limited to 1¾ C / A code length (300km (km)) of an integral multiple, there code fraction C / Aa. 就是说,在GPS卫星1¾和终端3020之间存在C/A码的整数倍的部分和余数部分。 That is, the presence of C / A code between the GPS satellite and the terminal 3020 1¾ integral multiple portions and a remainder portion. C/A码的整数倍的部分和余数部分的合计的长度为伪距。 The total length of the portion and the remainder portion of the number of an integral multiple of the C / A code is a pseudo-range. 终端3020利用关于大于等于3个的GPS卫星1¾等的伪距进行定位。 Using a pseudo terminal 3020 on three or more GPS satellites and the like from 1¾ positioning.

[0438] 在本实施例中,把C/A码的余数部分C/Aa称为码相位。 [0438] In the present embodiment, the fraction portion C C / A code / Aa called code phase. 码相位例如、既可以用C/ A码1032的某片的第多少片表示,也可以换算为距离表示。 Code phase number of the chip, for example, may be a sheet with a C / A code representation 1032 may be converted into distance. 当计算出伪距时,把码相位换算为距离。 When calculating the pseudo-range, the code phase is converted into distance.

[0439] 利用精密星历Seh可以计算出GPS卫星1¾在轨道上的位置。 [0439] using the ephemeris Seh can calculate the position of the GPS satellites in orbit 1¾. 而且,诸如根据计算出GPS卫星1¾在轨道上的位置和后述的初始位置QCO之间的距离,能够确定C/A码的整数倍的部分。 Further, as the distance between the initial position of the GPS satellite 1¾ QCO calculated position on the track and to be described later, it is possible to determine an integer multiple of the C / A code portion. 并且,由于C/A码的长度为300千米(km),所以初始位置QCO的位置误差需在150千米(km)以内。 Further, since the length of the C / A code is 300km (km), so that the position error is within an initial position in QCO need 150km (km).

[0440] 而且,如图36所示,诸如一边复制C/A码的相位向箭头Xl方向移动,一边进行相关处理。 [0440] Further, as shown in Figure 36, such as a copying phase while C / A code is moved in the direction of the arrow Xl, while the correlation process. 这时,终端3020 —边改变同步用频率一边进行相关处理。 At this time, terminal 3020 - Edge while changing the synchronization frequency correlation process. 该相关处理由后述的相干处理和非相干处理构成。 The correlation process includes a coherent process described later and constitute a non-coherent processing.

[0441] 相关累计值成为最大的相位为码余数C/Aa。 [0441] the maximum correlation cumulative value becomes a phase of the code fraction C / Aa.

[0442] 并且,可以与第三实施例不同,终端3020诸如利用便携式电话机的通信基站发送的电波进行定位。 [0442] and may be different from the third embodiment, the communication terminal 3020 via radio waves such as a portable telephone base station positioning transmitted. 此外,与第三实施例不同,终端3020也可以从LAN (Local Area Network : 局域网)接收电波进行定位。 Further, the third embodiment is different from the terminal 3020 may LAN: receiving a radio wave for positioning (Local Area Network LAN).

[0443] 图37是相关处理的说明图。 [0443] FIG. 37 is a diagram illustrating the correlation process.

[0444] 相干是取得终端3020接收的C/A码和复制C/A码之间的相关的处理。 [0444] Coherent terminal 3020 is to obtain the received C / A code replica correlation processing between the C / A code. 复制C/A 码是终端3020产生的代码。 Copy C / A code is the code generated by the terminal 3020. 复制C/A码是复制定位基本码的一例。 Copy C / A code is an example of the positioning base code copy.

[0445] 例如、如图37所示,如相干时间为10msec,则计算出在IOmsec时间内同步累计的C/A码和复制C/A码之间的相关值等。 [0445] For example, as shown in FIG. 37, as the coherent time is 10msec, the calculated time synchronization within IOmsec accumulated C / A code replica and the correlation value between the C A code / and the like. 作为相干处理的结果、输出取得相关的相位(码相位)和相关值。 As a result of the coherent process, to obtain the relevant output of the phase (code phase) and the correlation value.

[0446] 非相干是通过累计相干结果的相关值计算出相关累计值(非相干值)的处理。 [0446] incoherent process is calculated correlation cumulative value (incoherent value) by the accumulated correlation values ​​as the coherent results.

[0447] 作为相关处理的结果,输出在相干处理中被输出的码相位和相关累计值。 [0447] As a result of the correlation process, the correlation cumulative value and the code phase output by the coherent process is outputted.

[0448] 图38是表示相关累计值和码相位的关系的一例的图。 [0448] FIG. 38 shows an example of the relationship between the correlation cumulative value and the code phase.

[0449] 对应图38的相关累计值的最大值Pmax的码相位CPl为复制C/A码的码相位、即C/A码的码相位。 [0449] code phases corresponding to the maximum value Pmax of the correlation cumulative CPl value FIG 38 is replicated C / A code of the code phase, i.e. the phase of the code C / A code.

[0450] 而且,终端3020诸如在从码相位CPl距离二分之一片的码相位中,把相关累计值小的一方的相关累计值视为噪声的相关累计值Pnoise。 [0450] Further, the terminal 3020 such as the distance from the phase CPl code phase of the code in one-half, the correlation accumulated value is smaller correlation cumulative value of one of the considered correlation cumulative value Pnoise of noise.

[0451] 终端3020把Pmax和Pnoise的差分除以Pmax的值规定作为信号强度XPR。 [0451] 3020 Pmax and Pnoise differential value obtained by dividing a predetermined terminal Pmax as a signal strength XPR. 信号强度XPR是信号强度的一例。 Signal strength XPR exemplifies a signal strength.

[0452] 而且,例如、当XPR大于等于0. 2时,终端3020将码相位CPl视为在定位中使用的码相位的候补。 [0452] Further, for example, when the signal strength XPR is 0.2, the terminal 3020 sets the code phase candidate code phase CPl considered for use in positioning. 以下,将该码相位称为“候补码相位”。 Hereinafter, the code phase is called a "candidate code phase." 候补码相位是在定位中使用的候补, 实际上终端3020不一定在定位中使用。 The candidate code phase is a candidate for use in positioning, and the terminal 3020 is not necessarily used in the positioning.

[0453] 图39及图40是表示候补码相位和时间经过等的关系的一例的图。 [0453] FIG. 39 and FIG. 40 shows an example of the relationship between the candidate code phase and the elapsed time and the like.

[0454] 例如、图39示出GPS卫星1¾正在接近终端3020的状态。 [0454] For example, FIG. 39 illustrates the GPS satellite approaches the terminal 3020 1¾ state.

[0455] 如GPS卫星12a正在接近终端3020,则由于GPS卫星1¾和终端3020之间的距离变短,所以候补码相位Cl在时间经过的同时接近于0。 [0455] The GPS satellite 12a approaches the terminal 3020, because the distance between the GPS satellite and the terminal 3020 1¾ is short, the candidate code phase Cl elapsed time while close to zero.

[0456] 此外,在时间经过的同时设定同步用频率Fl以变高。 [0456] Further, while the elapsed time is set to the synchronization becomes higher frequency Fl. 这是因为GPS卫星1¾正在接近终端3020通过产生的多普勒偏移,对应电波Sl到达终端3020时的到达频率变高。 This is because the GPS satellites 1¾ approaches the terminal 3020 produced by the Doppler shift of the arrival frequency corresponding to the radio wave Sl terminal 3020 becomes high.

[0457] 终端3020为了有效地与要改变的到达频率同步,如图40所示,例如、使用3个频率系列Fl、F2以及F3。 [0457] The terminal 3020 in order to effectively reach and frequency synchronization to be changed, as shown in FIG. 40, for example, the use of three series of frequencies Fl, F2 and F3. 频率系列Fl等是频率系列的一例。 Series frequency Fl and the like exemplify a frequency series. 频率系列Fl和F2偏离50赫兹(Hz)的频率宽度。 Fl and F2 frequency range offset from 50 Hertz (Hz) frequency width. 此外,频率系列Fl和F3也偏离50赫兹(Hz)的频率宽度。 In addition, the frequency Fl and F3 series deviate from 50 Hertz (Hz) frequency width. 预先设定50赫兹(Hz)的频率间隔。 Preset 50 Hertz (Hz) frequency interval. 也就是说,50赫兹(Hz)的频率间隔是频率间隔的一例。 That is, 50 Hertz (Hz) is an example of a frequency interval frequency interval. 该频率间隔是以未满终端3020在实施的相关处理中的频率搜索的步进间隔来被规定。 The step interval is less than the frequency interval is related to the terminal 3020 in the process of frequency search of the embodiment to be predetermined. 例如、如频率搜索的步进间隔为100赫兹(Hz)(参照图45B),则以不足100赫兹来规定。 For example, as the frequency search step interval is 100 Hertz (Hz) (see FIG. 45B), is less than 100 Hz to predetermined places.

[0458] 而且,频率系列Fl等可以是多个,与第三实施例不同,例如、可以大于等于4个。 [0458] Moreover, like frequency Fl may be a plurality of series, the third embodiment is different from, for example, greater than or equal to four.

[0459] 如图40所示,预测到达频率的多普勒偏移,各频率系列Fl等在时间经过的同时变化来设定。 [0459] As shown in FIG. 40, the predicted arrival frequency Doppler shift of the frequency sequences Fl like change in the passage of time is set.

[0460] 而且,各频率系列Fl等的任意一个应该精度最好地追随到达频率的多普勒偏移。 [0460] Moreover, any other frequency sequences Fl a best accuracy should follow the Doppler shift of the arrival frequency.

[0461] 在频率系列Fl中计算出码相位Cl。 [0461] The code phase calculated using the frequency sequence Fl of Cl. 并且,在频率系列F2中计算出码相位C2。 And calculate the frequency sequence F2 code phase C2. 并且,在频率系列F3中计算出码相位C3。 And calculate the frequency sequence F3 code phase C3.

[0462] 这样,并行计算出3个码相位Cl等,但能够假定在信号强度XPR最高的状态下被计算出的候补码相位可靠性最高。 [0462] Thus, parallel computing code phases out of three Cl, etc., but it can be assumed to be calculated at the highest signal strength XPR of the candidate code phase of the highest reliability.

[0463] 不过,XPR并不被维持最高的频率系列Fl等。 [0463] However, XPR are not maintaining the highest frequency Fl and other series. 例如、如图40所示,诸如在时间tl 和t2之间的期间在频率系列Fl中计算出的候补码相位Cl的XPR最高,在时间t2和t3之间的期间在频率系列F2中计算出的候补码相位C2的XI3R最高。 For example, as shown in FIG. 40, such as the period between the highest XPR tl and time t2 is calculated using the frequency sequence Fl and Cl in the candidate code phase, the period between time t2 and t3 calculated in the frequency sequence F2 code phase candidates of the highest XI3R C2.

[0464] 因基于被预测的多普勒偏移改变各个频率系列Fl等的频率,所以在任意一个频率系列中计算出的候补码相位,应该比在继续地其他频率系列中计算出的候补码相位精度高。 [0464] changes the frequency shift due to the frequency of each series and the like based on Fl predicted Doppler, it is calculated at any one frequency series of the candidate code phase, should the calculated ratio to continue to other frequencies in the candidate code series high phase accuracy. 换句话说,例如、频率系列Fl与其他的频率系列F2及F3相比,应该精度最好持续追随实际的到达频率。 In other words, for example, the frequency sequence Fl as compared with other frequency sequences F2 and F3, the best accuracy should continue to follow the actual arrival frequency.

[0465] 因此,当根据时间经过改变频率系列时,在XI3R最高状态下计算出的候补码相位 [0465] Thus, when the frequency is changed according to the elapsed time series is calculated in the highest state of the candidate code phase XI3R

精度不一定最高。 Accuracy is not necessarily the highest.

[0466] 这一点,终端3020在弱电场下根据以下的硬件构成及软件构成在验证候补码相位的精度之后,能够精度高地进行定位。 [0466] this point, terminal 3020 in a weak electric field after verifying the accuracy of the candidate code phase, can be highly accurately positioned following hardware configuration and software configuration in accordance with.

[0467](终端3020的主要硬件构成) [0467] (Main hardware configuration of terminal 3020)

[0468] 图41是表示终端3020的主要硬件构成的概略图。 [0468] FIG. 41 is a schematic diagram of a terminal 3020 of the main hardware configuration.

[0469] 如图41所示,终端3020包括有计算机,计算机包括有总线3022。 [0469] As illustrated, computer 41 includes a terminal 3020, a computer which includes a bus 3022. 在总线3022上连接有CPU (Central Processing Unit :中央处理装置)3024、存储装置30¾等。 The bus 3022 is connected to CPU (Central Processing Unit: a central processing unit) 3024, a storage device 30¾ like. 存储装置3026 诸如是RAM (Random Access Memory :随机存取存储器)、ROM (Read OnlyMemory :只读存储器)等。 3026 is a storage device such as a RAM (Random Access Memory: random access memory), ROM (Read OnlyMemory: Read Only Memory) and the like.

[0470] 此外,在总线3022上连接有输入装置3(^8、电源装置3030、GPS装置3032、显示装置30;34、通信装置3036以及时钟3038。 [0470] In addition, the input device 3 is connected (^ 8, the power supply device 3030, GPS device 3032, a display device 3022 over a bus 30; 34, a communication device 3036 and a clock 3038.

[0471] (GPS装置3032的构成) [0471] (GPS device configuration 3032)

[0472] 图37是表示GPS装置3032的构成的概略图。 [0472] FIG. 37 is a schematic view showing a configuration of a GPS device 3032.

[0473] 如图37所示,GPS装置3032由RF部303¾和基带部3032b构成。 [0473] As shown in FIG. 37, GPS device 3032 is constituted by 303¾ RF section and the baseband section 3032b.

[0474] RF部303¾用天线3033a接收电波Sl等。 [0474] RF section 3033a receives the radio wave antenna 303¾ Sl like. 而且,放大器、即LNA 3033a放大搭载在电波Sl上的C/A码等的信号。 Further, an amplifier, i.e., LNA 3033a amplifies the signal C / A code and the like is mounted on the wave Sl. 而且,变频器3033c降频转换信号的频率。 Further, 3033c down-converts the frequency of the drive signal. 而且,正交(IQ) 滤波器3033d将信号进行IQ分离。 A quadrature (IQ) signal filter 3033d for IQ separation. 接着,A/D转换器3033el及3033e2分别将IQ分离的信号转换为各自的数字信号。 Subsequently, A / D converters 3033e2 and 3033el the IQ separated signals are converted to respective digital signals.

[0475] 基带部3032b从RF部303¾接收转换为数字信号的信号,取样信号进行累计,取得基带部3032b保持的C/A码的相关。 [0475] The baseband section 3032b receives the converted signal from the RF unit 303¾ digital signal, sampled signals accumulated, the baseband section 3032b to obtain the relevant holding the C / A code. 基带部3032b诸如包含有1¾个相关器(未图示) 及累计器(未图示),能够同时在1¾相位中进行相关处理。 The baseband section 3032b includes such 1¾ correlators (not shown) and accumulators (not shown), the correlation process can be simultaneously performed in 1¾ phase. 相关器是用于进行上述的相干处理的结构。 Correlator for performing the above-described structure of the coherent process. 累计器是用于进行上述的非相干处理的结构。 Accumulator is a configuration for performing the incoherent process described above. [0476](终端3020的主要软件构成) [0476] (Main software configuration of terminal 3020)

[0477] 图43是表示终端3020的主要软件构成的概略图。 [0477] FIG. 43 is a schematic view showing the main software configuration of the terminal 3020 is.

[0478] 如图43所示,终端3020包括:控制各部的控制部3100、与图41的GPS装置3032 对应的GPS部3102以及与时钟3038对应的计时部3104等。 [0478] As illustrated, terminal 3020 43 includes: a control unit 3100 controlling each with the GPS device 3032 of FIG. 41 corresponding to the GPS section 3038 corresponding to the clock 3102, and a timing unit 3104 and the like.

[0479] 终端3020还包括:存储各种程序的第一存储部3110以及存储各种信息的第二存储部3150。 [0479] The terminal 3020 further includes: a first storage section 3110 which stores various programs and a second storage unit 3150 for storing various information.

[0480] 如图43所示,终端3020在第二存储部3150中存储有导航信息3152。 As shown in [0480] 43, 3152 terminal 3020 in the second navigation information storage unit 3150. 导航信息3152包含有概略星历315¾及精密星历3152b。 Navigation information 3152 includes an almanac 315¾ and precise ephemeris 3152b.

[0481] 终端3020使用概略星历315¾及精密星历3152b用于定位。 [0481] The terminal 3020 using the almanac 315¾ and precision ephemeris 3152b for positioning.

[0482] 如图43所示,终端3020在第二存储部3150中存储有初始位置信息3154。 As shown in [0482] 43, 3020 an initial position information of the terminal 3154 in the second storage unit 3150. 初始位置QCO诸如为上次的定位位置。 QCO initial position such as a position of the last positioning.

[0483] 如图43所示,终端3020在第一存储部3110中存储有可观测卫星计算程序3112。 As shown in [0483] 43, the terminal 3020 has observable satellite calculation program 3112 in the first storage unit 3110. 可观测卫星计算程序3112是控制部3100以初始位置信息31M表示的初始位置QCO为基准,用于计算出可观测到的GPS卫星1¾等的程序。 Observable satellite calculation program 3112 is 3100 to an initial position indicated by initial position information of the control unit 31M QCO as a reference for calculating the observable GPS satellites 1¾ like procedures.

[0484] 具体地说,控制部3100参照概略星历315¾判断在通过计时部3104计量的当前时刻内可观测到的GPS卫星12a等。 [0484] Specifically, the control unit 3100 referring to the almanac 315¾ determined by the current time counted by the clock section 3104 observable GPS satellites 12a and the like. 控制部3100将表示可观测到的GPS卫星12a等(以下称为“可观测卫星”)的可观测卫星信息3156存储到第二存储部3150中。 The control unit 3100 indicating the observable GPS satellites 12a and the like (hereinafter called "observable satellite") observable satellite information 3156 stored in the second storage section 3150. 在第三实施例中,可观测卫星为GPS卫星1¾至12h(参照图35及图43)。 In the third embodiment, the observable satellites to the GPS satellites 1¾ 12h (see FIG. 35 and FIG. 43).

[0485] 如图43所示,终端3020在第一存储部3110中存储有推定频率计算程序3114。 [0485] 43, the terminal 3020 in the first storage unit 3110 has estimated frequency calculation program 3114. 推定频率计算程序3114是控制部3100用于推定GPS卫星1¾等发送的电波Sl等的接收频率的程序。 Estimated frequency calculation program 3114 is a program for the control section 3100 receives the estimated frequency of the GPS satellite radio waves and the like 1¾ Sl like transmitted.

[0486] 该接收频率是电波Sl到达终端3020时的到达频率。 [0486] The reception frequency is the arrival frequency when the radio wave arrives at the terminal 3020 Sl. 更详细地说,该接收频率是电波Sl到达终端3020、而且在终端3020中被降频转换时的中间(IF)频率(中频)。 More specifically, the radio reception frequency is Sl reaches the terminal 3020 and the terminal 3020 is down-converted at intermediate (IF) frequency (IF).

[0487] 图44是推定频率计算程序3114的说明图。 [0487] FIG 44 is an estimated frequency calculation program 3114 in FIG.

[0488] 如图44所示,控制部3100将GPS卫星1¾等发送的发送频率Hl加上多普勒偏移H2,计算出推定频率A3。 [0488] shown in Figure 44, the control unit 3100 and the like transmitted from GPS satellites 1¾ Hl transmission frequency plus Doppler shift H2, calculate an estimated frequency A3. 来自GPS卫星1¾等的发送频率Hl为既知,诸如1575.42MHz。 Hl transmission frequency and the like from the GPS satellite is known-1¾ such 1575.42MHz.

[0489] 多普勒偏移H2由各GPS卫星12a等和终端3020之间的相对移动而产生。 [0489] Doppler shift H2 by the relative movement between the 3020 GPS satellites 12a and the like and the terminal is generated. 控制部3100根据精密星历3152b和初始位置QCO计算出在当前时刻的各个GPS卫星12a等的视线速度(对终端3020的方向的速度)。 The control section 3100 calculates the precise ephemeris 3152b and the initial position of QCO the current time of the GPS satellites 12a and the like of the radial velocity (velocity on the direction of the terminal 3020). 而且,基于其视线速度计算出多普勒偏移H2。 Further, based on the calculated line of sight velocity the Doppler shift H2.

[0490] 控制部3100对应各个可观测卫星、即GPS卫星12a等计算出推定频率A3。 [0490] The control section 3100 corresponding to the respective satellites can be observed, i.e. the GPS satellites 12a and the like calculates the estimated frequency A3.

[0491] 而且,在推定频率A3中包含有终端3020的时钟脉冲(基准振荡器:未图示)的对应漂移的误差。 [0491] Further, the terminal 3020 includes a clock pulse in the estimated frequency A3: an error corresponding to (a reference oscillator not shown) of the drift. 漂移就是由温度变化原因而导致振荡频率的变化。 Drift is caused by the temperature change factor of the change in the oscillation frequency.

[0492] 因此,控制部3100以推定频率A3为中心在规定宽度的频率中检索电波Sl等。 [0492] Thus, the control unit 3100 of the estimated frequency A3 in a predetermined frequency width center retrieves the radio wave Sl like. 诸如在从(A3-100)kHz的频率到(A3+100)kHz的频率的范围以每IOOHz的频率检索电波Sl寸。 Such as from (A3-100) kHz to a frequency (A3 + 100) kHz frequency range in each retrieved radio frequency IOOHz Sl inch.

[0493] 如图43所示,终端3020在第一存储部3110中存储有测量计算程序3116。 As shown in [0493] 43, the terminal 3020 in the first storage unit 3110 stores a measurement calculation program 3116. 测量计算程序3116是控制部3100进行从GPS卫星1¾等接收的C/A码和终端3020生成的复制C/ A码的相关处理,用于计算出包含有相关累计值的最大值Pmax、噪声的相关累计值Pnoise、 候补码相位以及接收频率的测量的程序。 Measurement calculation program 3116 is a control unit 3100 performs the correlation process replication C / A code received from a GPS satellite and the like 1¾ C / A code generated by the terminal 3020 and used to calculate the maximum correlation cumulative value Pmax with the noise of correlation cumulative value Pnoise, the candidate code phase measurement procedure and the reception frequency. 测量计算程序3116和控制部3100是相位计算部的一例,也是接收频率指定部的一例。 Measurement calculation program 3116 and the control section 3100 exemplify a phase calculation section, and also exemplify a reception frequency.

[0494] 图45A〜45C是测量计算程序3116的说明图。 [0494] FIG 45A~45C is described measurement calculation program 3116 in FIG.

[0495] 如图45A所示,控制部3100通过基带部3032b诸如以相等间隔分割C/A码的1片, 进行相关处理。 As shown in [0495] FIG. 45A, 3100 through the baseband unit control section 3032b is divided at equal intervals such as C / A code is 1, performs the correlation process. 例如、C/A码的1片被32等分。 For example, C / A code is an 1/32. 也就是说,在32分之一片的相位宽度(第一相位宽度Wl)间隔中进行相关处理。 That is, the phase correlation process per a width of 32 (width Wl of the first phase) intervals. 而且,将控制部3100进行相关处理时的第一相位宽度Wl间隔的相位称为第一取样相位SC1。 Further, the phase of the first phase width Wl when the control section 3100 performs the correlation process is referred to as a first interval sampling phase SC1.

[0496] 当电波Sl等到达终端3020时的信号强度为大于等于_155dBm时,第一相位宽度Wl被规定作为能够检测出相关最大值Pmax的相位宽度。 [0496] When the signal strength of the radio wave arrival Sl 3020 and the like when a terminal is greater than or equal _155dBm, width Wl of the first phase is defined as a phase width can be detected maximum correlation value Pmax. 如32分之一片的相位宽度,即使信号强度大于等于为弱电场,也能够检测出相关最大值Pmax通过模拟而变明显。 The phase per a width of 32, even if the signal strength is greater than or equal to a weak electric field, it is possible to detect the maximum correlation value Pmax becomes apparent through simulation.

[0497] 如图45B所示,控制部3100以推定频率A3为中心,在士IOOkHz的频率范围边错开第一相位宽度Wl边进行相关处理。 As shown in [0497] FIG. 45B, the control unit 3100 the estimated frequency A3 at intervals of the width Wl of a first phase performs the correlation process in the frequency range of persons IOOkHz side. 这时,边把频率错开IOOHz边进行相关处理。 At this time, while the frequency shifting IOOHz performs the correlation process.

[0498] 如图45C所示,从基带部3032b输出对应2片对应的相位Cl至C64的相关值累计P。 [0498] FIG. 45C, corresponding to two phases corresponding to the correlation value Cl to C64 accumulated output from the baseband section 3032b P. 各相位Cl至C64为第一取样相位SCl。 Each phase Cl to C64 is the first sampling phase SCl.

[0499] 控制部3100基于测量计算程序3116诸如从C/A码的第一片一直检索到第1023片。 [0499] The control section 3100 based on the measurement calculation program 3116 from a first sheet such as a C / A code has been retrieved to the first 1023.

[0500] 控制部3100基于Rnax和Pnoise计算出XPR,把对应XPR最大状态的码相位CPC1、 接收频率fci、PCmaxl以及PCnoisel视为当前测量信息3160。 [0500] The control section 3100 calculates the XPR based Rnax and Pnoise, the status code corresponds to the maximum XPR phase CPC1, the reception frequency fci, PCmaxl and PCnoisel deemed present measurement information 3160. 把码相位CPC1、接收频率fCl、PCmaxl以及PCnoisel统称称为测量。 The code phase CPC1, the reception frequency fCl, PCmaxl PCnoisel and collectively referred to as measurement. 终端3020计算出对应各个GPS卫星1¾等的测量。 The terminal 3020 calculates the measurements corresponding to the respective GPS satellites 1¾ like.

[0501] 而且,码相位CPCl被换算为距离。 [0501] Further, CPCl code phase is converted into distance. 如上所述,C/A码的码长度诸如为300千米(kM),所以能够把C/A码的余数部分、即码相位换算为距离。 As described above, the length of the code C / A code, such as 300km (kM), can be the fraction portion C / A code, i.e. the code phase is converted into distance.

[0502] 控制部3100在可观测卫星中诸如分别计算出关于6个GPS卫星1¾等的测量。 [0502] The control section 3100 calculates the measurements, such as about six GPS satellites can be observed in 1¾ like satellites. 而且,将关于同一GPS卫星12a等的测量称为对应的测量。 Moreover, the measurements of a single GPS satellite 12a or the like is referred to the corresponding measurement. 例如、关于GPS卫星12a的码相位CPCl和关于GPS卫星1¾的频率fCl是对应的测量。 For example, with respect to frequency GPS satellite code phase FCL CPCl 12a and is about 1¾ GPS satellite corresponding measurement. 频率fCl是接收来自GPS卫星1¾的电波Sl时的接收频率。 FCl frequency is the reception frequency when receiving the radio wave from the GPS satellites Sl of 1¾.

[0503] 而且,可以不同于第三实施例,采用窄相关器(例如、参照日本特开2000-312163 号公报)作为相关处理的方法。 [0503] Further, different from the third embodiment, using the narrow correlators (e.g., see Japanese Laid-Open Patent Publication No. 2000-312163) as a method of correlation processing.

[0504] 如图43所示,终端3020在第一存储部3110中存储有测量保存程序3118。 As shown in [0504] 43, the terminal 3020 in the first storage unit 3110 stores a measurement storage program 3118. 测量保存程序3118是控制部3100用于将测量保存到第二存储部3150中的程序。 Measuring the control unit 3118 stores a program 3100 for saving measurements to the program storage unit 3150 in the second.

[0505] 控制部3100在把新的测量作为当前测量信息3160存储到第二存储部3150中的同时,将原有的当前测量信息3160作为上次测量信息3162存储到第二存储部3150中。 While [0505] the control unit present measurement information 3160 in the second storage unit 3150 to 3100 as the new measurement, the existing present measurement information 3160 as a previous measurement information 3162 in the second storage section 3150. 上次测量信息3162包含有上次定位时的码相位CPC0、频率fCO、PCmaxO以及PCnoiseO。 Last measurement information 3162 includes a code for the last positioning phase CPC0, the frequency fCO, PCmaxO and PCnoiseO.

[0506] 如图43所示,终端3020在第一存储部3110中存储有频率评价程序3120。 As shown in [0506] 43, the terminal 3020 has a frequency evaluation program 3120 in the first storage unit 3110. 频率评价程序3120是控制部3100用于判断上次定位时的接收频率fCO和当前定位时的接收频率fCl的频率差是否在频率阈值α 3以内的程序。 Frequency evaluation program 3120 is a program for the control unit 3100 whether or not a frequency difference within 3 fCO reception frequency is determined when the preceding positioning and the present reception frequency fCl when positioned in the frequency threshold value α. 频率阈值α 3以内的范围是根据未满频率系列F1、F2以及F3的频率间隔的阈值被预先规定。 The third frequency range within the threshold value α is less than a predetermined frequency in accordance with the series F1, F2, and F3 frequency threshold interval. 如上所述,如频率间隔为50赫兹(Hz), 则频率阈值α 3诸如为30赫兹(Hz)。 As described above, as the frequency interval is 50 Hz (Hz), the frequency threshold value α 3, such as 30 Hertz (Hz). 上述的频率评价程序3120和控制部3100是频率差评价部的一例。 The above frequency evaluation program 3120 and the control section 3100 exemplify a frequency difference evaluation section. 而且,频率阈值α 3以内的范围是预先规定的频率差容许范围内的一例。 Further, the third frequency range within the threshold value α is an example of the frequency difference within a predetermined allowable range.

[0507] 如图43所示,终端3020在第一存储部3110中存储有预测码相位计算程序3122。 As shown in [0507] 43, 3020 in the terminal first storage section 3110 stores estimated code phase calculation program 3122. 预测码相位计算程序3122是控制部3100基于上次定位时的码相位CPC0、电波Sl等的多普勒偏移以及上次定位时开始的时间经过dt,用于预测了当前的相位计算出预测码相位CPCe的程序。 The estimated code phase calculation program 3122 is a control unit 3100 based on the start time code for the last time the positioning phase CPC0, Sl wave Doppler shift and the like after the last positioning dt, for predicting the current phase is calculated prediction CPCe program code phase. 预测码相位CPCe是预测相位的一例。 CPCe is an example of estimated code phase prediction phase. 预测码相位计算程序3122和控制部3100是预测相位计算部的一例。 The estimated code phase calculation program 3122 and the control section 3100 exemplify an estimated phase calculation section.

[0508] 而且,预测码相位CPCe被换算为距离。 [0508] Moreover, the predicted code phase is converted into distance CPCe.

[0509] 图46是预测码相位计算程序3122的说明图。 [0509] FIG. 46 is the estimated code phase calculation program 3122 in FIG.

[0510] 如图46所示,控制部3100诸如根据公式3计算出预测码相位CPCe。 As shown in [0510] FIG. 46, the control section 3100 calculates the estimated code phase, such as according to Equation 3 CPCe.

[0511] 如公式3所示,控制部3100诸如通过从上次定位时的码相位CPCO减去上次定位时开始的时间经过dt乘以GPS卫星1¾和终端3020的相对移动速度的值,计算出预测码相位CPCe。 , The control unit 3100, such as by subtracting the time from the preceding positioning code phase during the preceding positioning CPCO elapsed dt multiplied by the relative moving speed of the GPS satellite and the terminal 3020 1¾ value [0511] Equation 3 is calculated an estimated code phase CPCe.

[0512] 而且,在公式3中,预测码相位CPCe、上次码相位CPCO被换算为距离。 [0512] Further, in Equation 3, the estimated code phase CPCe, CPCO last code phase is converted into distance.

[0513] 在这里,电波Sl以光速传播。 [0513] Here, the radio wave propagation speed of light Sl. 因此,通过用电波Sl等的发送频率Hl除光速,能够计算出对应多普勒偏移1赫兹(Hz)的概略的速度。 Accordingly, by transmitting a radio wave with a frequency Hl Sl like the speed of light, it can be calculated corresponding to a Doppler shift schematic Hertz (Hz) the speed of the addition. 也就是说,多普勒偏移加(+)1赫兹(Hz)意味着GPS卫星12a以秒速0. 19米(m/s)接近终端3020。 That is, the Doppler shift plus (+) 1 hertz (Hz) GPS satellite 12a to second speed of 0.19 meters (m / s) close to the terminal 3020. 因此,预测码相位CPCe比上次定位时的码相位CPCO变短。 Thus, when the predicted code phase CPCO code phase CPCe shorter than the previous positioning. 在这里,多普勒偏移诸如为上次定位时的频率fCO和发送频率Hl之间的差分。 Here, such as a Doppler shift difference between the transmission frequency and the frequency fCO Hl during the preceding positioning.

[0514] 针对于此,多普勒偏移减(_) 1赫兹(Hz)意味着GPS卫星12a以秒速0. 19米(m/ s)远离终端3020。 [0514] In light of this, when the Doppler shift (_) 1 hertz (Hz) GPS satellite 12a to second speed of 0.19 meters (m / s) remote from the terminal 3020. 因此,预测码相位CPCe比上次定位时的码相位CPCO变长。 Therefore, the estimated code phase when the code phase positioned CPCO CPCe last time becomes long.

[0515] 而且,公式3在上次定位时开始的时间经过为短时间的条件下成立。 [0515] Moreover, the formula 3 time began during the previous positioning after a short time under the conditions established. 换句话说,公式3限于在图表上把码相位和时间经过的关系作为直线示出下成立。 In other words, Equation 3 is limited to the relationship between the code phase on the graph and the time elapsed under the straight line established as shown.

[0516] 此外,不同于第三实施例,可以将上次定位时的频率fCO和发送频率Hl的差分与当前定位时的频率fCl和发送频率Hl的差分的平均值视为多普勒偏移。 [0516] Further, the third embodiment differs from the average difference may be fCl frequency and the transmission frequency at the difference frequency of Hl fCO Hl and the transmission frequency during the preceding positioning and the current position of the Doppler shift is considered . 基于此,能够进一步准确地计算出预测码相位CPCe。 Based on this, it is possible to further accurately calculate the estimated code phase CPCe.

[0517] 控制部3100把表示计算出的预测码相位CPCe的预测码相位信息3164存储到第二存储部3150中。 [0517] Control unit 3100 indicating the calculated estimated code phase estimated code phase information 3164 in the second storage section 3150 CPCe in.

[0518] 如图43所示,终端3020在第一存储部3110中存储有码相位评价程序3124。 As shown in [0518] 43, 3020 with a terminal code phase evaluation program 3124 in the first storage unit 3110. 码相位评价程序31M是控制部3100用于判断当前的码相位CPCl和预测码相位CPCe的码相位差是否小于等于码相位阈值β3(以下称为“阈值β 3”)的程序。 31M code phase evaluation program 3100 is a control unit for determining the current code phase and the predicted code phase CPCe CPCl the code phase difference is less than equal to the code phase threshold value beta] 3 (hereinafter referred to as "threshold value β 3") procedure. 小于等于阈值β 3的范围是相位差容许范围内的一例。 Range smaller than the threshold value β 3 is an example of the phase difference allowable range. 码相位评价程序31Μ和控制部3100是相位差评价部的一例。 31Μ code phase evaluation program and the control section 3100 exemplify a phase difference evaluation section.

[0519] 阈值β 3被预先规定。 [0519] threshold value β 3 is predetermined. 例如、β 3是80米(m)。 For example, β 3 is 80 meters (m).

[0520] 控制部3100通过上述的频率评价程序3120将判断小于等于阈值α 3的频率差分的码相位CPCl,视为基于码相位评价程序31¾的判断的对象。 [0520] The control section 3100 via the frequency evaluation program 3120 is determined less than or equal to the threshold value α code phase CPCl frequency difference of 3, determined as objects based on the code phase evaluation program of 31¾.

[0521] 如图43所示,终端3020在第一存储部3110中存储有定位使用码相位确定程序31沈。 [0521] As illustrated, terminal 3020 has the first storage unit 311,043 positioning code phase determination program 31 sink. 定位使用码相位确定程序31¾是控制部3100用于确定把频率阈值ci3以内的频率差、且小于等于阈值β 3的码相位CPCljP GPS卫星1¾等的码相位CPCl等作为定位使用码相位CPClf的程序。 Positioning code phase determination program 31¾ is a control section 3100 for determining the frequency within ci3 frequency threshold value difference, and is smaller than the threshold value β code 3 phase of the program code phase CPClf as positioning CPCljP GPS satellites 1¾ like code phases CPCl etc. .

[0522] 把对应不是频率阈值α 3以内的频率差的GPS卫星1¾等的码相位CPCl等不确定作为定位使用码相位CPClf,从定位中排除。 [0522] than the frequency threshold value α corresponding to less than three GPS satellites 1¾ frequency difference code phases CPCl like other uncertainties as the positioning code phase CPClf excluded from positioning. 而且,在定位中使用对应频率阈值α3以内的频率差、且对应小于等于阈值β 3的码相位差的码相位CPCl。 Further, in positioning the frequency threshold value corresponding to the frequency difference within cc3, and the corresponding code phase is equal to less than the threshold value β CPCl 3 code phase difference. 也就是说,定位使用码相位确定程序31¾和控制部3100是相位排除部的一例。 That is, the positioning code phase determination program 3100 and the control section 31¾ exemplify a phase exclusion section.

[0523] 在第三实施中,定位使用码相位CPClf视为诸如分别对应GPS卫星12a,12b,12c 及12d 的CPClfa,CPClfb, CPClfc 及CPClfd。 [0523] In a third embodiment, the positioning code phase corresponding CPClf regarded as the GPS satellites 12a, 12b, 12c and 12d of CPClfa, CPClfb, CPClfc and CPClfd.

[0524] 控制部3100把表示定位使用码相位CPClf的定位使用码相位信息3166存储在第二存储部3150中。 [0524] The control section 3100 indicating the positioning code phase CPClf positioning code phase information 3166 is stored in the second storage section 3150.

[0525] 另外,在本实施例中,在定位中使用码相位CPCl和把码相位CPCl作为定位使用码相位CPClf是一样的。 [0525] Further, in the present embodiment, a code phase and code phase CPCl positioning as the positioning code phase CPCl CPClf same.

[0526] 如图43所示,终端3020在第一存储部3110中存储有定位程序31观。 , The terminal 3020 in the first storage unit stores a positioning program 3110 31 Concept [0526] 43. 定位程序3128是控制部3100用于使用定位使用码相位CPClf对当前位置进行定位的程序。 Positioning program 3128 is a program for the control section 3100 using the positioning code phase CPClf positioning of the current position. 定位程序31¾和控制部3100是定位部的一例。 31¾ positioning program 3100 and the control unit is an example of the positioning portion.

[0527] 定位使用码相位CPClf是上述的阈值β 3以内的码相位CPCl等。 [0527] CPClf positioning code phase threshold β is the above code phases within 3 CPCl the like. 也就是说,使用定位使用码相位CPClf对当前位置进行定位与使用阈值β 3以内的码相位CPCl等对当前位置进行定位是一样的。 That is, using the positioning code phase CPClf to locate the present position using the code threshold value β phase CPCl within 3 to locate the present position and the like is the same.

[0528] 当有大于等于3个定位使用码相位CPClf时,控制部3100使用这些定位使用码相位CPClf对当前位置进行定位,计算出定位位置QCl。 [0528] When three or more positioning code phase CPClf, the control unit 3100 using the positioning code phases CPClf to navigate to the location, to calculate the position location QCl.

[0529] 控制部3100把表示计算出的定位位置QCl的定位位置信息3168存储在第二存储部3150中。 [0529] indicates the control unit 3100 in the second storage section 3150 calculates the located position QCl the position location information is stored in 3168.

[0530] 如图43所示,终端3020在第一存储部3110中存储有定位位置输出程序3130。 As shown in [0530] 43, a positioning terminal position output program 3020 in the first storage unit 3130 stores 3110. 定位位置输出程序3130是控制部3100用于把定位位置QCl显示在显示装置3034(参照图41)上的程序。 Localization position output program 3130 is a control unit 3100 to display the program QCl position location on the display device 3034 (see FIG. 41).

[0531] 如图43所示,终端3020在第一存储部3110中存储有码相位阈值设定程序3132。 As shown in [0531] 43, 3020 with a terminal code phase threshold value setting program 3132 in the first storage unit 3110. 码相位阈值设定程序3132是控制部3100基于C/A码的接收状态,用于确定阈值β 3的程序。 Code phase threshold value setting program 3132 is a control unit 3100 based on the reception state C / A code for the program determination threshold β 3. 该码相位阈值设定程序3132和控制部3100是相位差容许范围确定部的一例。 The code phase threshold value setting program 3132 and the control unit 3100 is one case of phase difference allowable range determination section.

[0532] 图47是码相位阈值设定程序3132的说明图。 [0532] FIG. 47 is a code phase threshold value setting program 3132 in FIG.

[0533] 把图47的表格称为条件表格。 [0533] The table 47 is called a condition table in FIG.

[0534] 条件表格包括:漂移确定性130b、追踪中卫星数130c、强卫星存在性130d、弱卫星存在性130e、强卫星比例130f、弱卫星比例130g、经过累计时间130h及码相位阈值β 3。 [0534] The condition table comprising: a drift tendency 130b, the tracking satellite number 130c, the strong satellite existence 130d, the weak satellite existence 130e, the strong satellite ratio 130f, the weak satellite ratio 130g, elapsed accumulation time 130h, and a code phase threshold β 3 .

[0535] 上述的漂移确定性130b、追踪中卫星数130c、强卫星存在性130d、弱卫星存在性130e、强卫星比例130f、弱卫星比例130g及经过累计时间130h是C/A码的接收状态的一例。 [0535] The drift uncertainty 130b, the number of satellites tracked 130c, the strong satellite existence 130d, the weak satellite existence 130e, the strong satellite ratio 130f, the weak satellite ratio 130g, and the elapsed accumulation time 130h is reception state C / A code example. 将漂移确定性130b等统称为接收状态。 The drift tendency 130b, etc. collectively referred to as the receiving state.

[0536] 如上所述,条件表格包括定位模式130a。 [0536] The condition table includes a positioning mode 130a. 定位模式130a包括普通模式、高灵敏度模式及移动模式。 Positioning mode 130a includes a normal mode, movement mode and high-sensitivity mode.

[0537] 普通模式是累计时间(非相干时间)的初始设置为1秒(S),当C/A码的信号强度弱的情况下将累计时间阶段的变长下去如4秒(s)、8秒(8)、对秒(s)的定位模式。 [0537] Normal Mode is the cumulative time (incoherent time) is initially set to 1 second (S), when the signal strength of the C / A code of the weak case where the cumulative longer period of time to go, such as four seconds (s), 8 seconds (8), the positioning of the second mode (s) of. 普通模式是向GPS装置3032的天线3033a输入的信号强度诸如在大于等于负(_) 150dBM中优选的定位模式。 The antenna is the normal mode to the GPS device 3032 3033a in the input signal strength, such as not less than minus (_) 150dBM preferred positioning mode.

[0538] 高灵敏度模式是累计时间的初始设置为1秒(S),当C/A码的信号强度弱的情况下将累计时间即刻加长为M秒(s)的定位模式。 [0538] high-sensitivity mode is an initial set accumulated time is 1 second (S), when the signal strength of the C / A code of the weak case where the accumulation time is immediately extended positioning mode M seconds (s) of. 高灵敏度模式是向GPS装置3032的天线3033a输入的信号强度诸如在小于负(_) 150dBM中优选的定位模式。 Such as high-sensitivity mode is less than the negative (_) 150dBM preferred positioning mode to the GPS signal strength 3032 of the antenna input means 3033a.

[0539] 移动模式是累计时间的初始设置固定为1秒(s)的定位模式。 [0539] movement mode is the initial setting is fixed cumulative time is 1 second (s) is a positioning mode. 移动模式是终端3020在移动中优选的定位模式。 Mode mobile terminal 3020 is preferably positioned in the moving mode.

[0540] 如上所述,条件表格包括漂移确定性130b。 [0540] The condition table includes a drift tendency 130b. 漂移就是由于终端3020的基准时钟脉冲(未图示)的温度变化原因而导致的频率的变化。 Variation of the frequency drift due to temperature is the reference clock terminal 3020 (not shown) changes caused. 漂移越小终端3020计算出的测量的精度越变高。 The smaller drift of the terminal 3020 calculates the measurement accuracy becomes higher. 该漂移可以通过使用大于等于3个的GPS卫星1¾等进行预备定位而计算出。 The drift by using three or more GPS satellites and the like preliminarily positioned 1¾ calculated. 通过预备定位可以计算出终端3020的时间误差。 Time error can be calculated by preliminary positioning of the terminal 3020. 因而,可以基于该时间误差计算出漂移。 Thus, the drift can be calculated based on the time error.

[0541] 漂移确定性130b是表示终端3020对于频率的设定值的频率误差是否在正负(士)50赫兹(Hz)以内的信息。 [0541] drift tendency 130b is information indicating whether the positive and negative (persons) 50 hertz (Hz) to the terminal 3020 within a frequency error of the frequency setting value.

[0542] 对于频率的设定值的频率误差在正负(士)50赫兹(Hz)以内时,终端3020判断漂移为确定(有漂移确定性)。 [0542] respect to the frequency error of the frequency setting value is within plus or minus (persons) 50 hertz (Hz), terminal 3020 is determined to determine the drift (drift certainty).

[0543] 针对于此,频率误差在比正负(士)50赫兹(Hz)大时,终端3020判断漂移为确定(有漂移确定性)。 [0543] In light of this, the ratio of the frequency error plus or minus (persons) 50 hertz (Hz) is large, the terminal 3020 is determined to determine the drift (drift certainty).

[0544] 正负(士)50赫兹(Hz)以内的频率范围是预先规定的漂移容许范围的一例。 One case of drift within the allowable range of [0544] negative (persons) 50 hertz (Hz) is a predetermined frequency range.

[0545] 如上所述,对于频率的设定值的频率误差为正负(士)50赫兹(Hz)以内时,终端3020判断有漂移确定性,但该误差范围以未满在测量计算中的频率步进(参照图45B)的范围来被规定。 [0545] As described above, when the frequency error of the frequency setting value is negative (persons) 50 hertz (Hz) or less, the terminal 3020 determines the drift uncertainty, but less than the error in the measurement range calculation frequency range of step (see FIG. 45B) to be predetermined.

[0546] 如上所述,条件表格包括追踪中卫星数130c。 [0546] The condition table includes the number of tracked satellites 130c. 追踪中卫星数130c是终端3020连续的在接收电波Sl等的GPS卫星1¾等的数量。 130c is the number of satellites tracked continuously in a number of received radio wave of GPS satellites Sl like 1¾ terminal 3020 or the like.

[0547] 如上所述,条件表格包括强卫星存在性130d。 [0547] The condition table includes the strong satellite existence 130d. 强卫星存在性130d表示信号强度XPR大于等于0. 7的GPS卫星1¾等(以下:称为“强卫星”)是否存在。 Strong satellite existence 130d indicates the signal intensity signal strength XPR of the GPS satellites 1¾ 0. 7 (hereinafter: called "strong satellite") exist.

[0548] 当有一个强卫星存在时,终端3020判断有强卫星。 [0548] When there is a strong satellite exists, the terminal 3020 determines that a strong satellite.

[0549] 针对于此,当强卫星一个也不存在时,终端3020判断没有强卫星。 [0549] In light of this there is no strong satellite, when a strong satellite does not exist, the terminal 3020 is determined.

[0550] 如上所述,条件表格包括弱卫星存在性130e。 [0550] The condition table includes the weak satellite existence 130e. 弱卫星存在性130e表示信号强度XPR小于等于0. 4的GPS卫星1¾等(以下:称为“弱卫星”)是否存在。 Weak satellite existence 130e indicates the signal strength XPR less 1¾ 0. 4 GPS satellites, and the like (hereinafter: called "weak satellite") exist.

[0551] 当有一个弱卫星存在时,终端3020判断有弱卫星。 [0551] When there is a weak satellite exists, the terminal 3020 determines that a weak satellite.

[0552] 针对于此,当弱卫星一个也不存在时,终端3020判断没有弱卫星。 [0552] In light of this, when a weak satellite does not exist, the terminal 3020 is determined not weak satellites.

[0553] 如上所述,条件表格包括强卫星多数性130f。 [0553] The condition table includes the strong satellite majority 130f. 强卫星多数性130f表示终端3020 追踪中的GPS卫星1¾等是否全部为强卫星。 Strong satellite majority 130f indicates that the terminal 3020 to track the GPS satellites 1¾, etc. are all strong satellite.

[0554] 当追踪中的GPS卫星12a等全部是强卫星时,终端3020判断“YES”。 [0554] When the tracked GPS satellites 12a and the like are all strong satellites, the terminal 3020 determines "YES".

[0555] 针对于此,当大于等于一个的追踪中的GPS卫星1¾等没有强卫星时,终端3020 判断“NO”。 [0555] In light of this, when a greater than or equal to 1¾ tracked GPS satellites and the like is not strong satellites, the terminal 3020 determines "NO".

[0556] 如上所述,条件表格包括弱卫星多数性130g。 [0556] The condition table includes the weak satellite majority 130g. 弱卫星多数性130g表示是否终端3020追踪中的GPS卫星1¾等全部为弱卫星。 Weak satellite majority 130g indicate whether the terminal track in 3020, and all of the GPS satellites 1¾ weak satellite.

[0557] 当追踪中的GPS卫星1¾等全部是弱卫星时,终端3020判断“YES”。 [0557] When the tracked GPS satellites and the like are all weak satellite 1¾ terminal 3020 determines "YES".

[0558] 针对于此,当大于等于一个的追踪中的GPS卫星1¾等没有弱卫星时,终端3020 判断“NO”。 [0558] In light of this, when a greater than or equal to 1¾ tracked GPS satellites and the like is not weak satellites, the terminal 3020 determines "NO".

[0559] 如上所述,条件表格包括经过累计时间130h。 [0559] The condition table includes the elapsed accumulation time 130h. 经过累计时间130h表示从开始的非相干到当前时刻的时间经过(以下:称为“经过累计时间”)是否小于等于时间阈值、诸如12秒(S)。 Elapsed accumulation time 130h indicates the start time of the current time to the incoherent elapsed: if (hereinafter referred to as "elapsed accumulation time") is less than equal to the time threshold, such as 12 seconds (S). 也就是说,从开始的非相干到当前时刻的时间经过,与从开始相关处理的时间经过是一样的。 In other words, from the beginning of time has passed incoherent to the current time, and the time from the start through the correlation process is the same.

[0560] 如经过累计时间小于等于12秒(s),则终端3020判断“YES”。 [0560] The total elapsed time is 12 seconds or less (s), the terminal 3020 determines "YES".

[0561] 针对于此,当经过累计时间比12秒(s)长时,终端3020判断“NO”。 [0561] In light of this, when the elapsed accumulation time is longer than 12 seconds (S), the terminal 3020 determines "NO".

[0562] 另外,在一般的情况下,经过累计时间越长信号强度XPR越变大,码相位CPCl的精度也提高。 [0562] Further, in the general case, the longer the elapsed accumulation time increases the signal strength XPR, the accuracy of the code phase CPCl also improved. 因此,时间阈值按照对应定位精度需要的码相位CPCl的精度来规定。 Thus, in accordance with a time threshold corresponding to the accuracy of the positioning code phase CPCl to a predetermined desired accuracy.

[0563] 控制部3100基于包括上述的条件表格的定位模式130a等的条件,设定码相位阈值β3。 [0563] Control unit 3100 includes a positioning mode based on the condition of the above-described condition table 130a or the like, setting the code phase threshold value β3.

[0564] 诸如在为普通模式、漂移确定性130b为“有”、追踪中的卫星数130c为大于等于8 个、强卫星存在性130d为“有”、强卫星多数性130f为“YES”经过累计时间130h为“YES” 时(Condi),将码相位阈值β 3设定为最小值、诸如19米(m)。 [0564] as in the normal mode, the drift tendency 130b is "present", the number of satellites tracked 130c is eight or more, the strong satellite existence 130d is "present", the strong satellite majority 130f is "YES" after when the accumulation time 130h is "YES" (Condi), the code phase threshold β 3 is set to a minimum value, such as 19 meters (m).

[0565] 在Condl中,由于追踪中的GPS卫星1¾等的数量足够多,另外,信号强度XI3R也为良好,所以通过减小码相位阈值β 3的设定,使定位精度提高。 [0565] In Condl, since the number of GPS satellites tracked enough 1¾ like, Further, the signal strength XI3R also good, so by reducing the code phase threshold value β is set to 3, the positioning accuracy is improved.

[0566] 此外,Cond7与Condl相比追踪中卫星数量少。 [0566] Further, Cond7 compared with the small number of satellites tracked Condl. 在这种情况下,终端3020将码相位阈值β 3设定为比Condl大诸如52米(m)。 In this case, the terminal 3020 sets the code phase threshold value is set larger β 3 such as 52 meters (m) ratio Condl. 基于此,比Condl定位精度劣化,但可以只能多的确保在定位中能够使用的GPS卫星的数量。 Based on this, the deterioration of positioning accuracy than Condl, but many can only ensure that the number of GPS satellites that can be used in positioning.

[0567] 这样,终端3020如在相同的接收状态下,则追踪中的GPS卫星12a等的数量越多越减小码相位阈值β 3的设定,追踪中的GPS卫星1¾等的数量越少越加大码相位阈值β 3 的设定。 Fewer settings [0567] Thus, the more the number of terminals in the same 3020 as the reception state, the tracking of the GPS satellites 12a and the like to reduce the code phase threshold β 3, the tracked GPS satellites and the like number 1¾ increasing the code phase threshold value setting β 3.

[0568] 另外,诸如在Cond3中,由于经过累计时间130h为“N0”,所以与Condl相比码相位CPCl的精度不好。 [0568] Further, in such Cond3, since the elapsed accumulation time 130h so bad as "N0", the accuracy of the code phase CPCl compared with Condl. 因此,终端3020通过将码相位阈值β 3设定比Condl稍大、诸如为25米(m),能够一边把定位精度的劣化成最小限度,一边能够确保可以定位的数量的码相位CPCl。 Thus, by the terminal 3020 sets the code phase threshold value is set slightly larger than condL β 3, such as 25 meters (m), capable of positioning accuracy while the deterioration to a minimum, while the positioning may be possible to secure the number of code phases CPCl.

[0569] 另外,诸如在Condll中,由于存在追踪中卫星数用于定位的最少数量为3个的情况下、且弱卫星多数性130g为“YES”,所以存在一减小码相位阈值β 3的设定,GPS卫星1¾ 等的数量就不能达到可以定位的数量的情况。 [0569] Further, in such Condll, since there are tracked with minimal number of the number of satellites used for positioning is three, and the weak satellite majority 130g is "YES", there is a reduced code phase threshold β 3 the number of settings, GPS satellites can not reach 1¾, etc. can locate a number of cases. 因此,终端3020通过设定比Condl或Cond4 等大、诸如为80米(m),就能一边确保定位精度的劣化在容许限度中,一边确保可以定位的数量的码相位CPCl。 Thus, by setting the ratio of the terminal 3020 or the like Condl Cond4 large, such as 80 meters (m), the positioning accuracy can be ensured and deterioration of the allowable limit, can be positioned while ensuring the number of code phases CPCl.

[0570] 而且,在第三实施例中,码相位β的最大值设定80米(m)。 [0570] Further, in the third embodiment, the maximum code phase β is set to 80 meters (m). 所谓该80米(m)的长度是终端3020为高速移动部、诸如搭载在新干线上一边进行移动一边在以一秒(s)间隔进行定位时,在上次定位时和当前时刻的期间中,被规定作为码相位变化的距离以下的长度。 The so-called 80 meters (m) is a length of high-speed movement of the terminal 3020, such as a side mounted for movement when positioning of one second (s) intervals, while during the preceding positioning and the current time on the Shinkansen , it is defined as the length of the phase change from the code below.

[0571] 另外,例如在Cond23中是移动模式,由于终端3020进行移动所以到达终端3020 的电波Sl等的到达频率连续的变动。 [0571] Further, for example, a movement mode in Cond23, since it reaches the mobile terminal 3020 Sl radio terminal 3020 and the like of continuous variation of the arrival frequency. 而且,很难计算出其到达频率的变动。 Further, it is difficult to calculate the variation of the arrival frequency. 因此,终端3020 通过把码相位阈值β 3设定比Condl或ConcM等大、诸如80米(m),即使定位精度劣化到容许限度,也能确保可以定位的数量的码相位CPC1。 Therefore, the terminal 3020 by the code phase threshold value setting β 3 or ConcM Condl large ratio, such as 80 meters (m), even if the positioning accuracy is degraded to an allowable limit, can be positioned to ensure that the number of the code phase CPC1.

[0572] 终端3020如上述构成。 [0572] The terminal 3020 configured as described above.

[0573] 终端3020能够判断当前的码相位CPCl和预测码相位CPCe的码相位差是否小于等于预先规定的阈值β 3。 [0573] The terminal 3020 can be determined that the current code phase and the predicted code phase CPCe CPCl the code phase difference is less than a predetermined threshold value β is equal to three. 因此,终端3020能够验证码相位CPCl的精度。 Therefore, the terminal 3020 can verify the accuracy of the code phase CPCl. [0574] 另外,终端3020能够使用对应小于等于阈值β 3的码相位差的码相位CPClJii 前位置进行定位。 [0574] In addition, terminal 3020 can be smaller than the threshold value using the corresponding 3 β code phase difference CPClJii code phase position before positioning.

[0575] 基于此,在信号强度微弱电场下,终端3020能够在验证定位基本码的码相位的精度之后,精度良好的进行定位。 After [0575] Based on this, a weak electric field strength at the signal terminal 3020 can verify the accuracy of the code phase of the positioning base code, be accurately positioned.

[0576] 另外,终端3020能够从定位中排除对应频率阈值α 3以内的范围之外的频率fCl 的码相位CPCl。 [0576] In addition, terminal 3020 can exclude the code phase CPCl fCl frequency outside the range of less than 3 corresponding to the frequency threshold value α from targeting.

[0577] 这意味着终端3020不仅能够验证C/A码的码相位CPCl的精度,也能够验证计算出码相位CPCl时的接收频率fCl的精度。 [0577] This means that the terminal 3020 can verify not only the accuracy of the code phase CPCL the C / A code, it is possible to verify the accuracy of the reception frequency when calculating the fCl code phase CPCl.

[0578] 基于此,在信号强度微弱电场下,终端3020能够在验证定位基本码的码相位的精度之后,更进一步的精度良好的进行定位。 After [0578] Based on this, a weak electric field strength at the signal terminal 3020 can verify the accuracy of the code phase of the positioning base code, be further accurately positioned.

[0579] 此外,诸如追踪中的GPS卫星1¾等的数量越多,终端3020越减小码相位阈值β 3,能够在定位中仅使用精度相对的高的码相位CPCl。 [0579] In addition, as the number of GPS satellites tracked 1¾ the like, the terminal 3020 to reduce the code phase threshold β 3, using only relatively high precision in the positioning code phase CPCl.

[0580] 基于此,在电波强度微弱电场下,终端3020能够使用精度相对的高的码相位CPCl 进行定位。 [0580] Based on this, a weak electric field strength in the radio terminal 3020 can use a relatively high accuracy of positioning code phase CPCl.

[0581] 另外,终端3020诸如接收到的C/A码的信号强度XPR大的GPS卫星1¾等的数量越多,越减小码相位阈值β 3,能够在定位中仅使用精度相对的高的码相位CPC1。 [0581] Further, the terminal 3020 such as the number of the received C / signal strength A code XPR large GPS satellites 1¾ the like, relatively high the reduced code phase threshold β 3, can be used only in positioning accuracy code phase CPC1.

[0582] 基于此,在电波强度微弱电场下,终端3020能够使用相对的高的码相位CPCl进行定位。 [0582] Based on this, a weak electric field strength in the radio terminal 3020 can use a relatively high positioning code phase CPCl.

[0583] 另外,例如漂移诸如在正负(士)50赫兹(Hz)以内时,减小码相位阈值β 3,终端3020能够在定位中仅使用精度相对的高的码相位CPCl。 [0583] Further, for example, such as when the positive and negative drift (persons) 50 hertz (Hz) or less, reducing the code phase threshold β 3, terminal 3020 can be used only in a relatively high accuracy in positioning code phase CPCl.

[0584] 基于此,在电波强度微弱电场下,终端3020能够使用精度相对的高的码相位CPCl 进行定位。 [0584] Based on this, a weak electric field strength in the radio terminal 3020 can use a relatively high accuracy of positioning code phase CPCl.

[0585] 另外,诸如经过累计时间越长越减小码相位阈值β 3,终端3020能够在定位中仅使用精度相对的高的码相位CPCI。 [0585] Further, as the elapsed accumulation time is reduced the longer the code phase threshold β 3, terminal 3020 can be used only in a relatively high accuracy in positioning code phase CPCI.

[0586] 基于此,在电波强度微弱电场下,终端3020能够使用精度相对的高的码相位CPCl 进行定位。 [0586] Based on this, a weak electric field strength in the radio terminal 3020 can use a relatively high accuracy of positioning code phase CPCl.

[0587] 另外,由于终端3020追踪中的GPS卫星1¾等的数量越多越减小码相位阈值β 3 的设定,所以能够使用精度高的码相位CPCl进行定位。 [0587] Further, since the number of terminals 3020 1¾ tracked GPS satellites and the like reducing the code phase threshold value setting β 3, it is possible to use high-precision positioning code phase CPCl.

[0588] 另外,由于终端3020追踪中的GPS卫星1¾等的数量越少越加大码相位阈值β 3 的设定,所以能够提高能够计算出定位位置的可能性。 [0588] Further, since the smaller the number of terminal 3020 1¾ tracked GPS satellites and the like to increase the code phase threshold value setting β 3, it is possible to improve the positioning possibilities is possible to calculate the position.

[0589] 以上是第三实施例涉及的终端3020的构成,但下面使用图48主要对其动作例进行说明。 [0589] The above is configuration of the terminal 3020 according to a third embodiment, but the following will be described with its main operation 48 of FIG.

[0590] 图48是表示终端3020的动作例的概略流程图。 [0590] FIG. 48 is a schematic flowchart showing an operation example of the terminal 3020.

[0591] 首先,终端3020接收电波Sl等,计算出测量(图47的步骤S301)。 [0591] First, the terminal 3020 receives radio waves Sl and the like, the measurement is calculated (step 47 of FIG S301). 该步骤S301 是相位计算步骤的一例。 This step S301 is an example of a phase calculation step.

[0592] 接着,终端3020保存测量(步骤S302)。 [0592] Next, save the measurement terminal 3020 (step S302).

[0593] 接着,终端3020判断当前频率fCl和上次频率fCO的频率差分的绝对值是否小于等于频率阈值α 3 (步骤S303)。 [0593] Next, the terminal 3020 determines whether the current absolute value of the difference frequency and the last frequency fCl fCO frequency equal to the frequency is less than the threshold value α 3 (step S303).

[0594] 在步骤S303中,终端3020在定位中不使用对应判断不是小于等于频率阈值α 3的频率差分的码相位CPCl (S310)。 [0594] In step S303, the terminal 3020 does not use the corresponding judgment threshold value α is smaller than the frequency equal to the frequency of the code phase difference 3 CPCl (S310) in positioning. 也就是说,不使用定位使用码相位CPClf。 That is, without using the positioning code phase CPClf.

[0595] 针对于此,在步骤S303中,终端3020关于对应判断频率小于等于频率阈值α 3的频率差分的码相位CPC1,计算出对应的预测码相位CPCe (步骤S304)。 [0595] For this, in step S303, the terminal 3020 determines the corresponding frequency is about equal to the frequency difference is smaller than the threshold value of the code phase CPC1 α 3, corresponding to the calculated estimated code phase CPCe (step S304). 该步骤S304是预测相位计算步骤的一例。 This step S304 is an example of an estimated phase calculation step.

[0596] 接着,终端3020维持或变更码相位阈值β 3 (步骤S3(^)。该步骤S305是相位差容许范围确定步骤的一例。 [0596] Next, the terminal 3020 maintains or changes the code phase threshold β 3 (step S3 (^). This step S305 is the phase difference allowable range determination step of the one case.

[0597] 接着,终端3020判断码相位CPCl和预测码相位CPCe的码相位差的绝对值是否小于等于阈值β3(步骤S306)。 [0597] Next, CPCl 3020 determines code phase and the predicted code phase CPCe terminal code phase difference equal to the absolute value is smaller than the threshold value beta] 3 (step S306). 该步骤S306是相位评价步骤的一例。 This step S306 is an example of a phase evaluation step. 终端3020把判断码相位差的绝对值小于等于阈值β 3的码相位CPC1,视为定位使用码相位CPClf。 Terminal 3020 determines the code phase difference absolute value than the threshold value β 3 code phase CPC1, as the positioning code phase CPClf.

[0598] 接着,终端3020判断定位使用码相位CPClf是否大于等于3个(步骤S307)。 [0598] Next, the terminal 3020 determines the positioning code phase using CPClf whether three or more (step S307).

[0599] 在步骤S307中,当终端3020判断定位使用码相位CPClf不足3个时,由于不能定位,所以不进行定位终了。 [0599] In step S307, if the terminal 3020 determines the positioning code phase CPClf when less than three, because it is not positioned, it is not positioned end.

[0600] 针对于此,在步骤S307中,当终端3020判断定位使用码相位CPClf大于等于3个时,使用定位使用码相位CPClf进行定位(步骤S308)。 [0600] For this, in step S307, when the terminal 3020 determines the positioning code phase equal CPClf than 3, using the positioning code phase CPClf positioning (step S308). 该步骤S308是定位步骤的一例。 The step S308 exemplifies a positioning step.

[0601] 接着,终端3020输出定位位置QCl (参照图43)(步骤S309)。 [0601] Next, the output terminal positioning position QCL 3020 (see FIG. 43) (step S309).

[0602] 通过以上步骤,在信号强度为微弱电场下,终端3020能够在验证定位基本码的相位的精度之后,精度良好的进行定位。 After [0602] Through the above steps, the signal intensity of the electric field is weak, the terminal 3020 can verify the accuracy of the phase of the positioning base code, be accurately positioned.

[0603] 本发明并不限于上述的各实施例。 [0603] The present invention is not limited to the embodiments described above.

39 39

Claims (13)

  1. 1. 一种定位装置,包括:相位计算部,进行规定的复制定位基本码和来自规定的通信源的定位基本码的相关处理,计算出所述定位基本码的当前的相位;预测相位计算部,计算出基于在上次定位时使用的所述相位、搭载有所述定位基本码的电波的频率的多普勒偏移及从上次定位时开始的经过时间而预测了当前的所述相位时的预测相位;相位差评价部,判断通过所述相位计算部计算出的所述相位和所述预测相位的相位差是否在规定的相位差容许范围内;以及定位部,使用与所述相位差容许范围内的所述相位差对应的所述相位,对当前位置进行定位,其中,所述相位计算部对应各个通信源使用至少一个频率系列进行规定的复制定位基本码和来自所述通信源的定位基本码的所述相关处理,计算出定位基本码的相位, 所述定位部包括:相位选择部,在与所 1. A positioning apparatus comprising: a phase calculating unit, performs the correlation process a predetermined location of replication positioning base code from the transmission source and a predetermined base code, to calculate the current phase of the positioning base code; estimated phase calculation section is calculated based on the phase used during preceding positioning, the frequency of a radio wave carrying the positioning base code, the phase current and the beginning of the Doppler shift from the preceding positioning time elapsed predicted when the estimated phase; the phase difference evaluation unit determines the phase calculated by the phase calculation section and the estimated phase is within a predetermined phase difference allowable range; and a positioning unit, using the phase corresponding to the phase difference within the phase difference allowable range, the current location is positioned, wherein said phase calculation section corresponding to the respective communication using the copy source for at least a predetermined frequency range and the positioning base code from the communication source the positioning base code correlation processing to calculate the phase of positioning base code, the positioning portion comprises: a phase selection unit, with the 述相位差容许范围内的所述相位差对应的所述相位中,对应各个所述通信源选择所述相位差最小的所述相位视为选择相位;选择相位第一评价部,判断所述选择相位的信号强度是否最大;以及选择相位第二评价部,判断所述选择相位所属的所述频率系列中的所述相位连续在所述相位差容许范围内的次数是否在预先规定的规定次数范围内,当基于所述选择相位第一评价部的判断结果和/或基于所述选择相位第二评价部的判断结果为肯定的时,使用所述选择相位对当前位置进行定位。 Said allowing the phase of the phase difference corresponding to a phase difference within a range, corresponding to each of the communication source of the selected minimum phase selection phase of the phase considered; selected phase first evaluation unit determines the selection selecting a predetermined number of times range phase second evaluation unit determines the selection of the phase series of the number of consecutive relevant frequency phase within the phase difference allowable range specified in advance whether the well; whether the maximum signal strength of the phase inside, when the determination result based on the selected phase first evaluation section and / or phase determination based on the selection result of the second evaluation portion for positioning the current position is positive when using the selected phase.
  2. 2.根据权利要求1所述的定位装置,其中,所述预测相位计算部使用作为上次定位时的所述相位、且在所述相关处理结束时的所述相位,计算出所述预测相位。 2. The positioning apparatus according to claim 1, wherein calculating the estimated phase using the phase section as the preceding positioning time and the phase at the end of the correlation process, calculating the predicted phase .
  3. 3.根据权利要求1或2所述的定位装置,包括:接收频率指定部,指定接收搭载有所述定位基本码的电波时的接收频率; 频率差评价部,判断上次定位时的所述接收频率和当前的所述接收频率的频率差是否在预先规定的频率差容许范围内;相位排除部,从定位中排除与所述频率差容许范围外的所述频率差对应的所述定位基本码的相位。 When the frequency difference evaluation unit determines the preceding positioning; designated reception frequency unit, designated to receive the positioning receiver mounted radio frequency substantially codes: 3. The positioning apparatus of claim 1 or claim 2, comprising if the difference between the reception frequency and the current frequency of the reception frequency within a predetermined frequency difference allowable range; negative phase portion, excluding the positioning difference corresponding to the frequency difference outside the allowable range from positioning basic frequency phase of the code.
  4. 4.根据权利要求1或2所述的定位装置,包括:接收频率指定部,指定接收搭载有所述定位基本码的电波时的接收频率; 频率差评价部,判断上次定位时的所述接收频率和当前的所述接收频率的频率差是否在预先规定的频率差容许范围内;以及相位排除部,从定位中排除与所述频率差容许范围外的所述频率差对应的所述定位基本码的相位,其中,所述各个频率系列互相偏离预先规定的频率间隔, 所述频率差容许范围根据不足所述频率间隔的阈值来规定。 When the frequency difference evaluation unit determines the preceding positioning; designated reception frequency unit, designated to receive the positioning receiver mounted radio frequency base code: The positioning device according to claim 1 or claim 2, comprising difference between the reception frequency and the current frequency of the reception frequency is within a predetermined frequency difference allowable range; and a negative phase of the positioning portion, the outer negative frequency difference allowable range corresponding to the frequency difference from the positioning of base code phase, wherein the respective series of frequencies offset from one another a predetermined frequency interval, the frequency difference allowable range based on the frequency interval is less than a threshold value predetermined.
  5. 5.根据权利要求1所述的定位装置,其还包括:相位差容许范围确定部,基于所述定位基本码的接收状态,确定所述相位差容许范围,所述相位差评价部判断是否在所述被确定的相位差容许范围内。 The positioning apparatus according to claim 1, further comprising: a phase difference allowable range determination section, based on the reception state of the positioning base code, the phase difference allowable range is determined, the phase difference evaluation unit determines whether the determined phase difference allowable range.
  6. 6.根据权利要求5所述的定位装置,其中,所述接收状态包括所述定位装置接收到的所述定位基本码的所述通信源的数量。 6. A positioning device as claimed in claim 5, wherein the reception state comprises a number of the transmission source of the positioning device receives the positioning base code.
  7. 7.根据权利要求5或6所述的定位装置,其中,所述接收状态包括所述定位装置接收到的所述定位基本码的信号强度。 The positioning apparatus of claim 5 or claim 6, wherein the state comprises receiving means for receiving the signal strength of the positioning the positioning base code.
  8. 8.根据权利要求7所述的定位装置,其中,所述接收状态包括表示所述定位装置的基准时钟的漂移是否在预先规定的漂移容许范围内的信息。 8. The positioning apparatus according to claim 7, wherein the reception state of the positioning means includes a representation of a reference clock drift information whether drift within a predetermined allowable range.
  9. 9.根据权利要求7所述的定位装置,其中,所述接收状态包括表示开始所述相关处理后的经过时间的信息。 9. The positioning apparatus according to claim 7, wherein the reception state information includes information indicating the start of the time elapsed after the correlation processing.
  10. 10.根据权利要求7所述的定位装置,其中,所述定位装置接收到所述定位基本码的所述通信源的数量越多,所述相位差容许范围确定部越窄地设置所述相位差容许范围,所述定位装置接收到所述定位基本码的所述通信源的数量越少,所述相位差容许范围确定部越宽地设置所述相位差容许范围。 10. The positioning apparatus according to claim 7, wherein said positioning means receives the larger the number of the communication source of the positioning base code, the phase difference allowable range determination section, the narrower the phase provided difference allowable range, the smaller the number of the communication source device receives the positioning of the positioning base code, the phase difference allowable range determination portion is provided wider the phase difference allowable range.
  11. 11.根据权利要求1所述的定位装置,其中,所述通信源是SPS(Satellite Positioning System)卫星。 11. The positioning apparatus according to claim 1, wherein said communication source is a SPS (Satellite Positioning System) satellite.
  12. 12. 一种定位控制方法,包括以下步骤:进行规定的复制定位基本码和来自规定的通信源的定位基本码的相关处理,计算出所述定位基本码的相位;计算出基于在上次定位时使用的所述相位、搭载有所述定位基本码的电波的频率的多普勒偏移及从上次定位时开始的经过时间而预测了当前的所述相位时的预测相位;判断在所述相位计算中计算出的所述相位和所述预测相位的相位差是否在规定的相位差容许范围内;以及使用与所述相位差容许范围内的所述相位差对应的所述相位,对当前位置进行定位, 其中,对应各个通信源使用至少一个频率系列进行规定的复制定位基本码和来自所述通信源的定位基本码的所述相关处理,计算出定位基本码的相位, 在所述当前位置的定位中,在与所述相位差容许范围内的所述相位差对应的所述相位中,对应各个所述通 A positioning control method, comprising the steps of: performing a predetermined copying position-related processing and positioning base code from the transmission source to a predetermined base code phase calculated by the positioning base code; calculated based on the previous positioning when using the phase of the Doppler shift carrying the positioning base code frequency radio wave and the elapsed time from the preceding positioning time predicted when the estimated phase of the phase current; determined by calculating said phase calculated in the phase and the estimated phase is within a predetermined allowable phase difference range; and the use of the phase difference allowable range corresponding to the phase retardation of positioning a current position, wherein the respective communications corresponding to the correlation process using the copy source is positioned at least a predetermined frequency range of the basic code and the positioning base code from the transmission source, to calculate the phase of positioning base code, the locate the current position in the phase of the phase corresponding to the phase difference within the allowable range, corresponding to each of the through- 源选择所述相位差最小的所述相位;进行所述选择相位的信号强度是否最大的第一判断;以及进行所述选择相位所属的所述频率系列中的所述相位连续在所述相位差容许范围内的次数是否在预先规定的规定次数范围内的第二判断,当所述第一判断的判断结果和/或所述第二判断的判断结果为肯定的时,使用所述选择相位对当前位置进行定位。 The minimum source selection phase the phase; the selection phase performed whether the maximum signal strength of a first determination; and for the selection of the frequency series of the phase in the continuous phase belongs in the retardation number of allowable range is determined whether a second predetermined number of times within a predetermined range, and when the determination result of the first judgment and / or the determination result of the second determination is affirmative, a phase of selection using the locate the present position.
  13. 13.根据权利要求12所述的定位控制方法,其还包括以下步骤: 基于所述定位基本码的接收状态,确定所述相位差容许范围, 判断是否在所述被确定的相位差容许范围内。 13. The positioning control method claimed in claim 12, further comprising the step of: based on a reception state of the positioning base code, the phase difference allowable range is determined, the determining whether the determined phase difference allowable range .
CN 200780005958 2006-04-27 2007-04-26 Positioning device, positioning control method CN101384920B (en)

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JP2006137618A JP2007309730A (en) 2006-05-17 2006-05-17 Positioning instrument, control method for the positioning instrument, and program
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Citations (2)

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US5808581A (en) 1995-12-07 1998-09-15 Trimble Navigation Limited Fault detection and exclusion method for navigation satellite receivers
CN1292094A (en) 1998-02-27 2001-04-18 艾利森公司 Stand alone global positioning system (GPS) and method with high sensitivity

Patent Citations (2)

* Cited by examiner, † Cited by third party
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
CN1292094A (en) 1998-02-27 2001-04-18 艾利森公司 Stand alone global positioning system (GPS) and method with high sensitivity

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