CN105940318A

CN105940318A - Navigation-message-authenticating positioning device

Info

Publication number: CN105940318A
Application number: CN201580006324.9A
Authority: CN
Inventors: 隈部正刚; 山城贵久
Original assignee: Denso Corp
Current assignee: Denso Corp
Priority date: 2014-02-06
Filing date: 2015-01-21
Publication date: 2016-09-14
Anticipated expiration: 2035-01-21
Also published as: WO2015118819A1; JP2015148521A; CN105940318B; DE112015000695T5; SG11201606140TA

Abstract

This navigation-message-authenticating positioning device (200, 300) is provided with a satellite receiver (230, 330), an authentication information acquisition unit (S25), an authentication unit (S29-S31), and a positioning unit (S42). The navigation-message-authenticating positioning device (200, 300) is provided with: an evaluation value specifying unit (S3, S3a, S3b, S64, S83) that specifies a signal quality evaluation value; and a selection unit (S5, S41, S68, S85, S88) that selects an artificial satellite. The authentication information acquisition unit (S25) acquires authentication information. The authentication unit (S29-S31) performs authentication. The positioning unit (S42) determines the position of the navigation-message-authenticating positioning device (200, 300).

Description

Navigation message authentication-type position measuring device

The application based on Japanese patent application 2014-21633 filed in 6 days February in 2014, and At this by referring to quoting its contents.

Technical field

It relates to carry out what the moonlet used in satellite position mensuration system received The navigation message authentication-type position measuring device of the certification of navigation message.

Background technology

In the past, it is known that receive manually defending used in satellite position mensuration system by receiver The navigation message that star sends, carries out the technology of position finding to position.

But, in recent years, because replicating the repeater of the signal from moonlet, can simulate ground Generating the exploitation of the simulator etc. of the signal from moonlet, the involved party of malice is likely carried out The falsification of positional information, pretend to be.

To this, Patent Document 1 discloses a kind of whether to be received navigation message that machine receives It is the recognizing of regular navigation message of moonlet used in satellite position mensuration system The technology of card.In the technology disclosed in patent documentation 1, the data at receiver access registrar center Storehouse, the satellite number comprised according to the navigation message received from moonlet and satellite moment are obtained Take the data of the certification being used in the moonlet as object.And, receiver uses from certification Whether the navigation message that the data that center gets are received is to measure from satellite position The certification of the regular navigation message of the moonlet used in system.

The present application person is found that following.

In the technology disclosed in patent documentation 1, it is being able to receive that the artificial of navigation message from device Satellite have multiple in the case of, for the navigation message of above-mentioned all moonlets, need and certification Center communicates to be made whether it is the certification of regular navigation message.Generally at the three unities In, it is possible to the moonlet of the quantity needed for setover measures receives navigation message.Therefore, If to being able to receive that whole moonlets of navigation message carry out the certification of navigation message, then certification The time that communication in center, this device, the process load of computing, certification are spent is the hugest Greatly.

Patent documentation 1: Japanese Laid-Open Patent Publication 2013-130395

The disclosure is to propose in view of above-mentioned conventional problem points, though its object is to provide one So reduce time, process load that certification is spent, but the higher position finding of precision can be carried out Navigation message authentication-type position measuring device.

Summary of the invention

Navigation message authentication-type position measuring device involved by one example of the present disclosure possesses: defend Star receiver, the navigation receiving the moonlet used in satellite position mensuration system disappears Breath；Certification information acquiring section, obtains from authentication center and disappears with the navigation received from moonlet The certification information that breath is corresponding；Authentication department, uses the certification got by certification information acquiring section The navigation message carrying out being received by DVB by information is this situation of regular message Certification；And position finding portion, based on received from multiple moonlets by DVB Navigation message carries out position to the position of navigation message authentication-type position measuring device (from device) Measure.Navigation message authentication-type position measuring device possesses: evaluation of estimate determines portion, connects for satellite The navigation message that receipts machine receives, is determined to evaluate the signal quality of the signal quality of navigation message Evaluation of estimate；With selection portion, based on being determined the signal quality estimation value determined in portion by evaluation of estimate, come It is selected to by DVB receives the navigation that have sent in the moonlet of navigation message The signal quality of message can be evaluated as good moonlet.Certification information acquiring section is limited to The certification information corresponding with the navigation message received from the moonlet selected by selection portion Obtaining, authentication department uses the certification information that got by certification information acquiring section, to from by The navigation message that the moonlet that selection portion is selected is received by DVB is regular disappearing Ceasing this situation to be authenticated, position finding portion connects based on from the moonlet selected by selection portion The navigation message received, carries out position survey to the position of navigation message authentication-type position measuring device Fixed.

Accordingly, be limited to can to receive in DVB in the moonlet of navigation message by The moonlet that selection portion is selected, carries out the certification information corresponding with the navigation message received Acquisition, the certification of navigation message that is received.Therefore, with for all can be DVB receives the moonlet of navigation message, the navigation message pair carrying out Yu receiving The acquisition of the certification information answered, the situation of certification of the navigation message being received are compared, energy Enough reduce time, process load that certification is spent.

It addition, based on being determined the signal quality estimation value determined in portion by evaluation of estimate, select in selection portion Select the signal quality of the navigation message that have sent and can be evaluated as good moonlet, and from based on The navigation message that the moonlet selected receives, is entered from the position of device by position finding portion Line position measures, it is possible to use the navigation message that signal quality is good to carry out position finding Probability improves.Although result reduces time, the process load that certification is spent, but can carry out The higher position finding of precision.

Accompanying drawing explanation

About the above-mentioned of the disclosure and other purpose, feature, advantage, by referring to accompanying drawing Following detailed description can become definitely.In adding accompanying drawing:

Fig. 1 is the one of the schematically composition representing the navigation message Verification System in embodiment 1 The figure of individual example.

Fig. 2 is the block diagram of the example schematically constituted representing authentication center.

Fig. 3 is the block diagram of the example schematically constituted representing the first vehicle-mounted machine.

Fig. 4 is at the first certification object the select of satellite in the first vehicle-mounted machine representing embodiment 1 The flow chart of one example of the flow process of reason.

Fig. 5 is the figure representing the example selecting complete satellite list.

Fig. 6 is the one of the flow process of the certification relevant treatment in the first vehicle-mounted machine representing embodiment 1 The flow chart of individual example.

Fig. 7 is to represent the flow process that the position finding in the first vehicle-mounted machine in embodiment 1 processes The flow chart of one example.

Fig. 8 is to represent at the NMA relevant information transmission in the first vehicle-mounted machine in embodiment 1 The flow chart of one example of the flow process of reason.

Fig. 9 is the figure of the example representing NMA relevant information.

Figure 10 is the block diagram of the example schematically constituted representing the second vehicle-mounted machine.

Figure 11 is the second certification object the select of satellite in the second vehicle-mounted machine representing embodiment 1 The flow chart of one example of the flow process processed.

Figure 12 is at the first certification object the select of satellite in the first vehicle-mounted machine representing variation 1 The flow chart of one example of the flow process of reason.

Figure 13 is to represent the first certification object the select of satellite in the first vehicle-mounted machine in variation 2 The flow chart of one example of the flow process processed.

Figure 14 is at the first certification object the select of satellite in the first vehicle-mounted machine representing variation 3 The flow chart of one example of the flow process of reason.

Detailed description of the invention

Hereinafter, embodiment of the present disclosure accompanying drawing is used to illustrate.

(embodiment 1)

As it is shown in figure 1, the navigation message Verification System 1 in embodiment 1 include monitoring station 110, Authentication center 120, main control station the 130, first vehicle-mounted machine 200 and the second vehicle-mounted machine 300. The vehicle using the first vehicle-mounted machine 200 is set to vehicle A, the car of the second vehicle-mounted machine 300 will be used It is set to vehicle B.First vehicle-mounted machine 200 and the second vehicle-mounted machine 300 are equivalent to leading of the disclosure Boat message authentication type position measuring device.

Monitoring station 110 receives the gps satellite that the GPS of one of satellite position mensuration system possesses The GPS electric wave that 2a～2f sends.Gps satellite 2a～2f is equivalent to the moonlet of the disclosure. Hereinafter, in the case of not differentiating between each of gps satellite 2a～2f, gps satellite 2 is shown as. As well-known, GPS electric wave comprises navigation message.The monitoring station 110 GPS to receiving Electric wave is demodulated extracting navigation message, and sends to authentication center 120.From multiple GPS In the case of satellite 2 receives GPS electric wave, extract navigation message from each GPS electric wave, to Authentication center 120 sends.

Navigation message comprises ephemeris data, almanac data as well-known.Almanac data comprises Whole GPS on the relevant track of the gps satellite 2 being not limited to the transmission source of navigation message defend The orbit information of star 2, and can calculate according to the delivery time of this orbit information and navigation message All satellite positions of gps satellite 2.It addition, ephemeris data comprises relevant navigation message The orbit information of gps satellite 2 of transmission source, and can disappear according to this orbit information and navigation The precision of the gps satellite 2 that the delivery time of breath calculates the transmission source of this navigation message is higher Satellite position.

The authentication center 120 H-matrix according to navigation message with as encryption key creates odevity According to.And, the signal comprising this odd and even data is sent to main control station 130.It addition, Communication it is also carried out between one vehicle-mounted machine the 200, second vehicle-mounted machine 300.Fig. 2 is used to carry out later The detailed description of this authentication center 120.

The odd and even data received from authentication center 120 is sent to quasi-zenith and defends by main control station 130 Star (following, QZS satellite) 3.QZS satellite 3 by comprise the navigation message of odd and even data towards Broadcast on the ground.

First vehicle-mounted machine 200 is navigation message authentication-type (NMA:Navigation Message Authentication) vehicle-mounted machine.First vehicle-mounted machine 200 communicates with authentication center 120, And to carry out receiving navigation message from gps satellite 2 be this certification of regular navigation message.Make The detailed description being authenticated later with Fig. 6.It addition, the first vehicle-mounted machine 200 is carried out in advance Process selected as the gps satellite 2 of the object carrying out this certification.

Additionally, the first vehicle-mounted machine 200 uses the navigation message received from multiple gps satellites 2 Position finding is carried out to from the current location of equipment.The minimum use of position finding of current location is from 3 The navigation message that individual gps satellite 2 receives.Further, the first vehicle-mounted machine 200 passes through channel radio Believe the information of the gps satellite 2 of the transmission source sending the navigation message that relevant certification is set up to outside (following, NMA relevant information).Fig. 3 is used to carry out the detailed of the first vehicle-mounted machine 200 later Explanation.

Second vehicle-mounted machine 300 is also that navigation message authentication-type is vehicle-mounted in the same manner as the first vehicle-mounted machine 200 Machine.Second vehicle-mounted machine 300 also carries out aforesaid certification, position in the same manner as the first vehicle-mounted machine 200 Measure.It addition, in the second vehicle-mounted machine 300, receive the NMA sent from the first vehicle-mounted machine 200 Relevant information, and also utilize this NMA relevant information to carry out being pre-selected as being authenticated The process of the gps satellite 2 of object.Figure 10 is used to carry out the detailed of the second vehicle-mounted machine 300 later Thin explanation.

As in figure 2 it is shown, authentication center 120 possesses control portion 122, data store 124, leads to Letter portion 126.

Control portion 122 is the computer possessing CPU, ROM, RAM etc., to data store 124, communication unit 126 is controlled.It addition, CPU is by utilizing RAM's to store merit temporarily And can perform the program that is stored in ROM, thus as RAND message generating unit 1221, SEED value generating unit 1222, H-matrix calculating part 1223, parity calculations portion 1224, signal add The Ministry of worker 1225 plays a role.Additionally, the function in these each portions 1221～1225 can be with patent literary composition Offer the function disclosed in 1 identical.

RAND message generating unit 1221 generates according to the navigation message obtained from monitoring station 110 RAND message.RAND message arranges TOW (time of from the ranking of navigation message in order The time of week: one week) the data ranked and as in ephemeris data clock correction join TOC, AF0, AF1 of number.TOW, TOC, AF0, AF1 determine that the transmission of signal The data in moment.Further, afterwards, add as the AS Flag of anti-spoofing mark, as satellite PRN (Pseudo Random Noise: the pseudo noise) ID of numbering.

The RAND comprising TOW and PRN ID can be described as when representing which gps satellite The data sent.It addition, TOW is every change in 6 seconds, further, since comprise PRN ID, institute RAND is generated with the gps satellite 2 received according to monitoring station 110 and every 6 seconds.

SEED value generating unit 1222 is by making random number generate as input on PC clock SEED value.

H-matrix calculating part 1223 uses the SEED value that SEED value generating unit 1222 generates, meter Calculate the H-matrix the most corresponding with this SEED value.As H-matrix, use known hash Function, such as, be used for carrying out LDPC (Low Density Parity Check: low close Degree parity check code) parity matrix that encodes.And, it is possible to use according to odd even The generator matrix that check matrix is determined.

RAND message that parity calculations portion 1224 generates based on RAND message generating unit 1221, The H-matrix calculated with H-matrix calculating part 1223 is to calculate odd and even data.

Odd and even data that parity calculations portion 1224 is calculated by signal processing department 1225 and this meter RAND message used in calculation inserts the navigation message making QZS satellite 3 send.And, It is sent to main control station 130 by inserting complete navigation message.

Further, signal processing department 1225 with the insertion of signal accordingly by parity calculations portion 1224 RAND message used in the odd and even data that calculates, the calculating of odd and even data, H-matrix, SEED value used in the calculating of H-matrix is set up and is stored in data store 124 accordingly.

When RAND message generating unit 1221 generates RAND message, this signal processing department RAND message and odd and even data are inserted the navigation message making QZS satellite 3 send by 1225.Cause This, when RAND message generating unit 1221 generates RAND message, RAND message is raw One-tenth portion 1221, SEED value generating unit 1222, H-matrix calculating part 1223, parity calculations portion 1224 Also process is performed.

H-matrix selection portion 1226 is being received from the first vehicle-mounted machine 200 by communication unit 126 In the case of the PRN ID that sends here, TOW, public-key cryptography, from being stored in data store 124 In H-matrix select the H-matrix corresponding with PRN ID, the TOW received.And, profit With public-key cryptography, the H-matrix selected is encrypted, and to the first vehicle-mounted machine 200 foldback encryption H-matrix.

The navigation message of QZS satellite 3 broadcast is possessed by the communication unit 210 of the first vehicle-mounted machine 200 Acceptance division 211 receives.As it is shown on figure 3, this first vehicle-mounted machine 200 possesses communication unit 210, control Portion 220 processed, DVB 230.

Communication unit 210 possesses acceptance division 211 and sending part 212.Communication unit 210 possesses short distance and leads to Telecommunication function and broadband connections function.Junction service function be such as communication distance be hundreds of meters.Broadband Communication function be such as communication distance be thousands of rice, carried out by the base station with common communication line road network Communication, it is possible to lead to other the communication equipment communicated in circle being in common communication line road network Letter.By junction service function, carry out so-called car with the communication unit 310 of the second vehicle-mounted machine 300 Inter-vehicle communication, by carrying out between broadband connections function, and the communication unit 126 of authentication center 120 Communication.

The electricity that DVB 230 receives gps satellite 2 with some cycles, QZS satellite 3 sends Ripple.

Control portion 220 is the computer possessing CPU, ROM, RAM etc., to communication unit 210, DVB 230 is controlled.It addition, CPU is by utilizing RAM's to store function temporarily And perform the program being stored in ROM, perform the first certification object satellite choosing shown in Fig. 4 Select the position finding process shown in the certification relevant treatment shown in process, Fig. 6, Fig. 7, Fig. 8 institute The various process such as the NMA relevant information transmission process shown.

As summary, certification relevant treatment be with the signal received by DVB 230 be from The process that this certification of regular navigation message that gps satellite 2 receives is relevant.First certification pair It is the gps satellite 2 being able to receive that navigation message from DVB 230 as the select of satellite processes In selected as the process of gps satellite 2 of the object carrying out above-mentioned certification relevant treatment.Position It is multiple from be selected by the first certification object the select of satellite process for putting mensuration and processing Gps satellite 2 based on the navigation message received by DVB 230 to from the current location of device Carry out the process of position finding.It is to send NMA relevant information that NMA relevant information transmission processes Process, this NMA relevant information comprises and is capable of identify that at by the first certification object the select of satellite The identification information of the gps satellite 2 managed and be selected and expression are for from this gps satellite The authentication information that the certification of the navigation message of 2 has been set up the most.

Herein, the flow chart shown in Fig. 4 is used, in the control portion 220 to the first vehicle-mounted machine 200 First certification object the select of satellite process illustrate.For connecing by satellite from gps satellite 2 The navigation message that receipts machine 230 receives starts Fig. 4's in the case of DVB 230 exports The composition of flow chart.

In DVB 230, carrying out successively to control portion 220 from DVB 230 Output 1 cycle in, DVB 230 navigation receiving multiple gps satellite 2 disappears Breath, and export the plurality of navigation message.Herein, enumerate within the 1 above-mentioned cycle by satellite reception Machine 230 receives the whole gps satellites 2 can observed on the current location of the first vehicle-mounted machine 200 Navigation message, and by the plurality of navigation message example in the case of control portion 220 exports come Carry out the following description.

First, in step sl, obtain from DVB 230 output come can be currently The navigation message of whole gps satellites 2 of observation on position.Hereinafter, can be in current location Whole gps satellites 2 of upper observation are only called all observation gps satellites 2.

In step s 2, all observation gps satellites 2 are started below step S3～step The process (following, to select relevant treatment) of S7.Herein, the quantity of gps satellite 2 is all observed For i, from first gps satellite 2 in order to i-th gps satellite 2 repeatedly Select relevant treatment.In S2, it is that x=1 starts to select relevant treatment as current order. All the mask method of the order of observation gps satellite 2 can be the size order of PRN ID, Can also be benchmark based on other, it is also possible to determine randomly.

In step s3, determine from the navigation that x-th gps satellite 2 is accessed among S1 The signal to noise ratio (following, SN ratio) of message.As an example, for will be by DVB 230 The SN having is defined as in S1 accessed navigation message than the value that testing circuit detects The composition of SN ratio.As known, SN ratio is the noise expressed in logarithmic ratio relative to signal Value, expression value is the biggest, and signal quality is the best.Therefore, SN is than the signal being equivalent to the disclosure Quality evaluation value, S3 is equivalent to the evaluation of estimate of the disclosure and determines portion.

In step s 4, it is determined that whether the SN ratio determined in S3 is more than threshold value.Herein Described threshold value is it may be said that signal quality well arrives it may be said that position measurement result is brought error Probability lesser extent SN than, be the value that can at random set.And, It is judged to that the SN determined in S3 ratio for (S4: yes) in the case of more than threshold value, moves to step Rapid S5.On the other hand, in the case of being judged to less than threshold value (S4: no), step S6 is moved to.

In step s 5, will be judged to that the SN that determined in S3 is than for GPS more than threshold value Satellite 2 is selecting as being authenticated the gps satellite 2 of the object of relevant treatment, moves to S6. Therefore, S5 is equivalent to the selection portion of the disclosure.

In S6, in the case of to all observation gps satellite 2 completes to select relevant treatment, I.e., (S6: yes) in the case of x=i, S8 is moved to.On the other hand, in the situation not being x=i Under (S6: no), move to S7.

In S7, using (x+1)th gps satellite 2 as the object of new selection relevant treatment, Return to S4, repeatedly process.

In the case of complete selection relevant treatment for whole observation gps satellites 2 (in other words, In the case of x=i) S8 in, create the gps satellite 2 gone out selected in S5 list (with Under, select complete satellite list), and it is stored in the memorizer in control portion 220, terminate Fig. 4's Process.Whenever re-starting the first certification object the select of satellite and processing, update to be stored in successively and deposit The complete satellite list of selection in reservoir.

Such as selecting complete satellite list is the whole gps satellites 2 enumerating to go out selected in S5 The list of PRN ID.Additionally, it is preferred that about the gps satellite 2 selected in S5 The SN ratio (in other words, signal quality estimation value) determined in S3 also with this gps satellite 2 PRN ID set up associatedly be stored in memorizer.

As an example, select in complete satellite list, as it is shown in figure 5, be will be as signal The SN of quality evaluation value sets up corresponding composition than with the PRN ID of gps satellite 2.? In example shown in Fig. 5, gps satellite 2a～gps satellite 2f is all to observe gps satellite 2, Processed by the first certification object the select of satellite, select gps satellite 2a that PRN ID is 1, PRN ID is gps satellite 2c, PRN ID that gps satellite 2b, PRN ID is 10 of 5 It is the gps satellite 2e of 24.

It follows that the flow chart shown in use Fig. 6, the control portion 220 to the first vehicle-mounted machine 200 In certification relevant treatment illustrate.The flow chart of Fig. 6 is by the first certification shown in Fig. 4 Object the select of satellite processes, and selects the gps satellite 2 as the object being authenticated relevant treatment Time the composition that starts.

Herein, DVB 230 also has in the future self-replication from the signal of gps satellite 2 Continue device, can generate signal from gps satellite 2 signal of simulator with simulating receives by mistake Situation by the navigation message that GPS electric wave is comprised.

First, in S21, obtain from DVB 230 and recognize from by first shown in Fig. 4 The GPS electric wave that the gps satellite 2 that card object the select of satellite processes and is selected receives is wrapped The navigation message contained.

In S22, obtain the navigation message received from QZS satellite 3 from acceptance division 211. In S23, navigation message accessed from S21 extracts PRN ID, TOW.

In S24, by PRN ID and TOW extracted in S23 with public-key cryptography from sending out Portion 212 is sent to send to authentication center 120.It has been observed that authentication center 120 utilizes public-key cryptography pair It is encrypted by the H-matrix of this PRN ID and TOW defined, and to the first vehicle-mounted machine 200 Send.From the first vehicle-mounted machine 200 be sent to authentication center 120 by PRN ID and TOW institute The H-matrix of regulation is equivalent to the certification information of the disclosure.

In S25, obtain the H-matrix sent from authentication center 120 from acceptance division 211.Therefore, This S25 is equivalent to the certification information acquiring section of the disclosure.In S26, utilize encryption key pair Encrypted H-matrix accessed in S25 is decoded.

In S27, disappear according to the navigation that the GPS electric wave received from gps satellite 2 is comprised The navigation message of identical for the PRN ID PRN ID comprising with being sent in S24 in breath is created Build RAND message.

In S28, decoded based in the RAND message created in S27 and S26 H-matrix create and compare odd and even data.In S29, it is judged that the comparison created in S28 Odd and even data is the most consistent with the odd and even data extracted in S23.

The H-matrix decoded in S26 and authentication center 120 use in the establishment of odd and even data H-matrix identical.And, the parity calculations portion 1224 of authentication center 120 is based on this H-matrix Odd and even data is calculated with RAND message.

Therefore, the odevity extracted in the comparison odd and even data created in S28 and S23 In the case of consistent, it is possible to think the RAND message and authentication center 120 created in S27 The RAND message created is identical.

Therefore, the odevity extracted in the comparison odd and even data created in S28 and S23 According to (S29: yes) in the case of consistent, entering S30, certification is set up.On the other hand, at 2 In the case of odd and even data is inconsistent (S29: no), entering S31, certification is false.Therefore, This S29～S31 is equivalent to the authentication department of the disclosure.After S30, S31, enter S32.

In S32, processing and quilt for by the first certification object the select of satellite shown in Fig. 4 The navigation message of the whole gps satellites 2 selected completes certification and sets up or invalid judgement In the case of (S32: yes), terminate Fig. 6 process.On the other hand, even if recognizing in only one of which Card set up or invalid judgement be not fully complete in the case of (S32: no), return to S22, instead Multiple process.

In addition it is also possible to for being selected for being processed by the first certification object the select of satellite All navigation message of gps satellite 2, it is not necessary to be authenticated, and be limited to position described later and survey The gps satellite 2 of the amount needed for fixed process, the GPS to the amount needed for position finding described later process The composition that at least one of satellite 2 is carried out.

It follows that the flow chart shown in use Fig. 7, the control portion 220 to the first vehicle-mounted machine 200 In position finding process illustrate.The flow chart of Fig. 7 is by the first certification shown in Fig. 4 Object the select of satellite processes and selects the gps satellite as the object being authenticated relevant treatment The composition started when 2.

In S41, it is chosen from by the first certification object the select of satellite process shown in Fig. 4 The gps satellite 2 gone out selects the gps satellite 2 of the quantity needed for position finding.Position finding institute The quantity needed can be 4, it is also possible to is 3.It addition, selecting the number needed for position finding In the case of the gps satellite 2 of amount, can be according to selecting complete satellite list (with reference to Fig. 5) The order of PRN ID selects, it is also possible to according to the SN ratio as aforesaid signal quality estimation value Order from big to small selects.For selecting according to signal quality estimation value order from getting well to differing from In the case of composition, this S41 also corresponds to the selection portion of the disclosure.

In S42, the navigation using the gps satellite 2 gone out selected in S41 to receive disappears Breath, utilizes known method to calculate the current location of the first vehicle-mounted machine 200, terminates the process of Fig. 7. Therefore, this S42 is equivalent to the position finding portion of the disclosure.

Furthermore, it is possible to be in position finding processes, only use in aforesaid certification relevant treatment and recognize The navigation message that card is set up carries out the composition of position finding, it is also possible to for the certification stated before execution The composition that relevant treatment advance line position measures.For carrying out before performing aforesaid certification relevant treatment In the case of the composition of position finding, for comprising the navigation message used in position finding During the invalid navigation message of certification, the navigation message only using certification to set up is come again position and is surveyed Fixed, non-use position measurement result, illustrate that the reliability of position finding result re-uses after relatively low Constitute.

It follows that the flow chart shown in use Fig. 8, the control portion 220 to the first vehicle-mounted machine 200 In NMA relevant information transmission process illustrate.Carry out the NMA shown in Fig. 8 concurrently Certification relevant treatment shown in relevant information transmission process and Fig. 6, the certification in certification relevant treatment Even if defending at the whole GPS not being selected being processed by the first certification object the select of satellite In the case of star 2 completes, also begin to the flow chart of Fig. 8.It addition, the flow chart of Fig. 8 is such as The composition started with certain cycle.

In the NMA relevant information transmission shown in the flow chart of Fig. 8 processes, send NMA be correlated with Information, this NMA relevant information comprise be capable of identify that by first certification object the select of satellite process And the identification information of the gps satellite 2 being selected and expression are for from this gps satellite 2 The authentication information the most set up of the certification of navigation message.Send from the first vehicle-mounted machine 200 NMA relevant information is used in selected as being authenticated relevant place in the second vehicle-mounted machine 300 The gps satellite 2 of the object of reason.

First, in S51, institute in processing for the first certification object the select of satellite shown in Fig. 4 The each gps satellite 2 selecting complete satellite list to be comprised created, it is determined that the certification shown in Fig. 6 In relevant treatment, whether certification sets up.

In S52, sent by the junction service function of sending part 212 and comprise the complete satellite of selection The each GPS determined in PRN ID and S51 of each gps satellite 2 that list is comprised defends The NMA relevant information of the information (following, authentication information) whether the certification of star 2 sets up, knot Bundle processes.Therefore, PRN ID is equivalent to the identification information of the disclosure, and sending part 212 is equivalent to The sending part of the disclosure.

Herein, use Fig. 9, an example of NMA relevant information is illustrated.NMA phase Pass information is as it is shown in figure 9, for by the PRN ID of gps satellite 2 with represent this PRN ID table The information whether certification of the gps satellite 2 shown sets up sets up corresponding composition.Represent GPS The information whether certification of satellite 2 sets up is such as shown in Fig. 9, for representing that certification is set up (in figure " set up ") or certification is false or 2 values of unverified (" not " in figure) these 2 states Mark.Other, it is also possible to be represent certification establishment, certification be false and unverified this The information of 3 states.

Assume from the NMA relevant information of sending part 212 transmission in the present embodiment by the second car Carrier aircraft 300 receives, and carries out the following description.

It follows that use Figure 10 to carry out the second car of the side about receiving NMA relevant information The explanation of carrier aircraft 300.Second vehicle-mounted machine 300 as shown in Figure 10, possesses communication unit 310, controls Portion 320, DVB 330.The communication unit that communication unit 310 possesses with the first vehicle-mounted machine 200 210 carry out radio communication.

Communication unit 310 possesses acceptance division 311 and sending part 312.Communication unit 310 is logical with aforesaid Letter portion 210 similarly possesses junction service function and broadband connections function.DVB 330 Gps satellite 2,3, QZS satellite is received with some cycles in the same manner as DVB 230 The electric wave sent.

Control portion 320 is the computer possessing CPU, ROM, RAM etc., to communication unit 310, DVB 330 is controlled.It addition, CPU is by utilizing RAM's to store function temporarily And perform the program being stored in ROM, perform the second certification object satellite shown in Figure 11 Selection processes the same position shown in the certification relevant treatment as shown in Fig. 5 and Fig. 6 Put mensuration and process the various process such as the NMA relevant information transmission process as shown in Fig. 7.

As summary, it is also to utilize from the first vehicle-mounted machine 200 that the second certification object the select of satellite processes The NMA relevant information received, is able to receive that the GPS of navigation message from DVB 330 Selected as the process of gps satellite 2 of the object being authenticated relevant treatment in satellite 2.

It addition, control portion 320 obtains from the first vehicle-mounted machine 200 and to be received by acceptance division 311 NMA relevant information, and it is stored in memorizer.Therefore, acceptance division 311 is equivalent to the disclosure Acceptance division.For following composition, i.e. the NMA relevant information example being stored in memorizer As the first vehicle-mounted machine 200 according to each transmission source processes, from the first identical vehicle-mounted machine In the case of 200 receive new NMA relevant information, it is updated to this new relevant information.

Herein, the flow chart shown in Figure 11, the control portion 320 to the second vehicle-mounted machine 300 are used In second certification object the select of satellite process illustrate.The flow chart of Figure 11 is will be from The NMA relevant information that one vehicle-mounted machine 200 receives has preserved under state in memory, from The navigation message that gps satellite 2 is received by DVB 330 exports from DVB 330 In the case of start composition.

First, in S61, acquisition can be in current location from DVB 330 output The navigation message of whole gps satellites 2 (in other words, all observing gps satellite 2) of observation.

In s 62, navigation is extracted from the NMA relevant information received from the first vehicle-mounted machine 200 The PRN ID of the gps satellite 2 that the certification of message has been set up.As an example, for from NMA Relevant information is extracted and represents that the authentication information that certification is set up sets up the composition of corresponding PRN ID i.e. Can.Herein, the quantity of the gps satellite 2 that certification has been set up is k, extracts and recognizes from first The PRN ID (following, PRN [1]) of the gps satellite 2 that card has been set up is to kth certification The PRN ID (following, PRN [k]) of the gps satellite 2 set up.

In S63, all observation gps satellites 2 are started following S64～S72 process (with Under, select relevant treatment).Herein, in the same manner as the S2 processed with the first certification object the select of satellite, All the quantity of observation gps satellite 2 is i, first from all observation gps satellites 2 Individual gps satellite 2 in order, is chosen over relevant treatment to i-th gps satellite 2. In S63, all the current order in observation gps satellite 2 is x=1, starts to select phase Pass processes.

In S64, determine in the same manner as aforesaid S3 from x-th gps satellite 2 among S61 The SN ratio of accessed navigation message.Therefore, to also correspond to the evaluation of estimate of the disclosure true for S64 Determine portion.

In S65, judge that in the same manner as aforesaid S4 whether the SN determined in S64 than is More than threshold value.And, the SN determined in being judged to S64 is than for situation more than threshold value Under (S65: yes), move to S66.On the other hand, in the case of being judged to less than threshold value (S65: No), move to S71.

In S66, begin for the whole PRN ID extracted in S62, it is determined whether deposit PRN at the PRN ID of the gps satellite 2 met as the current object selecting relevant treatment The process (following, this determination processing) of ID.Herein, in order to PRN from PRN [1] This determination processing repeatedly till [k].In S66, the gps satellite 2 that certification has been set up The current order of PRN ID is y=1, starts this determination processing.

In S67, the gps satellite 2 that the certification in being judged to current order has been set up The PRN ID mono-of PRN ID and the gps satellite 2 of the current object as selection relevant treatment In the case of cause (in Figure 11, PRN [y]=x is yes), move to S68.On the other hand, sentencing Be set to inconsistent in the case of (in Figure 11, PRN [y]=x is no), move to S69.

Being judged in S67 that consistent situation can be said is for as selecting the current of relevant treatment The gps satellite 2 of object, is judged to what the certification of navigation message had been set up by the first vehicle-mounted machine 200 Situation.

In S68, will be judged to that the SN ratio determined in S64 is for more than threshold value and in S67 It is judged to that the gps satellite 2 that the certification of navigation message has been set up is chosen as by the first vehicle-mounted machine 200 As the gps satellite 2 of the object being authenticated relevant treatment, move to S71.Therefore, S68 phase When in the selection portion of the disclosure.

In S69, the whole PRN ID extracted in completing S62 select relevant treatment In the case of, i.e. in the case of y=k (S69: yes), move to S71.On the other hand, it not y In the case of=k (S69: no), move to S70.

In S70, the PRN ID of the gps satellite 2 that the y+1 certification has been set up as The object of this new determination processing, returns to S67, repeatedly processes.

In S71, in the case of to all observation gps satellite 2 completes to select relevant treatment, I.e., (S71: yes) in the case of x=i, S73 is moved to.On the other hand, in the feelings not being x=i Under condition (S71: no), move to S72.

In S72, using (x+1)th gps satellite 2 as the object of new selection relevant treatment, Return to S64, repeatedly process.

To (in other words, x in the case of all observation gps satellite 2 completes selection relevant treatment In the case of=i) S73 in, in the same manner as aforesaid S8, create to go out selected in S68 All complete satellite list of selection of gps satellite 2, and it is stored in the memorizer in control portion 220, Terminate the process of Figure 11.Whenever re-starting the second certification object the select of satellite and processing, successively Update the complete satellite list of selection being stored in memorizer.

Additionally, in processing if in the second certification object the select of satellite, in the first vehicle-mounted machine 200 The composition of the gps satellite 2 that middle prioritizing selection certification has been set up, then be not limited to first vehicle-mounted Machine 200 is reduced into the composition that the gps satellite 2 that certification set up carries out selecting.For example, Even gps satellite 2 unverified in the first vehicle-mounted machine 200, if SN than for threshold value with On then select, position finding process in, in the first vehicle-mounted machine 200, preferentially used certification The composition of the navigation message of the gps satellite 2 set up.Even it addition, in the case of Gai, Authentication information in NMA relevant information is to distinguish the unverified and invalid information of certification In the case of, even if SN is than more than for threshold value, it is also preferred that do not select the invalid GPS of certification Satellite 2.

In the second vehicle-mounted machine 300, for selected by the second certification object the select of satellite process The navigation message of the gps satellite 2 selected out, carries out the relevant place of the certification as shown in Fig. 5 Reason, or carry out the position finding process as shown in Fig. 6.It addition, in the second vehicle-mounted machine 300 In, nothing can be utilized for being processed by the NMA relevant information transmission as shown in Fig. 7 Line communication sends the transmission of the navigation message set up about certification in the second vehicle-mounted machine 300 to outside The composition of the NMA relevant information of the gps satellite 2 in source.

According to embodiment 1, the first vehicle-mounted machine 200 is reduced into can be in DVB 230 Receive in the gps satellite 2 of navigation message by first certification object the select of satellite process institute The gps satellite 2 selected, carries out the certification relevant treatment of navigation message about receiving. Therefore, with to the gps satellite 2 that can receive navigation message in DVB 230 Whole be authenticated relevant treatment in the case of compare, it is possible to reduce certification spent time, Process load in first vehicle-mounted machine 200 and authentication center 120.

It addition, in the first certification object the select of satellite processes, owing to selecting to obtain it may be said that navigate The gps satellite 2 of the SN ratio of the degree that the signal quality of message is good, so by based on from choosing The navigation message that the gps satellite 2 selected receives carries out position finding process, it is possible to use The navigation message that signal quality is good carries out position finding.Result in the first vehicle-mounted machine 200, Although reducing time, the process load that certification is spent, but the higher position of precision can be carried out and survey Fixed.

Further, according to embodiment 1, even if the second vehicle-mounted machine 300, also it is reduced into and can defend Star receiver 330 receive in the gps satellite 2 of navigation message, by the second certification pair The gps satellite 2 gone out as selected by the select of satellite processes is to be authenticated relevant treatment, so energy Enough reduce the process in time, the second vehicle-mounted machine 300 and the authentication center 120 that certification is spent Load.

In the second certification object the select of satellite processes, owing to sending based on from the first vehicle-mounted machine 200 NMA relevant information come prioritizing selection in the first vehicle-mounted machine 200 certification set up gps satellite 2, even if so the second vehicle-mounted machine 300 also be able to prioritizing selection certification set up accuracy higher Gps satellite 2.Result can not select the invalid GPS of certification in the second vehicle-mounted machine 300 The probability of satellite 2 improves, and can reduce the trouble carrying out unnecessary certification.

It is additionally, since the second certification object the select of satellite process also to select to obtain it may be said that navigate and disappear The gps satellite 2 of the SN ratio of the good degree of signal quality of breath, so by based on from selection The navigation message that the gps satellite 2 gone out receives is to carry out position finding process, it is possible to carry out essence Spend higher position finding.

It addition, processed and quilt by the first certification object the select of satellite in the first vehicle-mounted machine 200 The gps satellite 2 selected is the gps satellite 2 that probability that signal quality is good is higher, but Probability same from the point of view of being positioned at the second vehicle-mounted machine 300 near the first vehicle-mounted machine 200 is relatively High.This is because the similar probability of the situation of both placements is higher.

According to the composition of embodiment 1, due to NMA relevant information by car inter-vehicle communication from First vehicle-mounted machine 200 receives, it is possible to say the second vehicle-mounted machine 300 receiving NMA relevant information Closer with the distance of the first vehicle-mounted machine 200 of transmission source.Therefore, the second vehicle-mounted machine by based on NMA relevant information carrys out the prioritizing selection gps satellite 2 that certification is set up in the first vehicle-mounted machine 200, Can the good gps satellite 2 of the signal quality of prioritizing selection navigation message.Result is vehicle-mounted second In machine 300, it is possible to reduce time that certification spent, process load, and carry out precision and enter one Walk high position finding.

In the present embodiment, the second vehicle-mounted machine 300 is equivalent to the survey of navigation message authentication-type position Determining device, the first vehicle-mounted machine 200 is equivalent to other navigation message authentication-type position measuring device.

In embodiment 1, at the first certification object the select of satellite of the first vehicle-mounted machine 200 In reason, all select to be judged to that SN is said than the composition for gps satellite 2 more than threshold value Bright, but it is not necessarily limited to this.Such as can also be for commenting from the signal quality of the navigation message sent Valency is the composition that better gps satellite 2 selects multiple gps satellites 2 of regulation in order (following, variation 1).

Herein, use accompanying drawing, the navigation message Verification System 1 in variation 1 is illustrated. Additionally, for convenience of description, have shown in the figure used in the explanation with aforesaid embodiment The parts of the identical function of parts add same reference, the description thereof will be omitted.

If the navigation message Verification System 1 in variation 1 is selected except the first certification object satellite Select outside this point that the part of process is different, with the navigation message certification system in embodiment 1 Unite 1 identical.

Herein, use the flow chart shown in Figure 12, to the first vehicle-mounted machine 200 of variation 1 The first certification object the select of satellite in control portion 220 processes and illustrates.The flow chart of Figure 12 Also it is receive by DVB 230 from gps satellite 2 in the same manner as the flow chart of Fig. 4 The composition that navigation message starts in the case of DVB 230 exports.

First, the process of S81～S87 is identical with aforesaid S1～S7.Therefore, S83 also phase When the evaluation of estimate in the disclosure determines that portion, S85 also correspond to the selection portion of the disclosure.

In S88, for the whole gps satellites 2 gone out selected in S85, also with from preservation Bigger the rising of the SN selecting complete satellite list to be comprised in the memorizer in control portion 220 The mode being reduced into ormal weight in order selects.Therefore, S88 also corresponds to the choosing of the disclosure Select portion.Ormal weight is the quantity of the gps satellite 2 needed for position finding processes, for example, 4 ?.

In S89, create the selection complete satellite row of the gps satellite 2 gone out selected in S88 Table, and it is stored in the memorizer in control portion 220, terminate the process of Figure 12.Whenever re-starting When first certification object the select of satellite processes, update the complete satellite of selection being stored in memorizer successively List.

According to variation 1, in the same manner as embodiment 1, in the first vehicle-mounted machine 200, although Reduce time, process load that certification is spent, but the higher position finding of precision can be carried out. It addition, according to variation 1, owing to being limited to ormal weight according to the order obtaining bigger SN ratio Gps satellite 2 select, come it is possible to adapt to the best navigation message of signal quality Carry out position finding.Result is in the first vehicle-mounted machine 200, it is possible to reduces certification further and is spent Time, process load, and carry out the position finding that precision is the highest.

During the first certification object the select of satellite in the first vehicle-mounted machine 200 is processed, select to be determined It is illustrated than the composition for gps satellite 2 more than threshold value for SN, but is not necessarily limited to this. Such as can also be for the elevation angle of gps satellite 2 be selected gps satellite 2 as the condition selected Composition (following, variation 2).

Herein, use accompanying drawing, the navigation message Verification System 1 in variation 2 is illustrated. Additionally, for convenience of description, have shown in the figure used in the explanation with aforesaid embodiment The parts of the identical function of parts add same reference, the description thereof will be omitted.

If the navigation message Verification System 1 in variation 2 is selected except the first certification object satellite Select outside this point that the part of process is different, with the navigation message certification system in embodiment 1 Unite 1 identical.

Herein, use the flow chart shown in Figure 13, to the first vehicle-mounted machine 200 of variation 2 The first certification object the select of satellite in control portion 220 processes and illustrates.The flow chart of Figure 13 It is the flow chart of the process only changing S3, S4 from the flow chart of Fig. 4, extracts and changed S3, S4 The part of process of S3a, S4a of process represent.

First, in the S3a of and then S2, according to from x-th gps satellite 2 at S1 Orbit information and the delivery time of this navigation message that navigation message accessed by is comprised come Calculate the satellite position of x-th gps satellite 2.And, according to the satellite position calculated and The current location of the first vehicle-mounted machine 200 determines the elevation angle of x-th gps satellite 2.

Orbit information be no matter ephemeris data or almanac data can, but from the sight of precision Preferred ephemeris data from the point of view of Dian.It addition, be if apart from the displacement of previous position finding Less than predetermined distance (such as 100m), then the current location of the first vehicle-mounted machine 200 uses previous The composition of the value obtained by position finding.In addition it is also possible to for using with previous position The composition of the position that independent navigation is inferred is passed through in position obtained by mensuration by basic point.

The elevation angle is that link gps satellite 2 is relative with the straight line of the current location of the first vehicle-mounted machine 200 In the ground level angulation on the basis of current location, it is known that the elevation angle is the least, evaluated error is more Greatly.In other words, represent that the elevation angle is the biggest, it is thus achieved that the navigation message that signal quality is the best.Therefore, The elevation angle is equivalent to the signal quality estimation value of the disclosure, and S3a is equivalent to the evaluation of estimate of the disclosure and determines Portion.

In S4a, it is determined that whether the elevation angle determined in S3a is more than threshold value.This place The threshold value said be can be described as obtaining good to it may be said that to position finding result bring error can The elevation angle of the signal quality of energy property lesser extent, is the value that can at random set.And, The elevation angle determined in being judged to S3a is in the case of more than threshold value (S4a: yes), moves to S5.On the other hand, in the case of being judged to less than threshold value (S4a: no), S6 is moved to.

In the S5 of variation 2, by the elevation angle being judged to be determined in S3a be threshold value with On gps satellite 2 be selecting as being authenticated the gps satellite 2 of the object of relevant treatment, Move to S6.It addition, in S8 in variation 2, preserve selected in S5 in memory The elevation angle determined in PRN ID and S3a of the whole gps satellites 2 selected out is (in other words, Signal quality estimation value) set up the complete satellite list of selection associated.

According to variation 2, in the first certification object the select of satellite processes, owing to selecting it may be said that The gps satellite 2 at the elevation angle of the degree that the signal quality of the navigation message obtained is good, so passing through Position finding process is carried out based on the navigation message received from the gps satellite 2 selected, The navigation message that signal quality is good can be used to carry out position finding.

During the first certification object the select of satellite in the first vehicle-mounted machine 200 is processed, select to be determined It is illustrated than the composition for gps satellite 2 more than threshold value for SN, but is not necessarily limited to this. Can also be such as by the gps satellite 2 and geometric distance (Geometric of the first vehicle-mounted machine 200 Distance) with pseudo-distance difference as select condition select gps satellite 2 composition (with Under, variation 3).

Herein, use accompanying drawing, the navigation message Verification System 1 in variation 3 is illustrated. Additionally, for convenience of description, have shown in the figure used in the explanation with aforesaid embodiment The parts of the identical function of parts add same reference, the description thereof will be omitted.

If the navigation message Verification System 1 in variation 3 is selected except the first certification object satellite Select outside this point that the part of process is different, with the navigation message certification system in embodiment 1 Unite 1 identical.

Herein, use the flow chart shown in Figure 14, to the first vehicle-mounted machine 200 of variation 2 The first certification object the select of satellite in control portion 220 processes and illustrates.The flow chart of Figure 14 It is the flow chart of the process only changing S3, S4 from the flow chart of Fig. 4, extracts and changed S3, S4 The part of process of S3b, S4b of process represent.

First, in the S3b of and then S2, according to from x-th gps satellite 2 at S1 Orbit information and the delivery time of this navigation message that navigation message accessed by is comprised are counted Calculate the satellite position of x-th gps satellite 2.And, according to the satellite position calculated and The current location of one vehicle-mounted machine 200 calculates x-th gps satellite 2 and the first vehicle-mounted machine 200 Geometric distance.

It addition, in S3b, calculate by from x-th gps satellite 2 in S1 accessed The delivery time that comprised of navigation message and received this navigation message by the first vehicle-mounted machine 200 The pseudo-distance that the specifies time of reception.Though much less, pseudo-distance is by from gps satellite 2 Delivery time and the first vehicle-mounted machine 200 in propagation time of being determined time of reception add up the light velocity The gps satellite 2 calculated and the distance of the first vehicle-mounted machine 200.

And, in S3b, determine between x-th gps satellite 2 and the first vehicle-mounted machine 200 Geometric distance and the difference (following, distance difference) of pseudo-distance.Owing to pseudo-distance is according to propagation The distance of time defined, so producing the difference with geometric distance because of the impact of multiplexor.If Produce multiplexor, then signal quality reduces, it is possible to say the distance difference stated the least, letter Number quality is the best.Therefore, distance difference is equivalent to the signal quality estimation value of the disclosure, S3b The evaluation of estimate being equivalent to the disclosure determines portion.

In S4b, it is determined that whether the distance difference determined in S3b is below threshold value.This Threshold value described in place is it may be said that obtain well to it may be said that bring error to position finding result The distance difference of the signal quality of probability lesser extent, is the value that can arbitrarily set. And, in the case of the distance difference determined in being judged to S3b is below threshold value (S4b: It is), move to S5.On the other hand, in the case of being judged to more than threshold value (S4b: no), move To S6.

In S5 in variation 3, will be judged to that the distance difference determined in S3b is Gps satellite 2 below threshold value is selecting as being authenticated the GPS of the object of relevant treatment and defends Star 2, moves to S6.It addition, in the S8 of variation 3, preserve institute in S5 in memory The distance difference determined in PRN ID and S3b of the whole gps satellites 2 selected (changes Yan Zhi, signal quality estimation value) set up the complete satellite list of selection associated.

According to variation 3, in the first certification object the select of satellite processes, select the navigation obtained The signal quality of message is it may be said that the gps satellite 2 of distance difference of good degree, so passing through Position finding process is carried out based on the navigation message received from the gps satellite 2 selected, Can adapt to the good navigation message of signal quality to carry out position finding.

In variation 2, variation 3, it is shown that replace SN ratio, and by the elevation angle, geometry away from From the distance difference with pseudo-distance as the composition for selecting the condition of gps satellite 2 to use, But it is not necessarily limited to this.Such as can also select gps satellite 2 for combining these conditions multiple Constitute.Such as in the case of combination full terms, by S5 in selecting complete satellite list Selected by the PRN ID of whole gps satellites 2 that goes out and about this gps satellite 2 SN ratio, The elevation angle and geometric distance are set up with the distance difference of pseudo-distance and are associated.

In addition it is also possible to can be evaluated as more for being combined with the signal quality from the navigation message sent Good gps satellite 2 selects the variation 1 of multiple gps satellites 2 of regulation in order The composition of the composition of composition and variation 2～4.

Such as in the case of combined deformation example 1 and variation 4, for following composition, That is, these signal quality estimations of distance difference of SN ratio, the elevation angle, geometric distance and pseudo-distance are made Either signal quality evaluation value optimum in value carries out the sequence of gps satellite 2 first, in selection The gps satellite 2 of the ormal weight of position.

In addition it is also possible to use the range difference to SN ratio, the elevation angle, geometric distance and pseudo-distance It is worth these signal quality estimation values and implements weighting respectively, evaluate signal quality according to each parametric synthesis Function etc..I.e., it is also possible to for following composition, i.e. by SN ratio, the elevation angle, geometric distance With the distance difference of pseudo-distance as variable, design SN than the biggest, the elevation angle is the biggest, distance difference The least, that output valve is the biggest function, selects the upper ormal weight that the output valve of this function is bigger Gps satellite 2.

The second certification in the second vehicle-mounted machine 300 can also be applied to for the composition of variation 1～5 The composition that object the select of satellite processes.

In aforesaid embodiment, it is shown that the first vehicle-mounted machine 200 will by car inter-vehicle communication NMA relevant information is sent to the composition of the second vehicle-mounted machine 300, but is not necessarily limited to this.The most also Can be by relaying in trackside machine, utilizing road inter-vehicle communication by NMA relevant information from first The composition that vehicle-mounted machine 200 sends to the second vehicle-mounted machine 300.In addition it is also possible to it is public logical for utilizing NMA relevant information is sent to the second vehicle-mounted machine 300 by letter line network from the first vehicle-mounted machine 200 Constitute.

In aforesaid embodiment, enumerate the navigation message that only will receive from gps satellite 2 Example in the case of using in position finding is illustrated but it also may for will be from QZS The navigation message that satellite 3 receives is used in the composition of position finding.In the case of Gai, for for from The certification of the navigation message that QZS satellite 3 receives, also as in the case of gps satellite 2 The composition that ground is carried out.

As an example of variation 8, receive by monitoring station 110 according to from QZS satellite 3 To navigation message generate RAND message, and based on this RAND message in authentication center 120 Middle establishment odd and even data.And, the odd and even data of establishment is sent to main control station 130, and from Main control station 130 sends this odd and even data to QZS satellite 3.It is strange that QZS satellite 3 will comprise this The navigation message of even data is towards broadcast on the ground.

First vehicle-mounted machine 200, embodiment less than 2 the second vehicle-mounted machine 300 according to from QZS The navigation message that satellite 3 receives to create RAND message, and according to this RAND message and The H-matrix obtained from authentication center 120 creates and compares odd and even data.And, for by wound The comparison odd and even data built and the odd and even data received from QZS satellite 3 are compared to carry out The composition of certification.

The authentication method of navigation message authentication-type illustrated in aforesaid embodiment is one Example, if needing the authentication method of access registrar office, then can also be to use recognizing of other The composition of card method.

In aforesaid embodiment, enumerate the first vehicle-mounted machine 200 used in vehicle and The example of two vehicle-mounted machine 300 is illustrated, but is not necessarily limited to this.Can also be such as will be with The same navigation message of one vehicle-mounted machine the 200, second vehicle-mounted machine 300 receives device and is applied to user institute The composition of the mobile terminal etc. carried.

According to the navigation message authentication-type position measuring device involved by one example of the present disclosure, It is reduced into being selected by selection portion in the moonlet that can receive navigation message in DVB The moonlet selected out, carries out the acquisition of the certification information corresponding with the navigation message received, Or the certification of the navigation message being received.Therefore, with for can be at DVB In receive moonlet whole of navigation message, carry out corresponding with the navigation message received The acquisition of certification information, or the situation of the certification of the navigation message being received compares, it is possible to Reduce time, process load that certification is spent.

It addition, based on being determined the signal quality estimation value determined in portion by evaluation of estimate, by selecting Portion selects the signal quality of navigation message sent can be evaluated as good moonlet, and based on The navigation message that receives from the moonlet selected and by position finding portion, navigation message is recognized The position of pattern of syndrome position measuring device carries out position finding, it is possible to use signal quality good Navigation message carries out the probability of position finding and improves.Although result reduce certification spent time Between, process load, but the higher position finding of precision can be carried out.

Flow chart described in this application or the multiple step of place's reason (or referred to as portion) of flow chart Constituting, each step such as shows as S1.Further, each step can be divided into many sub-steps, On the other hand, multiple steps also are able to be combined into a step.Further, each step energy so constituted Enough it is referred to as equipment, module, method.

Additionally, the disclosure is not limited to above-mentioned each embodiment, in the scope shown in the disclosure In can carry out various change, be combined as different embodiment respectively disclosed in technology hands The embodiment of section gained is also contained in scope of the presently disclosed technology.

Claims

1. a navigation message authentication-type position measuring device, possesses: DVB (230, 330), the navigation message from the moonlet used in satellite position mensuration system is received；Recognize Card, with information acquiring section (S25), obtains and leading of receiving from above-mentioned moonlet from authentication center The certification information that boat message is corresponding；Authentication department (S29～S31), uses and is believed by above-mentioned certification The above-mentioned certification information that breath acquisition unit (S25) gets is carried out by above-mentioned DVB The above-mentioned navigation message that (230,330) receive is the certification of regular this situation of message；With And position finding portion (S42), based on by above-mentioned DVB (230,330) from multiple above-mentioned The above-mentioned navigation message that moonlet receives is come navigation message authentication-type position measuring device Position carries out position finding,

Above-mentioned navigation message authentication-type position measuring device (200,300) possesses:

Evaluation of estimate determines portion (S3, S3a, S3b, S64, S83), for above-mentioned DVB The above-mentioned navigation message that (230,330) receive, is determined to evaluate the letter of above-mentioned navigation message The signal quality estimation value of number quality；With

Selection portion (S5, S41, S68, S85, S88), based on by upper evaluation values determine portion (S3, S3a, S3b, S64, S83) the above-mentioned signal quality estimation value determined, it is selected to by upper State DVB (230,330) to receive in the above-mentioned moonlet of above-mentioned navigation message and send out The signal quality of the above-mentioned navigation message sent can be evaluated as good moonlet,

Above-mentioned certification information acquiring section (S25) be limited to from by above-mentioned selection portion (S5, S41, S68, S85, S88) the above-mentioned navigation message that receives of the above-mentioned moonlet selected is corresponding Above-mentioned certification information obtains,

Above-mentioned authentication department (S29～S31) uses and is obtained by above-mentioned certification information acquiring section (S25) The above-mentioned certification information got, to from by above-mentioned selection portion (S5, S41, S68, S85, S88) The above-mentioned moonlet selected above-mentioned is led by what above-mentioned DVB (230,330) received Boat message is that this situation of regular message is authenticated,

Above-mentioned position finding portion (S42) based on from by above-mentioned selection portion (S5, S41, S68, S85, S88) the above-mentioned navigation message that the above-mentioned moonlet selected receives, recognizes navigation message The position of pattern of syndrome position measuring device (200,300) carries out position finding.

Navigation message authentication-type position measuring device the most according to claim 1, wherein,

Based on by upper evaluation values, above-mentioned selection portion (S85, S88) determines that portion (S83) determines Above-mentioned signal quality estimation value, from receiving above-mentioned DVB (230,330) The signal quality energy of the above-mentioned navigation message sent in the above-mentioned moonlet of above-mentioned navigation message Enough it is evaluated as better moonlet and starts to select in order multiple moonlets of regulation.

3. according to the navigation message authentication-type position measuring device described in claims 1 or 2, its In,

Upper evaluation values determines that above-mentioned DVB (230,330) is connect by portion (S3, S83) The signal to noise ratio of the above-mentioned navigation message received is defined as above-mentioned signal quality estimation value.

4. fill according to the navigation message authentication-type position finding according to any one of claims 1 to 3 Put, wherein,

Upper evaluation values determines that the elevation angle of above-mentioned moonlet is defined as above-mentioned signal by portion (S3a) Quality evaluation value, the elevation angle of above-mentioned moonlet uses above-mentioned DVB (230,330) to connect The orbit information of the above-mentioned moonlet that the above-mentioned navigation message received is comprised is obtained.

5. fill according to the navigation message authentication-type position finding according to any one of Claims 1 to 4 Put, wherein,

Upper evaluation values determines that the difference of geometric distance Yu pseudo-distance is defined as above-mentioned letter by portion (S3b) Number quality evaluation value, above-mentioned geometric distance is to use above-mentioned DVB (230,330) to receive To the orbit information of above-mentioned moonlet that comprised of above-mentioned navigation message calculated by above-mentioned people Work satellite and the geometric distance of navigation message authentication-type position measuring device (200,300), above-mentioned Pseudo-distance is the biography of the above-mentioned navigation message received according to above-mentioned DVB (230,330) The above-mentioned moonlet of defined and navigation message authentication-type position measuring device between sowing time (200, 300) pseudo-distance.

6. fill according to the navigation message authentication-type position finding according to any one of Claims 1 to 5 Put, wherein,

Possess sending part (212), this sending part by comprise the information of identification information and authentication information to The outside transmission of navigation message authentication-type position measuring device (200), above-mentioned identification information can Identify the above-mentioned moonlet selected by above-mentioned selection portion (S5, S41), above-mentioned authentication information Represent recognizing above-mentioned for the above-mentioned moonlet selected by above-mentioned selection portion (S5, S41) In card portion (S29～S31), certification is set up the most.

7. fill according to the navigation message authentication-type position finding according to any one of claim 1～6 Put, wherein,

Acceptance division (311), receive comprise from navigation message authentication-type position measuring device (300) Other different navigation message authentication-type position measuring device (200) sends the information of coming, on The information of stating include identification information and authentication information, above-mentioned identification information be capable of identify that by above-mentioned other The above-mentioned selection portion (S5, S41) of navigation message authentication-type position measuring device (200) is selected Above-mentioned moonlet, above-mentioned authentication information represent for by above-mentioned selection portion (S5, S41) select The above-mentioned moonlet selected out at other navigation message authentication-type position measuring device above-mentioned (200) in above-mentioned authentication department (S29～S31), certification is set up the most,

Above-mentioned selection portion (S68) base of above-mentioned navigation message authentication-type position measuring device (300) In the above-mentioned identification information received by above-mentioned acceptance division (311) and above-mentioned authentication information, preferentially Ground selects above-mentioned navigation in other navigation message authentication-type position measuring device (200) above-mentioned The above-mentioned moonlet that the certification of message has been set up.