JP2000131088A - Movement analyzer for mobile object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent an error of movement information from increasing even if GPS satellites are switched by comparing GPS movement information with predicted values of GPS movement information calculated one period before and performing filtering based on GPS movement information corrected with the difference thereof. SOLUTION: A GPS receiver 14 operates the position and the speed (referred to GPS movement information) of a mobile object at a positioning coordinate group based on a selected GPS satellite group. If the combination of GPS satellites changes during positioning causing variation in satellite switching information, a GPS movement information correcting section 15 calculates the difference between the GPS movement information and predicted values of GPS movement information calculated when a filter is updated one period before and stores it as a GPS movement information correction value data base 17. The GPS movement information is then corrected with the GPS movement information correction value and delivered to a movement analyzing section 16. Since the corrected GPS movement information is matched apparently with the mobility of a mobile object, subsequent filtering can be sustained stably at a filtering section 19.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention utilizes position and velocity information of a moving object calculated by a GPS receiver, and velocity, acceleration, attitude angle and attitude angular velocity of the moving object calculated by an inertial measurement sensor. The present invention relates to a mobile mobility analyzer that performs three-dimensional positioning that compensates for such information in a complementary manner.

[0002]

2. Description of the Related Art In a positioning method using a GPS satellite, the following are known as general technical elements.

(1). GPS positioning is basically GP
Based on the distance information (pseudo distance) from the S receiver to a plurality of GPS satellites, this is performed by solving a simultaneous equation in which the position and the clock error of the GPS receiver are unknown. In addition, the GPS signal includes undisclosed error information converted into a distance with respect to a pseudo distance by the US Department of Defense (selectivity: SA).
Is intentionally added. The SA has a long-period component and a short-period component, which are reflected in the positioning information together with other errors as a bias error component and a random error component, respectively.

(2). Since the pseudorange used in GPS positioning has error information according to the SA of each GPS satellite, if the combination of satellites used during positioning changes, the result of solving a simultaneous equation using those changes In some cases, the position of the positioning point may undergo a sudden change (jump) before and after the position regardless of the motion state of the positioning point.

(3). Bias error component of GPS positioning,
As a means for correcting a position jump caused by this, for example, a “map matching method” used in car navigation is generally used. This is considered to be most appropriate for moving objects that deviate from this, using the fact that moving objects such as cars are moving on the road and comparing with the road information database possessed by car navigation. This is a method to forcibly correct the maneuver on the road. In this case, if the road information database is held on the moving body side, the correction can also be performed on the moving body side.

(4). In addition, if there is a fixed positioning point as a reference and positioning can be performed with the same satellite combination as the mobile body, the difference between the absolute coordinates of the fixed positioning point and the observation value coordinates there is generated, and this is used to fix the mobile body and the fixed point. The "differential GPS method" for removing a common error component at a measurement point is also effective for correcting a bias error component.

(5). As a means for compensating for a random error component of GPS positioning, a “sequential estimation method” represented by a Kalman filter or the like is generally used. This is to obtain the most probable estimated value of the dynamic system from the observation data of the moving object. Since this method cannot correct the bias error, it is used in combination with the bias error correction methods described in (3) and (4) above.

This processing can be performed on the moving body side.

[0009]

In the case of the "map matching method", it is necessary to have a road information database for the area in order to perform the correction, and the data tends to be enlarged or obsolete. In addition, if the moving object is not "road information" such as an aircraft or ship,
Correction cannot be performed with this method.

[0010] In the case of the "differential GPS processing system", it is necessary to transfer one data to the other in some form and perform a correction process. When the present method and the “sequential estimation method” are processed independently, and the bias error component and the random error component are removed from the observed value, first, the bias error component by the “differential GPS processing method” is added to the observed value. Must be corrected, and then the random error component must be corrected by the “sequential estimation method”.

FIGS. 1 and 2 schematically show the influence on the order of the error correction processing.

When the position of the moving object changes with the passage of time t by GPS, and if there is no bias error component typified by SA in the GPS system, the measured value has a random error as a true value. The state is loaded (301). However, in practice, the GPS measurement always includes a bias error (302), and when the combination of satellites used for positioning changes, the error component changes without correlation with the previous time (401). Therefore, when the positioning of the mobile unit is actually performed by the GPS, a value accompanied by a sudden change in the position that is not correlated with the dynamic characteristics of the mobile unit is observed (303).

When the bias error is first removed from such an observed value by the differential GPS process, a value obtained by adding a random error component to the true value remains as a result. Since this value has a strong correlation with the dynamic characteristics of the moving object, even if this value is successively estimated as a new observation value, it does not deviate from the most probable estimated value of the dynamic system, and the random error (30)
4). However, unless the mobile body can acquire the GPS bias error correction information of the terrestrial GPS station, such ideal error correction cannot be performed.

Further, if the estimation process is performed first while the observed value includes a bias error ignoring the dynamic characteristics of the moving object, a portion that deviates from the most probable estimated value of the dynamic system is generated. Although depending on the filter design conditions, the correction value obtained by this processing has some correlation with the dynamic characteristics of the moving object as a result, and conversely, the correlation with the GPS bias error is lost. This value is used as a new observation value for differential G
Even if the GPS bias error is removed by the PS processing,
It is impossible to restore the original true value (305).

As a result, "Differential GPS"
When performing the error correction by the “sequential estimation method” subsequent to the “processing method”, it is necessary to send raw data of either the moving body or the ground to the other, and perform two correction processes there. In this case, in order to perform the differential GPS processing online, the raw data before the processing must be exchanged by wireless communication or the like. If the communication is interrupted for some reason and the differential GPS processing cannot be performed, the subsequent sequential estimation processing is also performed. In order to compensate for these, it is necessary to add a device such as a data buffer having a sufficiently large area for both the mobile unit and the ground. Also, when performing differential GPS processing offline, the raw data accumulated on the mobile side is processed on the ground, but two errors are corrected for information over a long period of time. Processing load becomes enormous, and high processing performance is required.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an error compensation of maneuver information which cannot perform a map matching process in a maneuver analysis for performing a filtering process for removing a random error and a differential GPS process for removing a bias error. In order to distribute the load of the system by performing a filtering process on the mobile information on the mobile body and then performing a differential GPS process on the information,
That is, the error of the maneuver information does not increase even if the S satellite switching occurs.

[0017]

In order to achieve the above object, the mobile unit mounts a combination of GPS satellites (satellite switching information) used for positioning by the GPS maneuvering information correcting means, and stores the combination in the satellite switching information. When a change occurs, the GPS mobility information at that time is compared with the GPS mobility information predicted value calculated by the filter processing unit at the time of updating the filter one cycle before, and the difference is used as the GPS mobility information correction value. The filter processing is performed based on the GPS correction movement information corrected with this value. After that, along with the mobility information after filtering,
The GPS mobility information correction value and the GPS satellite switching information are stored in the mobility information database.

After reading the maneuver information from the maneuver information database 22, the ground processing unit restores the GPS maneuver information from the GPS maneuver information correction value and the GPS satellite switching information, and performs a differential GPS process on this information.

The moving body mounting section and the ground processing section each repeat the above processing periodically.

That is, by the above means, the filter processing and the differential GPS are performed on the aircraft and on the ground, respectively.
Processing can be shared, and even if satellite switching occurs, the on-board maneuver information does not apparently deviate from the dynamic characteristics of the mobile unit, so the convergence of the filter is ensured, and the divergence of the filter without performing map matching processing Can be prevented.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below. FIG. 1 shows an example of a configuration of a system for implementing the present invention. This device mainly includes a moving body mounting unit 21 and a ground processing unit 27.

The exchange of mobile information between the mobile unit mounting section 21 and the ground processing section 27 is performed using the mobile information database 20. In a system configuration premised on offline processing, the mobile information database 20 uses a portable storage device such as a semiconductor memory cassette.

The moving body mounting section 21 includes an accelerometer 11 for detecting the three-axis translational acceleration of the moving body and an inertial measurement sensor 13 including a gyro 12 for detecting the three-axis attitude angular velocity;
A GPS receiver 14 for calculating the position and speed of the mobile unit based on the PS satellite information, a mobile analysis unit 16 for converting mobile information of the mobile unit based on the information so as to be easily filtered, A filter processing unit 19 for performing a correction process of a random error, a GPS mobile information correction unit 15 for performing a correction process on a GPS mobile information observation value,
The GPS maneuvering information correction value database 17 generated by the maneuvering information correcting unit 15 and the GPS satellite switching information database 1 which is combination information of GPS satellites to perform positioning
8 and a movement information recording unit 20 for recording corrected movement information after the filtering process.

The GPS receiver 14 selects a GPS satellite group of four or more GPS satellites required for positioning calculation, and, based on the GPS satellite group, the position and speed of a moving object in a positioning coordinate system (hereinafter referred to as "GPS movement information"). "). When the GPS operation information of the GPS receiver 14 is updated, the GP
The S movement information correction unit 15 monitors the satellite switching information used by the GPS receiver 14 for the positioning calculation, and
The S satellite number is stored in the GPS satellite switching information database 18.

When the combination of GPS satellites changes during positioning, the GPS maneuver information outputs information deviating from the dynamic characteristics of the mobile object, such as a sudden change in position ignoring the physical motion of the mobile object. Therefore, when there is a change in the satellite switching information, the GPS maneuvering information correction unit 15 calculates the difference between the GPS maneuvering information prediction value and the GPS maneuvering information at the time of updating the filter one cycle before, and calculates this as the GPS maneuvering information correction value. It is stored as a database 17. Then, the GPS mobility information is corrected by the GPS mobility information correction value, and this is output to the mobility analysis unit 16. This corrected GPS maneuver information is
Since it apparently matches the dynamic characteristics of the moving object, when the filtering process is performed by the filter processing unit 19 thereafter, such information does not deviate from the dynamic characteristics of the moving object, and as a result, the filtering process is performed. Processing can be continued stably.

The inertial measurement sensor 13 measures the acceleration and attitude angular velocity of the moving body in the body coordinate system. The mobility information measured by the inertial measurement sensor 13 is transmitted to the mobility analyzer 15.
, Where the coordinate transformation from the body coordinate system to the positioning coordinate system is performed.

In general, in the positioning using the GPS, the updating cycle is about 1 Hz. Therefore, in order to further increase the output rate of the maneuver information and supplement the maneuver information during this period, the maneuver analyzing section 16 has an inertia analysis section. Acceleration and attitude angular velocity, which are output values of the measurement sensor 13, are integrated, and the GPS receiver 1
The position, velocity, and attitude angle of the moving object can be calculated in a cycle equal to or longer than the update cycle of 4. As a result, sufficient mobile information can be provided to a mobile object such as an aircraft, for which mobile information changes greatly in a short time. The mobility analyzer 16 outputs the mobility information to the filter processor 19 in synchronization with the update cycle of the GPS mobility information of the GPS receiver 14. Of the maneuver information (position, speed, acceleration, posture angle, posture angular velocity), the GPS maneuver information (position, speed)
A value obtained by performing a correction process using the GPS movement information correction value database 17 is used.

The filter processing unit 19 performs real-time data processing for sequentially giving an estimated value to the input mobile information, and removes a random error component in the mobile information.

The GPS maneuvering information correction value and the satellite drilling information output from the GPS maneuvering information correcting unit 15 to the maneuvering analyzing unit 16 and the maneuver information processed by the filter processing unit 19 are sent to the maneuver information recording unit 20. It is stored in the information database 22. The above processing is performed on the moving body in real time and periodically.

The ground processing section 28 reads the maneuver information from the maneuver information database 22.
A GPS mobility information restoring unit 26 for restoring a GPS bias error component by adding again a correction value of the GPS mobility information applied by the GPS mobility information correcting unit 15 among the read mobility information, GPS at reference stations
Ground GPS positioning correction information 24 recording the bias error
A differential GPS processing unit 2 for performing a process of removing a GPS bias error component from the restored GPS maneuver information using the ground GPS positioning correction information database 24
5 and a corrected mobile information database 23 for storing the processed mobile information.

The ground processing section 28 reads the mobile information processed in the mobile mounting section 21 from the mobile information database 22 using the mobile information reading section 27. In the system configuration premised on the off-line processing, this processing is performed after the recording of the mobile information of the mobile body is completed and the mobile information database 22 is taken out from the aircraft mounting unit 21 and connected to the mobile information reading unit 26. The read information includes
A GPS mobility information correction value database 17 and a GPS satellite switching information database 18 are also included in addition to the mobility information of the moving object. The GPS maneuvering information restoring unit 26 performs G based on these data to prevent instability of the filter processing unit 19.
The bias error component is restored to the state before the correction by adding the GPS mobility information correction value to the PS mobility information again.

In response to this GPS maneuvering information, the differential GPS processing unit 25 uses the terrestrial GPS positioning correction information 24 and the GPS satellite switching information database 18 to generate terrestrial GPS positioning information in the same combination of GPS satellites as the mobile unit. By utilizing the fact that a terrestrial GPS receiver is installed at a certain point on the ground, differential GPS processing is performed by calculating bias error information therefrom and subtracting this from the mobile information of the mobile unit. The mobility information in which the bias error has been corrected is stored in the corrected mobility information database 23.

Next, a specific example of the processing contents in the moving body mounting unit 21 will be described with reference to FIGS.

Here, the processing update cycle of the filter processing unit 19 is defined as the entire processing cycle, and the time corresponding to the filter processing cycle k is defined as t (k).

First, the mobile unit mounting unit 21 checks whether or not the GPS receiver has updated the GPS movement information g (k) in the filter processing cycle k (step 101).

When it is confirmed that the GPS positioning in the cycle k has been normally performed and the GPS mobile information g (k) has been updated, the GPS mobile information correcting unit 15 determines the GPS used in the positioning in the cycle k. A combination of satellites is acquired from a GPS receiver, and this is used as GPS
Storing in the satellite switching information database 18 (Step 1)
02). At this time, the GPS maneuver information correction unit 15 simultaneously
The GPS satellite switching information in the filter processing cycle k-1 one cycle before is extracted from the GPS satellite switching information database 18, and the combination of the positioning satellites in the cycle k-1 and the cycle k
Are compared (step 103), and it is confirmed whether or not a change such as a difference in the satellite number of the selected GPS satellite is found in the GPS satellite switching information in these two periods (step 104).

If any change is found in the GPS satellite switching information in the period k-1 and the period k, a sudden change in the GPS maneuvering information mainly due to SA has occurred. Can not. For this reason, GP
The S mobility information correction unit 15 calculates the GPS mobility information predicted value H (k) x (k | k-1) (x (...) from the buffer area of the mobility information recording unit 20 in the filter processing cycle k-1 one cycle before.
Is an estimated value, which is usually denoted by ＾ (hat), but is simply expressed as x in this specification. ) Is taken out (step 105). Here, x (k | k-1) is a predicted state value in the period k in the period k-1, and is represented as a vector of the mobile information of the moving object. H (k) represents a transformation matrix for extracting a GPS motion information predicted value as a vector from a state predicted value which is a motion information vector.

At this time, the GPS mobile information correction unit 15
Is the GPS mobility information predicted value H (k) x in the cycle k-1.
(k | k-1) is compared with the GPS maneuvering information g (k) observed by the GPS receiver 14 in the cycle k, and the difference is used as a new GPS maneuvering information correction value ε (k). Stored in the value database 17 (step 10
6).

Conversely, if there is no change in the GPS satellite switching information in the periods k-1 and k in step 104,
The GPS movement information correction unit 15 extracts the GPS movement information correction value ε (k−1) in the cycle k−1 from the GPS movement information correction value database 17 (Step 107). At this time, the GPS movement information correction unit 15 stores the GPS movement information correction value ε (k) in the cycle k in the GPS movement information correction value database 17 with the same correction value ε (k-1) in the cycle k-1. (Step 108).

[0040]

１ (k) = ε (k−1) (1) Next, the GPS maneuvering information correction unit 15 converts the GPS maneuvering information g (k) using the GPS maneuvering information correction value ((k). Is updated using the equation (2) (step 109).

[0041]

G (k) = g (k) −ε (k) (2) where ε (k) is GPS mobility information that will be predicted in consideration of the dynamic characteristics of the moving object in period k, G actually measured
Since this is a difference from the PS mobile information, the GPS mobile information g (k) processed by the equation (2) appears to have no apparent change in information. For this reason, it is possible to perform a filtering process on the machine using this value. However, GP
The S maneuver information correction value ε (k) is a value introduced only because the GPS maneuver information does not record a sudden change ignoring the dynamic characteristics of the moving object. From this value, the correction value from the true value of the GPS maneuver information is used. Cannot be separated.

In step 101, when it is confirmed that the GPS positioning in the cycle k is not performed for some reason and the GPS movement information g (k) is not updated, the movement analysis unit 16 filters the inertial measurement sensor 13 Acceleration information a (t) measured at high intervals during the update intervals k-1 to k is integrated, and position information as an integration result is obtained.

Using the equation (3), the GPS mobility information g (k) is complemented (step 116).

[0044]

(Equation 3)

Next, the moving body mounting unit 21
In the GPS movement information g (k), the inertial measurement sensor 13
Then, an observation vector y (k) to be used for the filtering process is generated by adding the acceleration information and the attitude angular velocity information from the camera (step 110). Then, in the filter processing unit, the estimated value x (k | k) and the period in the period k of the state variable x (k) that can be deductively estimated from the observation vector y (k) in the filter update period k using the successive estimation method A predicted value x (k + 1 | k) at k + 1 is calculated (step 111).

X (k | k) generated by this process
Uses the GPS mobile information g (k) that apparently follows the dynamic characteristics of the moving object, and thus removes a random error component of the mobile information without diverging the filter. At the same time, the predicted value of the cycle k + 1 in the cycle k is stored in the buffer area of the mobile information recording unit 20 (Step 112).
Thereafter, the mobile information recording unit 20 records the following information in the mobile information database 22 together with the time tag t (k) corresponding to the filter update cycle k (Step 113).

GPS mobility information correction value ε (k) GPS satellite switching information State variable estimated value x (k | k) FIG. 5 shows an example of the format of the above database. Here, a GPS satellite number 301 used for positioning is recorded as an example of the GPS satellite switching information.

Thereafter, the moving body mounting unit 21 updates the filter processing cycle k (step 114). If the processing is not terminated at this time, the process returns to step 101 and repeats the processing (step 115).

Next, a specific example of the processing contents in the ground processing section 28 will be described with reference to FIG. The ground processing unit 28 acquires information from the mobile unit in the form of the mobile information database 22, and reads the following information for each time tag t (k) corresponding to the filter update cycle k (step 201).

GPS mobility information correction value ε (k) GPS satellite switching information State variable estimated value x (k | k) The GPS mobility information restoring unit 26 uses the information read from the mobility information database 22 using ( The GPS mobility information g (k) is restored according to the equations (4) and (5) (step 202).

[0051]

G (k) = g (k) + ε (k) (4) where

[0052]

G (k) = H (k) × (k | k) (5) As a result of this processing, if there is a change in the combination of GPS satellites in the cycle k, the GPS maneuver information g (k) , The sudden change of information due to SA is restored.

And then, the differential GPS
In the processing unit 25, based on the GPS satellite switching information 301 read from the maneuver information database 22,
From the S correction information database 24, the ground GPS positioning correction value ε using the same satellite combination as that used for GPS positioning on the time mobile at the same time as the time tag t (k)
_{The ground} (k) is calculated (step 203). Since the ground GPS station is a fixed point, the ground GPS positioning correction value ε _ground (k) is generated by taking the difference between the true value of the position or speed and the ground GPS positioning information.

Next, the differential GPS processing unit 25
, The GPS mobility information g (k) is updated by the equation (6) using the ground GPS positioning correction value ε _ground (k) (step 204).

[0055]

G (k) = g (k) −ε _ground (k) (6) By this processing, the bias error between the terrestrial GPS station and the mobile object is canceled for the first time. At this time, the differential GPS processing unit 25 records the following information in the corrected mobility information database 23 together with the time tag t (k) corresponding to the filter update cycle k (step 206).

Of the state variable estimated values in the period k,
FIG. 7 shows an example of the format of the above-mentioned database, in which the correction state variable x _ground (k | k) in which the value corresponding to the GPS movement information g (k) is updated. Thereafter, the ground processing unit 28 updates the filter processing cycle k (step 206). If the processing is not terminated at this point, the process returns to step 201 and repeats the processing (step 2).
07).

[0057]

As described above, according to the present invention,
The combination of the GPS satellites used for positioning (satellite switching information) is recorded, and when a change occurs in the satellite switching information, the GPS maneuvering information at that time and the filter processing means at the time of updating the filter one cycle before are calculated. Is compared with the predicted GPS maneuvering information, the difference is stored as a GPS maneuvering information correction value, and a filter process is performed first based on the GPS corrected maneuvering information corrected with this value. Normal convergence is achieved, and the correlation between the result and the GPS bias error component is not lost.

Further, since the ground processing section can read the mobile information from the mobile information database and then restore the GPS mobile information from the GPS mobile information correction value and the GPS satellite switching information, differential GPS processing can be performed on this information. As a result, the processing load distribution on the mobile side and the ground side is also achieved.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of random and bias error components in GPS positioning.

FIG. 2 is an explanatory diagram of the influence of the order of a bias error removal process and a random error removal process on the entire error correction process.

FIG. 3 is an overall configuration diagram of a system showing an embodiment of the present invention.

FIG. 4 is a flowchart for explaining the operation of the moving body mounting unit shown in FIG. 3;

FIG. 5 is a flowchart for explaining the operation of the moving body mounting unit shown in FIG. 3;

FIG. 6 is an explanatory diagram of a format example of a mobile information database.

FIG. 7 is a flowchart for explaining the operation of the ground processing unit shown in FIG. 3;

FIG. 8 is an explanatory diagram of a format example of a correction mobility information database.

[Explanation of symbols]

11: accelerometer, 12: gyro, 13: inertial measurement sensor, 14: GPS receiver, 15: GPS movement information correction section, 16: movement analysis section, 17: GPS movement information correction value database, 18: GPS satellite switching information Database,
19: Filter processing unit, 20: Mobile information recording unit, 21 ...
Mobile unit mounting section, 22: Mobile information database, 23: Corrected mobile information database, 24: Ground GPS positioning correction information database, 25: Differential GPS processing section, 26: GPS mobile information restoring section, 27: Mobile information reading section, 28 ... ground processing unit.

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshiro Sekiyama 5-2-1, Omika-cho, Hitachi City, Ibaraki Prefecture Inside the Omika Plant, Hitachi, Ltd. (72) Inventor Koji Ego 5-chome, Omika-cho, Hitachi City, Ibaraki Prefecture No. 2 in the Hitachi, Ltd. Omika Plant (72) Inventor Yasuyuki Namiki 5-2-1, Omika-cho, Hitachi City, Ibaraki Prefecture F-term in the Hitachi, Ltd. Omika Plant 2F029 AA04 AA05 AB07 AD01 5J062 AA12 BB01 CC07 EE04

Claims (4)

[Claims] 1. An acceleration measuring means for detecting acceleration in a three-axis orthogonal coordinate system, a rotational angular velocity measuring means for detecting a rotational angular velocity with respect to an axis, and a position and a velocity of a moving body are calculated based on distance measurement information from a GPS satellite. Receiving means, a GPS mobility information correcting means for correcting GPS mobility information at the time of satellite switching, a GPS mobility information correction value database calculated by the GPS mobility information correcting means, and a GPS satellite switching information database used at this time And acceleration measurement means,
Rotational angular velocity measuring means, mobility analysis means for calculating the position, velocity, acceleration, attitude angle and attitude angular velocity (hereinafter, collectively referred to as “mobile information” of these physical quantities) of the moving object from the GPS reception and GPS mobile information correction value database. A moving body comprising signal processing means for providing filter processing means for sequentially performing estimation error correction processing on the analyzed movement information, and movement information recording means for performing input / output control of movement information after the error correction processing; A mobile unit, a mobile information database that stores mobile information from the mobile unit inside the mobile body, a mobile information reading unit that reads the mobile information stored in the mobile information database outside the mobile body, and a mobile information reading unit that measures the mobile information. The GPS phase between the mobile unit and the ground station using the terrestrial GPS positioning correction information database and the terrestrial GPS positioning correction information database A mobile mobility analysis apparatus comprising a differential GPS processing means for removing a pair error, and a corrected mobility information database for accumulating mobility information corrected by this processing, and comprising a ground processing unit composed of signal lines connecting these. In the above, the mobile mobility analysis is characterized in that error correction of the mobility information at the time of switching the GPS satellites is performed by performing "GPS mobility information correction processing" and "GPS mobility information restoration processing" based on the GPS satellite switching information. apparatus. 2. A mobile mobility analyzer according to claim 1, further comprising signal communication means such as wireless communication or infrared communication instead of said signal line. 3. An inertial measuring means comprising acceleration measuring means for detecting acceleration in a three-axis orthogonal coordinate system and rotational angular velocity measuring means for detecting a rotational angular velocity with respect to an axis, and moving based on distance measurement information from a GPS satellite. GPS receiving means for calculating the position and speed of the body, GPS mobility information correcting means for correcting GPS mobility information at the time of satellite switching, and a GPS mobility information correction value database calculated by the GPS mobility information correcting means, GPS satellite switching information database, acceleration measuring means, rotational angular velocity measuring means, GPS
The position, speed, acceleration, posture angle and posture angular velocity (hereinafter, referred to as the posture) of the moving object are obtained from the reception and GPS movement information correction value database.
Mobility analysis means for calculating these physical quantities (referred to as "mobility information"), filter processing means for sequentially performing estimation error correction processing on the analyzed mobility information, and mobility for performing input / output control of the mobility information after the error correction processing. A mobile body mounting unit comprising information recording means and a signal line connecting them; a mobile information database for storing mobile information from the mobile body mounting unit in the mobile body; and a mobile information stored in the mobile information database. Mobility information reading means for reading outside the moving body, a terrestrial GPS positioning correction information database measured by the terrestrial GPS receiving means, and a differential GPS for removing a GPS relative error between the moving body and the ground station using the terrestrial GPS positioning correction information database Processing means, comprising a corrected mobility information database for accumulating mobility information corrected by this processing, By performing a “GPS maneuvering information correction process” and a “GPS maneuvering information restoring process” based on GPS satellite switching information in a mobile maneuvering analysis device constituted by a ground processing unit composed of signal lines connecting these, And a mobile mobility analyzer for compensating for errors in mobility information when switching between GPS satellites. 4. The mobile mobility analyzer according to claim 3, further comprising signal communication means such as wireless or infrared rays instead of the signal line.