JP2001059862A - Gps receiving device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a GPS receiving device capable of computing the location of the GPS receiving device even if the number of GPS satellites which can be simultaneously received is less than a necessary number. SOLUTION: This GPS receiving device is provided with both an observation data storage part 5 to store observation data comprising data on the distances between the GPS satellites and the GPS receiving device, data on GPS satellite locations, etc., and a location computation control part 6. In the location computation control part 6, the operation of a location computing part 4 to compute the location of the GPS receiving device is executed at the time when observation data necessary for computing the location of the GPS receiving device is completed in the observation data storage part 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS receiver for receiving a signal from a GPS satellite and measuring a current position, speed, and the like of a vehicle, a person, or an object.

[0002]

2. Description of the Related Art A GPS receiving apparatus captures radio waves (GPS signals) from a plurality of satellites received by a GPS receiving antenna unit, and obtains position information of each satellite obtained from a satellite navigation message obtained from the signals, and After calculating the pseudo distance between each GPS satellite and the position of the GPS receiver from the phase shift amount of the pseudo noise code at the time of synchronization acquisition, the GPS distance is calculated using these.
The three-dimensional position or the two-dimensional position of the receiving device is calculated as an unknown value by calculation. FIG. 15A shows a block diagram of a conventional configuration, and FIG. 15B shows a schematic diagram of the positioning of the GPS receiver.

Conventionally, as shown in FIG. 15, in a GPS receiving apparatus, radio waves from a plurality of GPS satellites are received by a satellite signal receiving section 1, the radio waves are synchronously captured with a pseudo noise code, and the signals are demodulated. To obtain satellite navigation messages. The propagation distance calculation unit 2 calculates a pseudo distance between the GPS satellite and the GPS receiver from the pseudo noise code phase shift amount at the time of synchronization acquisition. Further, the satellite position calculation unit 3 acquires a calculation formula of the GPS satellite position from the satellite navigation message, and calculates the position of the GPS satellite by using the calculation formula. As described above, the distance (propagation distance) between the GPS satellite and the GPS receiver and the position of the GPS satellite are obtained from the results from the propagation distance calculation unit 2 and the satellite position calculation unit 3, and similarly for each GPS satellite. By calculating the GPS satellite position and the propagation distance, the position of the GPS receiver is calculated by the position calculation unit 3. By receiving radio waves from three GPS satellites, the two-dimensional position of the GPS receiver can be calculated, and the three-dimensional position can be calculated by four. In other words, two GPS satellites are required for two-dimensional positioning for obtaining only latitude and longitude while the altitude is fixed, and four GPS satellites are required for three-dimensional positioning for obtaining latitude, longitude and altitude. In the position calculation of the GPS receiver, various errors are corrected in practical use, but they are not particularly described here.

[0004]

SUMMARY OF THE INVENTION However, GPS
When the receiver is used in an urban environment where there are many obstacles such as high-rise buildings and elevated roads, the number of GPS satellites that can be simultaneously received by the GPS receiver is often less than the required number. Further, when a person carries the GPS receiver, the user himself / herself becomes an obstacle, so that the number of GPS satellites that can be simultaneously received decreases. In particular, there are cases where the location cannot be detected due to the environment even when the GPS receiver is carried for the elderly to manage the location. As a further example,
If a bicycle or car equipped with a GPS receiver for theft prevention is stolen and left in a gap between buildings, the G
The PS receiver cannot receive the radio waves of the required number of GPS satellites, and the GPS receiver may not perform its original function.

[0005] The GPS receiver has a plurality of channels, a method of simultaneously receiving radio waves of a plurality of GPS satellites, and a sequential method of sequentially receiving radio waves of a plurality of GPS satellites on one channel. is there. In this method, switching to each satellite is sequentially performed in a time-division manner at high speed, and processing equivalent to a plurality of channels is performed. Strictly simultaneous reception is not strictly performed. It is the same that the satellite signal must be receivable.

To solve these problems, there is a method of estimating the position from the past trajectory by using a filter technique such as a Kalman filter even if the number of GPS satellites does not satisfy the required number. However, the past trajectory cannot be used. It is not effective at startup. In particular, in the case of the stolen vehicle mentioned in the above example, the effect is not obtained.

As described above, in the above-mentioned conventional technology,
For positioning (position calculation) of the GPS receiving apparatus, it is necessary to simultaneously receive three or more (four or more in three-dimensional positioning) GPS satellites. At least 3 or more (4 or more in 3D positioning) GPs at the same time for the first GPS receiver position calculation
It was necessary to receive the radio wave of the S satellite.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object the purpose of simultaneously receiving GPS signals.
An object of the present invention is to provide a GPS receiver capable of calculating the position of the GPS receiver even when the number of satellites is less than the required number.

[0009]

In order to achieve the above object, the invention according to claim 1 is a satellite which receives radio waves from a plurality of GPS satellites and performs a synchronous acquisition operation, a data demodulation operation, and the like of the radio waves. A signal receiving unit, a propagation distance calculating unit that calculates a distance between a GPS satellite and a GPS receiving device based on output information from the satellite signal receiving unit, a satellite position calculating unit that calculates a position of the GPS satellite, In a GPS receiving apparatus having a position calculating section for calculating a position of a GPS receiving apparatus based on observation data from the propagation distance calculating section and the satellite position calculating section, an observation data storage section for storing the observation data and a position An operation control unit, wherein the position operation control unit includes:
When the observation data necessary for the position calculation of the GPS receiver is prepared in the observation data storage unit, the operation of the position calculation unit is executed.

[0010] The invention according to claim 2 provides the G according to claim 1.
In the PS receiving apparatus, a satellite position change amount calculating unit for calculating the amount of change in the position of the GPS satellite, and whether or not the GPS satellite has moved by a predetermined value or more based on the result of the satellite position change amount calculating unit The observation data storage unit stores observation data of the same GPS satellite as observation data of a different satellite when the GPS satellite moves by a predetermined value or more. It is a feature.

According to a third aspect of the present invention, in the GPS receiver according to the first or second aspect, an observation data life management unit for managing a storage time and a storage range of the observation data in the observation data storage unit is provided. It is characterized in that observation data that degrades the accuracy of position calculation is not deleted or used.

[0012] The invention according to claim 4 provides the G according to claim 3.
In the PS receiving apparatus, the observation data life management unit does not delete or use observation data in the observation data storage unit that exceeds a predetermined time from a reception time or a storage time.

According to a fifth aspect of the present invention, in the GPS receiving apparatus according to the third or fourth aspect, in the observation data life managing unit, the number of observation data in the observation data storage unit is the position of the GPS receiving apparatus. When the number exceeds a predetermined number necessary to calculate the data, the observation data with the oldest reception time or storage time is not deleted or used.

According to a sixth aspect of the present invention, there is provided a GPS receiving apparatus according to any one of the third to fifth aspects, wherein
A moving distance detecting unit for detecting a moving distance of the S receiving device, and a moving distance calculation for calculating a moving distance of the GPS receiving device from a reception time or a storage time of observation data based on output data of the moving distance detecting unit Wherein the observation data lifetime management unit does not delete or use observation data whose travel distance obtained by the travel distance calculation unit exceeds a predetermined limit value.

According to a seventh aspect of the present invention, in the GPS receiving apparatus according to the first or second aspect, a moving distance / direction detecting unit for detecting a moving distance and a moving direction of the GPS receiving apparatus, and the moving distance / direction. A moving distance / direction calculating unit for calculating a moving distance and a moving direction of the GPS receiver from a reception time or a storage time of observation data based on output data of the detecting unit, and an output result of the moving distance / direction calculating unit And an observation data correction calculator for correcting the observation data of the propagation distance calculator based on

According to an eighth aspect of the present invention, in the GPS receiver according to any one of the first to seventh aspects, an operation unit for erasing observation data stored in the observation data storage unit is provided. It is characterized by the following.

According to a ninth aspect of the present invention, there is provided a GPS receiver according to any one of the first to eighth aspects,
A moving distance detecting unit for detecting a moving distance of the S receiving device, and a moving distance calculation for calculating a moving distance of the GPS receiving device from a reception time or a storage time of observation data based on output data of the moving distance detecting unit And a position accuracy output unit that outputs and displays the position range or position accuracy of the GPS receiver based on the movement distance obtained by the movement distance calculation unit.

[0018]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A GPS receiver according to an embodiment of the present invention will be described below with reference to FIGS. In the figure, the GPS satellites are simply satellites and GPS
It should be noted that the receiving device is simply described as a receiving device.

FIG. 1 shows a G according to a first embodiment of the present invention.
FIG. 2 is a block diagram illustrating a configuration of a PS receiving apparatus, and FIG.
(A) is a diagram showing an example of a GPS satellite reception situation, (b) is a table showing an example of observation data, and (c) is a schematic diagram of positioning.

As shown in FIG. 1, the GPS receiving apparatus according to the present embodiment receives a radio wave from a plurality of GPS satellites and performs a synchronization acquisition operation, a data demodulation operation, and the like of the radio wave. A propagation distance calculator 2 for calculating a distance between a GPS satellite and a GPS receiver based on output information from the satellite signal receiver 1, a satellite position calculator 3 for calculating a position of the GPS satellite, A position calculation unit 4 for calculating the position of the GPS receiver based on the observation data from the propagation distance calculation unit 2 and the satellite position calculation unit 3; an observation data storage unit 5 for storing the observation data; A position calculation control unit 6 that performs calculation control so as to execute the operation of the position calculation unit when observation data necessary for position calculation of the GPS receiver is obtained from the observation data of the unit.

The operation of the first embodiment will be described below.
Here, it is assumed that the GPS receiver is placed in an environment where the required number of GPS satellites cannot be simultaneously received. FIG.
In (a), the GPS that could be received at each time
Figure 2 illustrates a satellite. Observation data calculated based on the GPS satellite radio waves received here is stored in the observation data storage unit 5 for each GPS satellite as shown in FIG. 2B. Observation data is reception time tn (n = 0, 1, 2,...)
, And the distance (propagation distance) rn between the GPS satellite and the GPS receiver at each GP.
The S satellite is updated every time a radio wave is received, and the latest one is always stored.

As described above, the observation data is obtained at the reception time t.
n, the reception time and the time at which the observation data is stored in the observation data storage unit 5 are substantially the same, and the reception time tn may be regarded as the storage time of the observation data.

First, the GPS receiving apparatus started at time t0 receives the radio wave of the GPS satellite 1 (satellite number 1) at time t1 by the satellite signal receiving unit 1, and based on the output information obtained therefrom, the propagation distance. The calculation unit 2 calculates the distance r1 between the GPS satellite and the GPS receiver, and calculates the satellite position calculation unit 3
Then, the position x1 of the GPS satellite is calculated, and these are stored in the observation data storage unit 5 as observation data together with the satellite number and the reception time. Similarly, observation data of satellite 2 at time t2, satellite 3 at time t3, and satellite 4 at time t4 are stored in observation data storage unit 5. FIGS. 2A and 2B show the GPS satellite reception status and the stored observation data at this time.

At time t4, time t1, t2, t
When the observation data of each of the GPS satellites at 3 and t4 are completed, the position calculation control unit 6 determines that the position calculation is possible, and the position calculation unit 4
Then, the first position calculation is executed based on the observation data of each satellite, and the position of the GPS receiver is obtained. In this example, the description is made assuming the three-dimensional positioning calculation for obtaining the latitude, longitude and altitude. However, in the two-dimensional positioning calculation for obtaining only the latitude and longitude at a fixed altitude, it is determined that the position calculation can be performed at time t3. Thus, the position of the GPS receiver is obtained based on the observation data of the three satellites at times t1, t2, and t3.

Thus, even if the GPS receiver is placed in an environment where the radio waves from the GPS satellites cannot be received simultaneously from the start time, the observation data of the GPS satellites that can be received at each time is stored and the observation necessary for the position calculation is stored. By performing the position calculation when the number of data is uniform, the position of the GPS receiver can be obtained.

FIG. 3 shows a G according to a second embodiment of the present invention.
FIG. 4 is a block diagram showing a configuration of a PS receiving apparatus, and FIG.
(A) is a diagram showing an example of GPS satellite reception status, (b) is a table showing an example of observation data, (c) is a diagram showing an example of another GPS satellite reception status, and FIG. FIG. 3 is an operation flowchart of an observation data life management unit 7 and an operation unit 8 of FIG.

The GPS receiver according to this embodiment is different from the GPS receiver according to the first embodiment in FIG. 1 in that an observation data life management unit 7 for managing a storage time and a storage range of observation data in an observation data storage unit 5; An operation unit 8 for deleting observation data stored in the observation data storage unit 5 is added.

The operation of the second embodiment will be described below.
Here, it is also assumed that the GPS receiver is placed in an environment where the required number of GPS satellites cannot be simultaneously received. The operation of storing the observation data in the observation data storage unit 5 is the same as in the first embodiment. FIGS. 4A and 4B show examples of GPS satellite reception status and observation data. In this example, GP
The state in which the S satellite 2 and the GPS satellite 3 can be simultaneously received for a certain period of time is shown (this is an example of the situation, not specially described in the operation description).

The GPS receiver is stationary or moves at a certain speed. When in the moving state, the calculated position accuracy of the GPS receiving device depends on how much the GPS receiving device has moved from when the first observation data is stored to when the position calculation is started. That is, the observation data whose time has passed causes the accuracy of the position calculation to deteriorate.
Here, the maximum speed is defined from the usage of the GPS receiver, and the time during which accuracy can be maintained based on the maximum speed is set as the data life ta. In this case, the time during which the required accuracy can be maintained for each application may be statistically determined by experiments. The observation data life management unit 7 manages the observation data in the observation data storage unit 5 and performs an operation of erasing observation data that has passed the data life ta or more. FIG. 4 (a)
Then, the observation data at the time t1 is changed from the time t1 to the data lifetime t.
is erased at time t1 + ta when a has elapsed, and time t1 + t
Immediately after a, position calculation is performed based on observation data at times t2, t3, t4, and t5.

If there are more observation data than necessary for positioning even within the data life ta, older observation data may be sequentially deleted. This leads to improving the position calculation accuracy by deleting old observation data. In FIG. 4A, at time t5, t2, t3,
Since the four observation data at t4 and t5 are available and the three-dimensional positioning operation can be performed, the observation data at the time t1 is deleted even within the data life, and the positioning operation is performed based on the four observation data. Note that in the two-dimensional positioning calculation, since there is only three observation data, the observation data at the time t1 is deleted at the time t4.

Further, the user can grasp the moving distance of the GPS receiver, and when the user judges that the position calculation accuracy is not sufficient, the user deletes (resets) the observation data in the observation data storage unit 5 by the operation unit 8. You may give it.
This situation is shown in FIG. Time t from time t0
If the user determines that the GPS receiver has moved so that the calculation accuracy cannot be maintained during r, the user resets the observation data in the observation data storage unit 5 using the operation unit 8 at time tr. At this time, the observation data at times t1 and t2 are deleted, and thereafter, at times t1 ', t3, t4, t
The position calculation is performed using the observation data at 5, t1 '.

FIG. 5 shows the operation flow of the observation data life management unit 7 and the operation unit 8 described above. In F11, the elapsed time from the reception time of the observation data to the current time is calculated for each GPS satellite. In F12, the elapsed time is compared with the set data life. If the observation data exceeds the data life, the observation data is deleted in F13. If it is within the data life, it is determined in F14 whether or not the number of pieces of observation data required for the position calculation is present. In the three-dimensional positioning calculation, the required number is four, and in the two-dimensional positioning calculation, the required number is three. If the number exceeds the required number, the observation data having a long elapsed time is deleted in F15, and the number of observation data is reduced. Further, if there is a reset command from the user through the operation unit 8 (F16), all the observation data is deleted (F17).

As described above, the observation data lifetime management unit 7 sets the storage time of the observation data stored in the observation data storage unit 5, and sets the old observation data when the number of observation data necessary for the position calculation is completed. By deleting the data and providing the operation unit 8 for deleting the observation data, it is possible to delete the observation data that degrades the position calculation accuracy, and to maintain the position calculation accuracy.

FIG. 6 shows a third embodiment of the present invention.
FIG. 7 is a block diagram showing a configuration of the PS receiving apparatus, FIG. 7 is an operation flow diagram of the satellite position change amount calculating unit 9 and the judging unit 10 of FIG. 6, and FIG. FIG. 3B is a table showing an example of observation data, and FIG. 3C is a schematic diagram of positioning.

The GPS receiving apparatus according to the present embodiment is different from the GPS receiving apparatus according to the first embodiment shown in FIG. 1 in that an observation data life management unit 7 for managing the storage time and storage range of the observation data in the observation data storage unit 5, A satellite position change amount calculator 9 for calculating the amount of change in the position of the GPS satellites, and based on the result of the satellite position change amount calculator 9, it is determined whether or not the GPS satellite has moved by a predetermined value or more. A judgment unit 10 is added.

The operation of the third embodiment will be described below.
Here, it is also assumed that the GPS receiver is placed in an environment where the required number of GPS satellites cannot be simultaneously received. The basic operation of storing the observation data in the observation data storage unit 5 is the same as in the first embodiment. The operation of the present embodiment will be described with reference to FIG. The observation data is received (F21), the presence or absence of existing observation data is checked by the GPS satellite of the same number, and if not, the observation data at F21 is stored in the observation data storage unit 5 (F23). If there is, the satellite position change amount calculator 9 calculates the satellite position change amount from the existing observation data. Here, the position change amount is obtained as a movement angle (F
24). Next, the determination unit 10 determines whether or not the satellite position change amount (movement angle) is equal to or larger than a predetermined set value. If the movement angle is equal to or larger than the predetermined set value, the observation data in F21 is stored in the observation data storage unit 5 (F2
3). If it is less than the set value, the observation data is not stored (F26). Although the radio wave of the GPS satellite 1 as shown in FIG. 8A can be received for a relatively long time, the position calculation cannot be performed in an environment where the radio waves of other GPS satellites can hardly be received. However, the observation data of the GPS satellite 1 is acquired and stored not only at the time t1 but also at the times t1 ′ and t1 ″ according to the operation flow of FIG. 7. This observation data table is shown in FIG. t1, t1 ', t1 "
Are based on the same GPS satellite, but these observation data are regarded as observation data of different GPS satellites to calculate the position of the GPS receiver. In the two-dimensional positioning calculation, the GPS data is obtained from the observation data at these three times.
The position of the receiving device can be determined. In the three-dimensional positioning calculation, if the radio wave of the GPS satellite 2 can be received as shown in FIG. 8A (time t2), the observation data may be used for the position calculation, or only the radio wave of the GPS satellite 1 can be received. If not, the observation data of the GPS satellite at a later time may be used. However, as described in the flow operation description, a position change amount (moving angle) of the GPS satellite is required to be able to regard the same GPS satellite as a different GPS satellite. For this purpose, the position of the GPS receiver is almost fixed, and 1G is used for a long time for the GPS satellites to move sufficiently.
It must receive the PS satellite radio waves. Therefore, it is not suitable for a GPS receiving apparatus involving movement. But G
This is an effective method for detecting the position of a stolen or abandoned car or bicycle without changing the position of the PS receiver.

As described above, when the GPS satellite moves by a predetermined value or more, the satellite position change amount calculating unit 9 and the determining unit 10 determine the observation data of the same GPS satellite as the observation data of a different satellite, and By using the position calculation of the receiving device, there is an effect that the position of the GPS receiving device can be obtained even if the GPS receiving device is placed in an environment where only a specific GPS satellite radio wave can be received.

FIG. 9 shows a G according to a fourth embodiment of the present invention.
FIG. 10A is a block diagram of a PS receiver, and FIG.
FIG. 3B is a diagram showing the S satellite reception status and the moving distance of the GPS receiver, and FIG.

The GPS receiving apparatus according to the present embodiment is different from the GPS receiving apparatus according to the first embodiment in FIG. 1 in that an observation data life management unit 7 for managing the storage time and storage range of the observation data in the observation data storage unit 5, A moving distance detecting unit 11 for detecting a moving distance of the GPS receiving device, and a movement for calculating a moving distance of the GPS receiving device from a reception time or a storage time of observation data based on output data of the moving distance detecting unit 11. Distance calculator 1
2 is added.

The operation of the fourth embodiment will be described below.
Here, it is also assumed that the GPS receiver is placed in an environment where the required number of GPS satellites cannot be simultaneously received. The basic operation of storing the observation data in the observation data storage unit 5 is the same as in the first embodiment. GPS from moving distance detector 11
The moving distance of the receiving device is output and input to the moving distance calculator 12. The moving distance detecting unit 11 can be realized by an acceleration sensor, a vehicle speed pulse, or the like. FIG. 10A shows GPS satellites that can be received at each time. As a result of calculation based on the received GPS satellite radio waves, observation data as shown in FIG. 8B is stored in the observation data storage unit 5. Here, the integrated value of the moving distance from the reception time tn to the current time is added to the observation data. Here, the accuracy of the position of the GPS receiver calculated by the position calculation unit 4 is determined by storing the observation data and then checking the GPS accuracy.
It depends on how far the receiving device has moved. Therefore, observation data exceeding the moving distance that can maintain the required accuracy is not used. Here, if the limit value of the movement distance that can maintain the measurement accuracy is dlimit and the current time is t5, the observation data at time t1 is not used because the movement distance d1 exceeds the limit value dlimit, and at time t5 The position calculation is performed using the observation data at times t2, t3, t4, and t5.

As described above, the moving distance detecting unit 11, the moving distance calculating unit 12, and the observation data life managing unit 7 delete observation data in which the moving distance of the GPS receiver exceeds a predetermined limit value. Observation data that deteriorates the position calculation accuracy is deleted, and the effect of maintaining the position calculation accuracy is achieved.

FIG. 11 is a block diagram of a GPS receiver according to a fifth embodiment of the present invention. FIG. 12A illustrates propagation distance correction, and FIG. FIG. 4C is a schematic diagram of propagation distance correction based on the observation data.

The GPS receiving apparatus according to the present embodiment differs from the first embodiment in FIG. 1 in that a moving distance / direction detecting unit 13 for detecting the moving distance and direction of the GPS receiving apparatus, and the moving distance / direction A moving distance / direction calculating unit 12 for calculating a moving distance and a direction of the GPS receiver from the reception time or the storage time of the observation data based on the output data of the detection unit 13;
An observation data correction calculator 15 for correcting observation data based on the result of the movement distance / direction calculator 12 is added.

The operation of the fifth embodiment will be described below.
Here, it is also assumed that the GPS receiver is placed in an environment where the required number of GPS satellites cannot be simultaneously received. The basic operation of storing the observation data in the observation data storage unit 5 is the same as in the first embodiment. The moving distance / direction of the GPS receiver is output from the moving distance / direction detecting unit 12 and the moving distance /
It is input to the direction calculation unit 12. The movement distance / direction detection unit 12 can be realized by a combination of measurement of the movement distance using an acceleration sensor or a vehicle speed pulse and measurement of the movement direction using a gyro. FIG. 12B shows the observation data storage unit 5.
Observation data as shown in is stored. The observation data is
The position of the GPS satellite at the reception time tn,
It consists of the propagation distance between the PS receivers and the movement distance / direction of the GPS receiver from tn to the current time.

Here, the accuracy of the position calculation deteriorates due to the movement of the GPS receiver. This is a GPS satellite and GPS
This is because the propagation distance between the receiving devices changes. Therefore,
In order to prevent the position calculation accuracy from deteriorating, the observation data correction calculator 15 calculates G based on the moving distance / direction data of the GPS receiver from time tn to the current time.
The correction calculation of the propagation distance between the PS satellite and the GPS receiver is performed. The outline of the propagation distance correction will be described with reference to FIG. Let r be the propagation distance between the GPS satellite and the GPS receiver at the time of reception and measurement, d be the travel distance of the GPS receiver, and θ be the angle between the direction of the GPS satellite viewed from the GPS receiver and the travel direction. Compared to the moving distance of the GPS receiver,
When the propagation distance between the GPS satellite and the GPS receiver is sufficiently long, the correction distance is represented by r-dcosθ. Therefore, the measurement accuracy can be maintained by using the corrected distance for the position calculation.

As described above, the moving distance and direction of the GPS receiver from the time of reception are calculated by the moving distance / direction detecting unit 13, the moving distance / direction calculating unit 14, and the observation data correction calculating unit 15. Since the distance between the satellite and the GPS receiver is corrected, the position calculation accuracy can be maintained even if the GPS receiver moves.

Here, an example has been described in which the propagation distance is corrected for each of a plurality of GPS satellites, but in addition to this example, the position has changed for a sufficiently long time as shown in FIG. The present invention is also applicable to a situation where a 1 GPS satellite is received. That is, the present invention is applied to the third embodiment in which one GPS satellite is regarded as a plurality of different satellites and the position is calculated. FIG. 13A shows an example of observation data at this time, and FIG. 13B shows an outline of propagation distance correction based on the observation data. The operation is the same as that of the fifth embodiment, except that one GPS satellite is regarded as a plurality of GPS satellites. Therefore, the third embodiment is effective only in a situation where the GPS receiving apparatus is almost fixed, but by applying the fifth embodiment, the GPS receiving apparatus moves and a specific 1GP
There is an effect that position calculation can be performed even in a situation where only the S satellite can be received.

FIG. 14 is a block diagram of a GPS receiver according to a sixth embodiment of the present invention.

The GPS receiving apparatus according to the present embodiment is different from the GPS receiving apparatus according to the first embodiment in FIG. 1 in that an observation data life management unit 7 for managing the storage time and storage range of the observation data in the observation data storage unit 5, A moving distance detecting unit 11 for detecting a moving distance of the GPS receiving device, and a movement for calculating a moving distance of the GPS receiving device from a reception time or a storage time of observation data based on output data of the moving distance detecting unit 11. Distance calculator 1
2, a position accuracy output unit 16 for outputting and displaying the position range or position accuracy of the GPS receiver based on the movement distance obtained by the movement distance calculation unit 12, and a monitor 17 for displaying the output result. . Here, the operations of the moving distance detecting unit 11 and the moving distance calculating unit 12 are in accordance with the fourth embodiment, but the observation data exceeding the limit value of the moving distance is not deleted and used for the position calculation. However, when the GPS receiver moves, the accuracy is deteriorated and the accuracy is displayed on the monitor 17 by the position accuracy output unit 16 to notify the user. The displayed content is based on the result of the moving distance described above, and G
Notify that the position of the PS receiving device is displayed. Further, by providing the operation unit 8, if the user confirms the position accuracy and determines that the position accuracy is not sufficient, the observation data in the observation data storage unit 5 is deleted (reset) by the user's operation. Is also good.

[0050]

As described above, according to the first aspect of the present invention, an observation data storage unit for storing observation data including distance data between a GPS satellite and a GPS receiver, GPS satellite position data, and the like. , A position calculation control unit,
The position calculation control unit executes the operation of the position calculation unit when the observation data in the observation data storage unit is complete with the observation data necessary for the position calculation of the GPS receiver. The required number of GPS satellites (3
(4 satellites for 2D positioning calculation, 3 satellites for 2D positioning calculation)
Even if the distance is smaller, a GPS receiver capable of calculating the initial position of the GPS receiver can be provided.

According to the second aspect of the present invention, a satellite position change amount calculating section for calculating a change amount of the position of the GPS satellite,
A determination unit that determines whether the GPS satellite has moved by a predetermined value or more based on the result of the satellite position change amount calculation unit, wherein the observation data storage unit of the position calculation unit includes:
When a GPS satellite moves by more than a predetermined set value, the observation data of the same GPS satellite is stored as observation data of a different satellite. There is an effect that position calculation can be performed.

According to the third aspect of the present invention, an observation data life management unit for managing the storage time and storage range of the observation data in the observation data storage unit is provided so that the observation data which deteriorates the accuracy of the position calculation is deleted. Therefore, there is an effect that the position calculation accuracy can be maintained.

According to the fourth aspect of the present invention, the observation data life management unit deletes the observation data in the observation data storage unit that exceeds a predetermined time from the reception time or the storage time. The advantage is that the position calculation accuracy can be maintained even after elapse.

According to a fifth aspect of the present invention, in the observation data life management unit, when the number of observation data in the observation data storage unit exceeds a predetermined number necessary for calculating the position of the GPS receiver, Since the observation data with the oldest reception time or storage time is deleted, the position calculation can be performed with the observation data with the highest accuracy at the current time.

According to a sixth aspect of the present invention, a moving distance detecting section for detecting a moving distance of the GPS receiving apparatus, and an output data from the moving distance detecting section, based on output data from the receiving time or storage time of the observation data. A moving distance calculating unit for calculating a moving distance of the GPS receiver, wherein the observation data life managing unit deletes observation data whose moving distance obtained by the moving distance calculating unit exceeds a predetermined limit value; Therefore, there is an effect that the position calculation accuracy can be maintained even when the GPS receiver moves.

According to the seventh aspect of the present invention, a moving distance / direction detecting unit for detecting a moving distance and a moving direction of the GPS receiver, and an output data of the observation data based on the output data of the moving distance / direction detecting unit. G from reception time or storage time
A moving distance / direction calculator for calculating the moving distance and moving direction of the PS receiver, and an observation data correction calculator for correcting the observation data of the propagation distance calculator based on the output result of the moving distance / direction calculator Is provided to correct the propagation distance, so that even when the GPS receiver moves, there is an effect that the position can be calculated using the observation data at the time of reception.

According to the eighth aspect of the present invention, since the operation unit for erasing the observation data stored in the observation data storage unit is provided, the position calculation accuracy can be maintained by the judgment of the user of the GPS receiver. To play.

According to the ninth aspect of the present invention, a moving distance detecting section for detecting a moving distance of the GPS receiving apparatus, and a time from a reception time or a storage time of the observation data based on output data of the moving distance detecting section. It has a moving distance calculating unit for calculating the moving distance of the GPS receiving device, and has a GPS position accuracy output unit for outputting and displaying the position range or position accuracy of the GPS receiving device based on the moving distance obtained by the moving distance calculating unit. In addition, it is possible to notify the user of the GPS receiving apparatus of the level of the positional accuracy of the GPS receiving apparatus obtained by the position calculation.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a GPS receiving device according to a first embodiment of the present invention.

FIGS. 2A and 2B are diagrams illustrating an operation of the GPS receiving apparatus according to the first embodiment of the present invention, in which FIG. 2A illustrates an example of a GPS satellite reception situation, and FIG. 2B illustrates an example of observation data; table,
(C) is a positioning schematic diagram.

FIG. 3 is a block diagram illustrating a configuration of a GPS receiving device according to a second embodiment of the present invention.

4A and 4B are diagrams illustrating an operation of a GPS receiving apparatus according to a second embodiment of the present invention, wherein FIG. 4A illustrates an example of a GPS satellite reception situation, and FIG. 4B illustrates an example of observation data; table,
(C) is a figure which shows an example of another satellite reception situation.

FIG. 5 is an operation flowchart showing an operation of a GPS receiver according to a second embodiment of the present invention.

FIG. 6 is a block diagram illustrating a configuration of a GPS receiver according to a third embodiment of the present invention.

FIG. 7 is an operation flowchart showing an operation of a GPS receiver according to a third embodiment of the present invention.

FIGS. 8A and 8B are diagrams illustrating an operation of the GPS receiving apparatus according to the third embodiment of the present invention, wherein FIG. 8A illustrates an example of a GPS satellite reception situation, and FIG. 8B illustrates an example of observation data; table,
(C) is a positioning schematic diagram.

FIG. 9 is a block diagram illustrating a configuration of a GPS receiver according to a fourth embodiment of the present invention.

10A and 10B are diagrams illustrating an operation of a GPS receiving apparatus according to a fourth embodiment of the present invention, and FIG. 10A illustrates an example of a GPS satellite receiving state and a moving state of the GPS receiving apparatus;
(B) is a table showing an example of observation data.

FIG. 11 is a block diagram illustrating a configuration of a GPS receiving device according to a fifth embodiment of the present invention.

12A and 12B are diagrams illustrating an operation of a GPS receiver according to a fifth embodiment of the present invention, wherein FIG. 12A illustrates a propagation distance correction method, FIG. 12B illustrates a table illustrating an example of observation data, (C)
Is a positioning schematic diagram.

13A and 13B are diagrams showing another operation of the GPS receiving apparatus according to the fifth embodiment of the present invention, wherein FIG. 13A is a table showing an example of observation data, and FIG. 13B is a schematic diagram of positioning.

FIG. 14 is a block diagram illustrating a configuration of a GPS receiver according to a sixth embodiment of the present invention.

15A and 15B are diagrams showing a conventional GPS receiver, in which FIG. 15A is a configuration block diagram, and FIG. 15B is a schematic diagram of positioning.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Satellite signal receiving part 2 Propagation distance calculation part 3 Satellite position calculation part 4 Position calculation part 5 Observation data storage part 6 Position calculation control part 7 Observation data life management part 8 Operation part 9 Satellite position change amount calculation part 10 Judgment part 11 Move Distance detecting section 12 Moving distance calculating section 13 Moving distance / direction detecting section 14 Moving distance / direction calculating section 15 Observation data correction calculating section

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Wakio Yamada 1048 Kadoma Kadoma, Osaka Pref. Matsushita Electric Works, Ltd. (72) Inventor Masahito Fukuda 1048 Kadoma Kadoma, Kadoma City, Osaka Prefecture Inside Matsushita Electric Works, Ltd. 1048 Kadoma, Kadoma, Fumonma-shi Matsushita Electric Works Co., Ltd. F-term (reference) 5J062 AA01 AA02 AA12 BB01 BB05 CC07 HH04

Claims (9)

[Claims] 1. Receiving radio waves from a plurality of GPS satellites,
A satellite signal receiving unit for performing an operation of acquiring and synchronizing the radio wave and a data demodulating operation; and a propagation distance calculating unit for calculating a distance between a GPS satellite and a GPS receiving device based on output information from the satellite signal receiving unit. , A GPS position calculating unit that calculates the position of a GPS satellite, and a position calculating unit that calculates the position of the GPS receiving device based on observation data from the propagation distance calculating unit, the satellite position calculating unit, and the like. In, comprises an observation data storage unit for storing the observation data and a position calculation control unit, the position calculation control unit, when the observation data necessary for the position calculation of the GPS receiving device in the observation data storage unit, A GPS receiver, wherein the operation of the position calculation unit is performed. 2. A satellite position change calculator for calculating a change in the position of a GPS satellite, and based on a result of the satellite position change calculator, whether the GPS satellite has moved by a predetermined value or more. The observation data storage unit stores observation data of the same GPS satellite as observation data of a different satellite when the GPS satellite moves by a predetermined value or more. G according to claim 1
PS receiver. 3. An observation data life management unit for managing a storage time and a storage range of observation data in the observation data storage unit, wherein observation data that degrades the accuracy of position calculation is not deleted or used. The GPS receiver according to claim 1 or 2, wherein 4. The observation data life management unit is configured not to delete or use observation data in the observation data storage unit that exceeds a predetermined time from a reception time or a storage time. GPS receiver. 5. The observation data lifetime management unit, wherein when the number of observation data in the observation data storage unit exceeds a predetermined number required to calculate the position of a GPS receiver,
4. The method according to claim 3, wherein the observation data whose reception time or storage time is old is not deleted or used.
Or the GPS receiver according to claim 4. 6. A moving distance detecting unit for detecting a moving distance of a GPS receiving device, and a GP from a reception time or a storage time of observation data based on output data of the moving distance detecting unit.
A moving distance calculating unit for calculating a moving distance of the S receiving apparatus, wherein the observation data life managing unit does not delete or use observation data whose moving distance obtained by the moving distance calculating unit exceeds a predetermined limit value. The GPS receiver according to any one of claims 3 to 5, wherein: 7. A moving distance / direction detecting unit for detecting a moving distance and a moving direction of a GPS receiving device, and based on output data of the moving distance / direction detecting unit, a time from a reception time or a storage time of observation data. A moving distance / direction calculating unit for calculating a moving distance and a moving direction of the GPS receiver, and an observation data correction calculating unit for correcting observation data of the propagation distance calculating unit based on an output result of the moving distance / direction calculating unit The GPS receiver according to claim 1 or 2, further comprising: 8. The GPS receiving device according to claim 1, further comprising an operation unit for erasing the observation data stored in said observation data storage unit. 9. A moving distance detecting unit for detecting a moving distance of a GPS receiver, and a GP from a reception time or a storage time of observation data based on output data of the moving distance detecting unit.
A moving distance calculating unit for calculating a moving distance of the S receiving apparatus, wherein GP is calculated based on the moving distance obtained by the moving distance calculating unit.
The GPS receiver according to any one of claims 1 to 8, further comprising a position accuracy output unit configured to output and display a position range or position accuracy of the S receiver.