JP2004226406A - Position estimation method and device using gps signal - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position estimation method and device using GPS signals which makes calculations on the basis of pseudo-distances measured using time differences, even if the number of measurable satellites is three or less. <P>SOLUTION: The position estimation device includes a receiver such as a GPS receiver for receiving the GPS signals, and a processor for determining positions according to the GPS signals received. The receiver receives a first GPS signal output from a first GPS signal at the first position of a first GPS satellite. The receiver receives a second GPS signal output from the first GPS satellite at the second position of the first GPS satellite. The position of the receiver is determined using the first and second GPS signals. A time difference between the two signals is used for calculating positions. Thus, the position of the receiver including the GPS receiver is determinable using four or less GPS signals output from three or less GPS satellites. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

  The present invention relates to a position estimating method and a position estimating device, and more particularly, to a method for estimating a plurality of satellite signals output from at least one or more Global Positioning System (GPS) satellites at predetermined time intervals. The present invention relates to a method and an apparatus for estimating the position of a position estimating device using the same.

  In general, a position estimation method used in a GPS satellite system uses triangulation and a C / A code (Clean and Aquisition or Coarse and Aquisition) output from the GPS satellite to use the GPS satellite and a position estimation device (for example, , GPS receiver).

  The GPS satellite always carries a C / A code on the L1 frequency of 1575.42 MHz for transmission. The position estimator generates the same code as the C / A code. The generated C / A code is compared with the received C / A code of the GPS satellite. From the comparison result, the time required for the C / A code output from the GPS satellite to reach the position estimation device is measured.

  The position estimating device measures the distance between the GPS satellite and the position estimating device based on the integration of the speed of light (the speed of the C / A code output from the GPS satellite) and the required time. The C / A code itself is constituted by a pseudo-noise code almost similar to noise, and the distance between the measured GPS satellite and the position estimating apparatus includes an error.

A general position estimator receives satellite signals output simultaneously from a minimum of four GPS satellites, measures a pseudorange corresponding to each of the satellite signals, and estimates the position of the position estimator as a measurement result. That is, the position estimating device estimates a three-dimensional position of the position estimating device using four or more satellite signals output simultaneously from four or more GPS satellites.
However, if the position estimation device cannot receive a minimum of four satellite signals simultaneously due to the influence of the surrounding environment, the position estimation device cannot estimate its own three-dimensional position.

  The present invention has been made in view of the above points, and has as its object to provide an apparatus and a method for determining a position using a GPS signal.

  In the apparatus and method for determining a position using a GPS signal according to the present invention, the receiver receives a first GPS signal output from a first GPS satellite having a first position. The receiver receives a second GPS signal output from the first GPS satellite having a second position. The position of the receiver is determined using the first GPS signal and the second GPS signal.

  The receiver receives a third GPS signal output from the first GPS satellite having a third position, and the position of the receiver is determined using the third GPS signal. The receiver receives a fourth GPS signal output from the first GPS satellite having a fourth position, and the position of the receiver is determined using the fourth GPS signal. The receiver may receive the fourth GPS signal output from the second GPS satellite having the first position. The fourth GPS signal is used to determine a position of the receiver.

The receiver can receive the third GPS signal output from the second GPS satellite having the first position, and the third GPS signal is used to determine the position of the receiver.
The receiver can receive the fourth GPS signal output from the second GPS satellite having a second position, and the fourth GPS signal is used to determine the position of the receiver.
The receiver can receive the fourth GPS signal output from the third GPS satellite having the first position, and the fourth GPS signal is used to determine the position of the receiver.

  An apparatus for determining a position using a GPS signal receives a first GPS signal output from the first GPS satellite at a first position of a first GPS satellite, and receives the first GPS signal at a second position of the first GPS satellite from the first GPS satellite. A receiver for receiving the output second GPS signal; and a processor for determining a position of the receiver using the first GPS signal and the second GPS signal.

An apparatus for determining a position using a GPS signal receives a first GPS signal output from the first GPS satellite at a first position of a first GPS satellite, and receives the first GPS signal at a second position of the first GPS satellite from the first GPS satellite. A receiver for receiving the output second GPS signal; and a position calculation unit for determining a position of the receiver using the first GPS signal and the second GPS signal.
In accordance with the present invention, the position of a receiver, including a GPS receiver, can be determined using no more than four GPS signals output from GPS satellites. In particular, a more reliable positioning or estimating device is provided in situations where GPS signals cannot be received from more than three satellites.

  A position estimating method and a position estimating apparatus according to the present invention measure a pseudo distance using a time difference even when the number of measurable satellites is three or less, and use the measured pseudo distance to obtain a position estimating apparatus. There is an advantage that the position of can be accurately estimated or calculated.

For a fuller understanding of the present invention, its operational advantages and objects attained by the practice of the invention, reference should be had to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the invention. I have to.
Hereinafter, the present invention will be described in detail by explaining preferred embodiments of the present invention with reference to the accompanying drawings. The same reference numerals shown in each drawing represent the same members.

FIG. 1 is a conceptual diagram illustrating a position estimation method according to a first embodiment of the present invention. Referring to FIG. 1, reference numeral 11 indicates the position of the GPS satellite at time t1, and reference numeral 12 indicates the position of the GPS satellite at time t2 after a predetermined time has elapsed from time t1.
Therefore, if each pseudorange is measured by satellite signals output from the same GPS satellite at time t1 and time t2, respectively, and the solutions of the two distance equations are obtained, the estimated position of the position estimating apparatus including the GPS receiver becomes a plane. , There are two locations 13A and 13B.
However, since the position of the position estimating device is a three-dimensional spatial coordinate, and there is a variable called a time difference between the GPS satellite and the position estimating device, four distance equations are necessary to actually obtain the position of the position estimating device. It is. However, the method of obtaining the position of the position estimation device is not limited to the method using the pseudo distance.

FIG. 2 is a diagram for specifically explaining a position estimation method according to the first embodiment of the present invention.
According to the position estimation method of the present invention, a plurality of satellite signals output from at least one or more GPS satellites at predetermined time intervals are received, and the position estimation is performed in response to the received satellite signals. Estimate the position of the device.

  Referring to FIG. 2, coordinates (x, y, z) represent an estimated position of the position estimating device 25, and coordinates (x1, y1, z1, t1) represent position data (x1, y1, z1) of the GPS satellite 21 at time t1. y1, z1), and p1 represents a pseudorange measured by the position estimation device at time t1. Here, it is desirable that the position estimation device 25 be stopped or fixed.

The coordinates (x2, y2, z2, t2) represent the position data (x2, y2, z2) of the GPS satellite 22 at the time t2, and p2 represents the pseudo distance measured by the position estimating device at the time t2. Here, the time t2 represents a time after a predetermined time has elapsed from the time t1.
The coordinates (x3, y3, z3, t3) represent the position data (x3, y3, z3) of the GPS satellite 23 at the time t3, and p3 represents the pseudo distance measured by the position estimation device at the time t3. Here, the time t3 represents a time after a predetermined time has elapsed from the time t2.
The coordinates (x4, y4, z4, t4) represent the position data (x4, y4, z4) of the GPS satellite 24 at the time t4, and p4 represents the pseudo distance measured by the position estimating device at the time t4. Here, time t4 represents a time after a predetermined time has elapsed from time t3. Reference numbers 21 to 24 do not represent four different satellites, but the same satellite at different times and at different locations.

  The IDs of the GPS satellites 21, 22, 23, 24 may be all the same or different. For example, at least two or more of the GPS satellites 21, 22, 23, and 24 have the same ID.

Equation 1 shows that the respective position data (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x3, y3, z3), (x4, y4) of the GPS satellites at the respective times t1, t2, t3, and t4. , Z4) and the measured pseudoranges p1, p2, p3, and p4.
Accordingly, the position estimating device outputs the position data (x1, y1, z1), (x2, y2, z2), (x2, y2, z2) output from the GPS satellites 21, 22, 23, 24 at the respective times t1, t2, t3, t4. x3, y3, z3) and (x4, y4, z4), and measures the pseudoranges p1, p2, p3, and p4 to obtain a solution to the four distance equations expressed by Equation 1 to obtain the position. The position 25 (eg, spatial coordinates (x, y, z)) of the estimator can be calculated or estimated.

Here, c represents the speed of light, and Δt represents the difference between the time of the GPS satellite and the time of the position estimation device.
In order to obtain the spatial coordinates 25 (x, y, z) of the position estimating device, a minimum of four distance equations such as Expression 1 are required, so how many GPS satellites can simultaneously receive the satellite signals output from them. Determines the minimum number of measurements of the pseudorange.

For example, when the position estimating device can receive satellite signals output from two GPS satellites, respectively, the position estimating device receives each satellite signal output from two GPS satellites at one time, and performs pseudo distance for each. Is measured, and the satellite signals output from the two GPS satellites at other times are received and the pseudoranges are measured for each of them. Thus, four distance equations such as Equation 1 can be obtained.
In this case, a minimum of two pseudorange measurements are required at different times in order to obtain the position 25 of the position estimation device, that is, the spatial coordinates (x, y, z).

  If the position estimating device can receive the satellite signals output from the three GPS satellites, the position estimating device receives the satellite signals output from the three GPS satellites at one time, and performs pseudo distance for each. Then, if the pseudorange is measured from a satellite signal output from any one of the three GPS satellites at another time, four distance equations such as Equation 1 can be obtained.

Therefore, in order to obtain the position 25 of the position estimating apparatus, that is, the spatial coordinates (x, y, z), a minimum of two pseudorange measurements are required at different times.
Also, if the altitude of the position estimating device (that is, the coordinate value of z) is known, the number of times of measurement of the pseudo distance for estimating the spatial coordinates of the position estimating device is determined by using Is at least one less than the number of times of measuring the pseudorange for estimating the spatial coordinates of the position estimating device.

FIG. 3 is a conceptual diagram illustrating a position estimation method according to a second embodiment of the present invention.
The position estimating device estimates the position of the position estimating device by using a difference value of two pseudo distances that are close in time.
According to this method, each pseudorange is measured from a large number of satellite signals (eg, GPS satellite ID, each time, position data at each time, etc.) output from the same GPS satellite with a relatively short time difference. You. Then, the position of the position estimating device is estimated using the measured pseudoranges.

Therefore, the position of the position estimating device can be more accurately estimated because the common delays of the satellite signals, such as the ionospheric delay and the convective layer delay, cancel each other.
When estimating the position of the position estimating device using the difference between two temporally close pseudo distances, the estimated position of the position estimating device corresponds to the coordinates on the hyperbola. Therefore, an intersection where two or more hyperbolas intersect is an estimated position of the position estimating device.

Referring to FIG. 3, reference numerals 31, 32, and 33 indicate the positions of GPS satellites at different times with respect to GPS satellites having the same ID, and p1, p2, and p3 are the positions of 31, 32, and 33, respectively. The pseudoranges respectively measured by the position estimation device are shown.
In the plane, a hyperbola k1 having a constant value of p1-p2 and a hyperbola k2 having a constant value of p2-p3 meet at two points 34A and 34B, so that the two points 34A and 34B correspond to the estimated position of the position estimation device. Corresponding.

  However, since the position of the position estimating device is a three-dimensional spatial position, it is necessary to measure the pseudo distance at least four times at different times to estimate the position of the position estimating device. However, if the altitude of the position estimating device (ie, the z-coordinate value) is known, the position estimating device measures the pseudorange at least three times at different times to determine the spatial position of the position estimating device. Can be estimated.

FIG. 4 is a view for specifically explaining a position estimation method according to a second embodiment of the present invention.
The coordinates (x, y, z) represent the estimated position of the position estimating device 45, the coordinates (x1, y1, z1, t1) represent the position data (x1, y1, z1) of the GPS satellite 41 at time t1, p1 represents the pseudo distance measured by the position estimation device at time t1.
The coordinates (x2, y2, z2, t2) represent the position data (x2, y2, z2) of the GPS satellite 42 at the time t2, and p2 represents the pseudo distance measured by the position estimating device at the time t2. Here, the time t2 represents a time after a predetermined time has elapsed from the time t1.

The coordinates (x3, y3, z3, t3) represent the position data (x3, y3, z3) of the GPS satellite 43 at time t3, and p3 represents the pseudo distance measured by the position estimation device at time t3. Here, the time t3 represents a time after a predetermined time has elapsed from the time t2.
The coordinates (x4, y4, z4, t4) represent the position data (x4, y4, z4) of the satellite 44 at time t4, and p4 represents the pseudo distance measured by the position estimation device at time t4. Here, time t4 represents a time after a predetermined time has elapsed from time t3. Here, each of the GPS satellites 41, 42, 43, and 44 is the same GPS satellite. It is desirable that the position estimating device is stopped or fixed.

Assuming that p1−p2 = k1, p2−p3 = k2, and p3−p4 = k3, Equation 2 represents each position data (x1, y1, z1) of the GPS satellite at the respective times t1, t2, t3, and t4. , (X2, y2, z2), (x3, y3, z3), (x4, y4, z4) and four measured pseudoranges p1, p2, p3, p4.
Here, k1 represents a hyperbola having a constant value of p1-p2, k2 represents a hyperbola having a constant value of p2-p3, and k3 represents a hyperbola having a constant value of p3-p4.

  Therefore, the position estimating apparatus outputs position data (x1, y1, z1), (x2, y2, z2), (x3, y3, z3) output from the same GPS satellite at the respective times t1, t2, t3, and t4. , (X4, y4, z4), each of the pseudo distances p1, p2, p3, and p4 is measured, and the solution of the equation represented by Expression 2 is obtained to obtain the position 45 (for example, space) of the position estimation device. The coordinates (x, y, z)) can be calculated or estimated.

FIG. 5 is a schematic block diagram of a position estimating apparatus according to an embodiment of the present invention. Referring to FIG. 5, a position estimating apparatus 500 (eg, a GPS receiver) includes an antenna 510, a signal processing unit 520, a position calculating unit 540, and a stationary measurement request and selection unit 550.
Antenna 510 receives a satellite signal output from a satellite. The signal processing unit 520 calculates a correlation value between a C / A code included in a satellite signal received via the antenna 510 and a C / A code generated by itself, and calculates delay information based on the calculation result. 540.

  The signal processing unit 520 includes a preamplifier 521, a downconverter 523, an analog-digital (A / D) converter 525, an automatic gain controller (AGC) 527, a mixer 529, a carrier NCO (numerically controlled oscillator) 531, A code generator 533, a correlator 535, a code NCO 537, and a controller 539 are provided.

Preamplifier 521 amplifies a satellite signal received through antenna 510 and outputs the amplified satellite signal to downconverter 523. The down converter 523 receives the amplified satellite signal, converts the amplified satellite signal into an intermediate frequency signal in response to the output signal of the AGC 527, and outputs the converted signal to the A / D converter 525.
The A / D converter 525 receives the intermediate frequency signal and converts the intermediate frequency signal into a digital signal.

The AGC 527 controls the gain of the down converter 523 in response to the A / D converter 525.
The carrier NCO 531 generates an I (in-phase) sine wave and a Q (quadrature-phase) sine wave to compensate for the Doppler effect of the satellite signal.
The mixer 529 mixes the output signal of the A / D converter 525 with the I sine wave and the Q sine wave output from the carrier NCO 531 in order to cancel the Doppler effect of the satellite signal. That is, the mixer 529 provides the C / A code output from the GPS satellite to the correlator 535.

The code NCO 537 generates a delay code that matches the expected delay of the satellite signal from the C / A code generated from the code generator 533, and outputs the generated code to the correlator 535. The code generator 533 generates a C / A code based on the reference time of the position estimation device 500 and the ID number of the satellite to be detected.
The correlator 535 calculates a correlation value between the C / A code loaded on the output signal of the mixer 529 and the C / A code output from the code NCO 537, and outputs delay information based on the calculation result. 539.

Controller 539 detects a satellite signal in response to the output signal of correlator 535. If no satellite signal is detected, controller 539 outputs the next expected Doppler frequency, delayed code value, or other satellite code to mixer 529 or correlator 535 through carrier NCO 531 and code NCO 537. Control the value. That is, the operation of the correlator 535 is performed repeatedly.
However, if a desired satellite signal is detected, the controller 535 controls the calculation result of the correlator 535 output to the position calculation unit 540.

The position calculation unit 540 may determine a solution of the pseudorange and / or the distance equation from Equations 1 and 2 in response to the delay signal output from the signal processing unit 520. In this case, if the number of simultaneously measurable satellites is less than the number of satellites required for estimating the position of the position estimator 500, the position calculation unit 540 may perform the stationary measurement using the position estimation method according to the present invention. The user of the position estimation device 500 is requested to stop by voice or text through the request and selection unit 550, that is, to keep still.
After the user stops, the still measurement request and selection unit 550 selects the still measurement function and outputs a predetermined selection signal to the position calculation unit 540. That is, the position calculation unit 540 starts estimating the stationary position of the position estimation device 500 using the position estimation method according to the present invention.

  FIG. 6 is a specific block diagram of the controller 539, the static measurement request and selection unit 550, and the position calculation unit 540 shown in FIG. Referring to FIGS. 5 and 6, the still measurement request and selection unit 550 includes a stop request display device 5501 and a stop selector 5503. The controller 539 comprises a stationary signal processor 5391 and a receiver controller 5393. The position calculation unit 540 includes a time difference measurement determiner 5401, a time difference measurement calculator 5403, and a GPS position calculator 5405.

  The time difference measurement determiner 5401 determines whether the time difference measurement has been started in response to the delay information output from the controller 539. The time difference measurement calculator 5403 calculates the position of the position estimation device 500 by measuring the time difference. The GPS position calculator 5405 calculates the position of the position estimation device 500 by a general method. That is, the GPS position calculator 5405 is one embodiment for estimating the position of the position estimating device 500 from a large number of satellite signals received simultaneously.

If the receiver controller 5393 outputs the detected satellite data, that is, the delay information corresponding to the satellite signal output from the measurable satellite, to the time difference measurement determination unit 5401 of the position calculation unit 540, the time difference measurement determination is performed. Unit 5401 determines whether sufficient satellite signals have been received to calculate the position of position estimator 500 based on the received delay information.
If the number of received satellite signals is sufficient, the time difference measurement determinator 5401 instructs the GPS position calculator 5405 to calculate the position of the position estimation device 500. If the number of received satellite signals is not sufficient, the time difference measurement determiner 5401 sends a request signal for stationary measurement to the stationary signal processor 5391.

  The still signal processor 5391 that has received the signal output from the time difference measurement determination unit 5401 notifies the user of the stop through the stop request display device 5501. If the notified user allows the still measurement through the stop selector 5503, the stop selector 5503 outputs an allowance signal to the time difference measurement determiner 5401 through the still signal processor 5391.

The time difference measurement determiner 5401 receiving the allowance signal instructs the time difference measurement computer 5403 to start the time difference measurement according to the present invention on the assumption that the user has stopped.
Even if the user is requested to stop through the stop request display device 5501, when still measurement is not allowed, the time difference measurement determination unit 5401 cannot calculate the position of the position estimation device 500, and calculates the position of the position estimation device 500. Satellites required for satellite cannot be detected continuously.

While estimating the position of the position estimating apparatus 500 using the time difference, if the user is in a stationary state, the user is continuously informed that the stationary state is to be maintained. For example, the stop request display device 5501 may blink an indicator light to start a time difference measurement. The indicator light is on during the time difference measurement. That is, the user can identify a stop request for measuring a time difference and a stop request for maintaining a stationary state.
If the time difference measurement is not required because a sufficient satellite signal is received during the time difference measurement, the stop request display device 5501 turns off the indicating lamp. This informs the user that there is no more need to remain stationary.

FIG. 7 is a flowchart illustrating a method of performing a position estimation method based on the number of measurable satellites according to an embodiment of the present invention. Referring to FIGS. 5 to 7, the position calculating unit 540 determines the position of the position estimating device 500 in response to a plurality of satellite signals output from at least one or more GPS satellites with a predetermined time difference. Can be estimated.
If the position estimation device 500 starts position estimation in step 70, the time difference measurement determiner 5401 of the position calculation unit 540 determines that the number of satellites having a measurable pseudorange (hereinafter referred to as 'measurable satellite number') is three. Determine if there are more than one.

That is, if all satellite signals output from four or more satellites are received, or if the number of measurable satellites is more than three, the general GPS position calculator of the position calculation unit 540 is determined in step 72. 5405 estimates its position by a general method.
If the number of satellites that can be measured in step 73 is three and in step 74 the altitude information (the value of the z coordinate) of the position estimating device 500 is known, the general GPS position calculator 5405 of the position calculating unit 500 In step 75, its position is estimated by a general method.

However, when the number of satellites that can be measured in step 76 is one or two, or when the number of satellites that can be measured in steps 73 and 74 is three and the height information of the position estimation device 500 is not known. The stop request display device 5501 requests the user of the position estimation device 500 to stop and estimate the position of the position estimation device 500 by the position estimation method according to the present invention. If the user stops in response to such a request in step 77 and executes the position estimation method according to the present invention, the position estimation device 500 outputs a plurality of satellite signals input at predetermined time intervals. In response, each pseudorange is measured (this is referred to as 'time difference measurement'), and in step 78, the position of the position estimation device 500 is estimated based on the satellite signals and the pseudoranges. At this time, Equation 2 is used.
However, if there is no measurable satellite in step 76 or if the user does not execute the position estimation method in step 77 without responding to the stop request, the position estimation of the position estimation device 500 is not possible in step 79. .

FIG. 8 is a flowchart illustrating a method of estimating a position of the position estimating apparatus illustrated in FIG. 5 by measuring a time difference according to an embodiment of the present invention. That is, FIG. 8 is a specific flowchart showing step 78 of FIG.
If the position estimation of the position estimating device 500 by the time difference measurement starts at step 78, the time difference measurement determiner 5401 of the position calculating unit 540 determines at step 81 whether or not the number of measurable satellites is three. If it is determined in step 81 that the number of measurable satellites is three, the position estimating device 500 measures each pseudorange in response to each of the satellite signals output from the three measurable satellites at the first time. After a lapse of a predetermined time from the first time, a satellite signal output from any one of the three measurable satellites or a new satellite signal other than the three satellites is output at a second time. The pseudorange is measured in response to the satellite signal. In step 83, the minimum time difference measurement count measured after the first time is one.

  If the number of measurable satellites is two in step 84, in step 85 the time difference calculator 5403 measures each pseudorange in response to a satellite signal output from the two measurable satellites at a first time. Responding to a satellite signal output from each of the two measurable satellites or a satellite signal output from a new satellite other than the two satellites at a second time after a predetermined time has elapsed from the first time. To measure the pseudorange. Therefore, the minimum number of times of measurement of the time difference measured after the first time is two.

  If the number of measurable satellites is two in step 84 and the altitude information of the position estimating device 500 is known, the position estimating device 500 is output from the two measurable satellites at step 85 at the second time. The pseudorange is measured in response to each satellite signal. Therefore, the minimum time difference measurement number measured after the first time is one.

  If the number of measurable satellites is not two, that is, if the number of measurable satellites is one in step 84, the position estimation device 500 responds to the satellite signal output from the measurable satellite at a first time. Then, after a predetermined time has elapsed from the first time, a pseudo signal is measured at a second time at a satellite signal output from the measurable satellite or a satellite signal output from a new satellite other than the satellite. A pseudo distance is measured in response, and after a predetermined time has elapsed from the second time, a satellite signal output from the measurable satellite or a satellite signal output from a new satellite other than the satellite at a third time And a pseudo-range is measured in response to the above, and after a predetermined time has elapsed from the third time, a satellite signal output from the measurable satellite or a satellite output from a new satellite other than the satellite at a fourth time The pseudorange measurement in response to the item. Therefore, the minimum number of times of time difference measurement measured after the first time in step 86 is three.

However, when the altitude information of the position estimation device 500 is known, the position estimation device 500 responds to the satellite signal output from the measurable satellite or the satellite signal output from a new satellite other than the satellite at the second time. And measure the pseudorange,
The pseudorange is measured in response to a satellite signal output from the measurable satellite or a satellite signal output from a new satellite other than the satellite at the third time. Therefore, the minimum time difference measurement number measured after the first time in step 86 is two.

When the time difference measurement is performed in step 87, the position estimation device 500 determines whether the measurable satellites are the same at each time. If it is determined that the satellites are the same satellite, a pseudo distance between the position estimation device 500 and the satellite is measured with a time difference in step 88, and the pseudo distance is calculated using a difference between the two pseudo distances expressed by Equation 2. The position of the position estimating device is estimated.
If it is determined that the satellites are not the same satellite, a pseudo distance between the position estimation device 500 and the satellite is measured at a time difference at step 89 to estimate the position of the position estimation device.

  Although the present invention has been described with reference to an embodiment illustrated in the drawings, this is merely an example, and those skilled in the art can make various modifications and equivalent other embodiments. I can understand the point. Therefore, the true technical protection scope of the present invention should be determined by the technical idea of the appended claims.

  The position estimating method and the position estimating apparatus according to the present invention are used for an apparatus that determines a position using a GPS satellite signal.

FIG. 3 is a conceptual diagram for describing a position estimation method according to a first embodiment of the present invention. 4 is a diagram for specifically describing a position estimation method according to a first embodiment of the present invention. FIG. 9 is a conceptual diagram for describing a position estimation method according to a second embodiment of the present invention. 5 is a diagram for specifically describing a position estimation method according to a second embodiment of the present invention. 1 is a schematic block diagram of a position estimating apparatus according to an embodiment of the present invention. FIG. 6 is a specific block diagram of a position calculation unit and a controller illustrated in FIG. 5. 4 is a flowchart illustrating a step of performing a position estimation method based on the number of measurable satellites according to an embodiment of the present invention. 6 is a flowchart specifically illustrating a position estimating method of the position estimating apparatus illustrated in FIG. 5 by time difference measurement according to an embodiment of the present invention.

Explanation of reference numerals

500 Position Estimation Device 510 Antenna 520 Signal Processing Unit 521 Preamplifier 523 Down Converter 525 A / D Converter 527 AGC
529 Mixer 531 Carrier NCO
533 Code generator 535 Correlator 537 Code NCO
539 Controller 540 Position calculation unit 550 Static measurement request and selection unit

Claims (40)

In a method of determining a position using a GPS signal,
A receiver receiving a first GPS signal output from the first GPS satellite at a first position of the first GPS satellite;
The receiver receiving a second GPS signal output from the first GPS satellite at a second position of the first GPS satellite;
Determining a position of the receiver using the first GPS signal and the second GPS signal.   The method of determining a position using the GPS signal may further include the step of the receiver receiving a third GPS signal output from the first GPS satellite at a third position of the first GPS satellite. The method for determining a position using a GPS signal according to claim 1.   The method of claim 2, further comprising using the third GPS signal to determine a position of the receiver. 3. The method of claim 2, further comprising: using the third GPS signal to determine a position of the receiver. How to determine the position using.   The method of determining a position using the GPS signal may further include the step of the receiver receiving a fourth GPS signal output from the first GPS satellite at a fourth position of the first GPS satellite. The method of determining a position using a GPS signal according to claim 2.   5. The method of claim 4, wherein the method of determining a position using the GPS signal further comprises using the fourth GPS signal to determine a position of the receiver. How to determine the position using.   The method of determining a position using the GPS signal, further comprising using the third GPS signal and the fourth GPS signal to determine a position of the receiver. A method for determining a position using the GPS signal described in the above.   The method of determining a position using the GPS signal may further include the step of the receiver receiving a fourth GPS signal output from the second GPS satellite at a first position of a second GPS satellite. A method for determining a position using the GPS signal according to claim 2.   The method of claim 7, further comprising using the fourth GPS signal to determine a position of the receiver. How to determine the position using.   The method of claim 7, further comprising using the third GPS signal and the fourth GPS to determine a position of the receiver. A method of determining a position using a GPS signal.   The method of determining a position using the GPS signal may further include the step of the receiver receiving a third GPS signal output from the second GPS satellite at a first position of a second GPS satellite. A method for determining a position using the GPS signal according to claim 1.   The method of claim 10, further comprising: using the third GPS signal to determine a position of the receiver. How to determine the position using.   The method of determining a position using the GPS signal may further include the step of the receiver receiving a fourth GPS signal output from the second GPS satellite at a second position of the second GPS satellite. The method of determining a position using a GPS signal according to claim 10.   The method of determining a position using the GPS signal may further include using the fourth GPS signal to determine a position of the receiver. How to determine the position using.   The method of determining a position using the GPS signal may further include using the third GPS signal and the fourth GPS signal to determine a position of the receiver. A method of determining a position using a GPS signal.   The method of determining a position using the GPS signal may further include the step of the receiver receiving a fourth GPS signal output from the third GPS satellite at a first position of the third GPS satellite. A method for determining a position using the GPS signal according to claim 10.   The method of claim 15, wherein determining the position using the GPS signal further comprises using the fourth GPS signal to determine the position of the receiver. How to determine the position using.   16. The method of claim 15, wherein determining the position using the GPS signal further comprises using the third GPS signal and the fourth GPS signal to determine the position of the receiver. A method of determining a position using a GPS signal.   The position of the receiver according to claim 1, wherein the position of the receiver is determined using a time difference related to an elapsed time between the first GPS signal and the second GPS signal. How to decide. In a device that determines a position using a GPS signal,
A receiver for receiving a first GPS signal output from the first GPS satellite at a first position of a first GPS satellite, and receiving a second GPS signal output from the first GPS satellite at a second position of the first GPS satellite;
An apparatus for determining a position using a GPS signal, comprising: a processor for determining a position of the receiver using the first GPS signal and the second GPS signal.   20. The apparatus of claim 19, wherein the receiver receives a third GPS signal output from the first GPS satellite at a third position of the first GPS satellite.   The apparatus of claim 20, wherein the processor determines a position of the receiver using the third GPS signal.   The apparatus of claim 20, wherein the receiver receives a fourth GPS signal output from the first GPS satellite at a fourth position of the first GPS satellite.   The apparatus of claim 22, wherein the processor determines a position of the receiver using the fourth GPS signal.   The apparatus of claim 22, wherein the processor determines the position of the receiver using the third GPS signal and the fourth GPS signal.   The apparatus of claim 20, wherein the receiver receives a fourth GPS signal output from the second GPS satellite at a first position of the second GPS satellite.   The apparatus of claim 25, wherein the processor determines a position of the receiver using the fourth GPS signal.   The apparatus of claim 25, wherein the processor determines a position of the receiver using the third GPS signal and the fourth GPS signal.   20. The apparatus of claim 19, wherein the receiver receives a third GPS signal output from the second GPS satellite at a first position of the second GPS satellite.   The apparatus of claim 28, wherein the processor determines the position of the receiver using the third GPS signal.   The apparatus of claim 28, wherein the receiver receives a fourth GPS signal output from the second GPS satellite at a second position of the second GPS satellite.   The apparatus of claim 30, wherein the processor determines the position of the receiver using the fourth GPS signal.   The apparatus of claim 30, wherein the processor determines the position of the receiver using the third GPS signal and the fourth GPS signal.   The apparatus of claim 28, wherein the receiver receives a fourth GPS signal output from the third GPS satellite at a first position of the third GPS satellite.   The apparatus of claim 33, wherein the processor determines the position of the receiver using the fourth GPS signal.   The apparatus of claim 33, wherein the processor determines the position of the receiver using the third GPS signal and the fourth GPS signal. In a device that determines a position using a GPS signal,
A receiver for receiving a first GPS signal output from the first GPS satellite at a first position of a first GPS satellite, and receiving a second GPS signal output from the first GPS satellite at a second position of the first GPS satellite;
An apparatus for determining a position using a GPS signal, comprising: a position calculation unit for determining a position of the receiver using the first GPS signal and the second GPS signal.   The apparatus of claim 36, wherein the apparatus for determining a position using the GPS signal further comprises a controller for detecting a number of satellites that can be used for position determination. Device to determine the position.   37. The apparatus of claim 36, wherein the apparatus for determining a position using the GPS signal further comprises a stop measurement request and selection unit for requesting a user to hold a stop while determining the position. A device that determines a position using a GPS signal.   The position calculation unit comprises a time difference measurement determinator that requests the user to hold a stop while determining a position when the number of available satellites is less than a reference number. 36. An apparatus for determining a position using the GPS signal according to 36.   The apparatus of claim 36, wherein the position calculation unit comprises a time difference measurement calculator for calculating the position by measuring a time difference between GPS signals.

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