JP2005331257A - Moving body position determination device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce a processing load of a host processing device part, and to reduce cost in the whole system. <P>SOLUTION: This moving body position determination device has a constitution equipped with a positioning device part, the host processing device part, and a sensor part for detecting the speed of the moving body and/or a moving azimuth. The host processing device part determines the position of the moving body from a positioning result from the positioning device part and a sensor output from the sensor part. The positioning device part is equipped with a signal demodulation/positioning operation part for performing positioning operation by demodulating a signal from an artificial satellite, an A/D converter part for converting the sensor output from the sensor part into a digital signal, a sampling processing operation part for sampling the digital signal of the sensor output from the A/D converter part, and a data transfer part for transferring to the host processing device part, a result of the positioning operation from the signal demodulation/positioning operation part and a sampling result of the sensor output from the sampling processing operation part. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention uses a positioning result from a positioning device section that receives radio waves from a plurality of artificial satellites and executes positioning calculation, and a sensor output of a direction sensor using a vehicle speed sensor, a gyroscope, etc. The present invention relates to a mobile body position determination apparatus that performs position determination.

  Movement that determines the position of a mobile object, for example, an automobile, using a GPS (Global Positioning System) receiver that measures the position of the mobile object using a received signal from an artificial satellite (hereinafter simply referred to as a satellite) If the body position determination device is a car, it is called a car navigation system and used for awards.

  The GPS receiver demodulates a received signal from the satellite (hereinafter, this signal is referred to as a GPS satellite signal) to acquire the orbit data of the satellite, and from the satellite's orbit and time information and the delay time of the satellite signal, Is derived by simultaneous equations. The reason why the signals from the four satellites are required for the positioning calculation is that there is an error between the time in the GPS receiver and the time of the satellite, and the influence of the error is removed.

  In the case of a consumer-use GPS receiver, a signal radio wave spectrum-spread by a spread code called an L1 band, C / A (Clear and Acquisition) code from a satellite (Navstar) is received, and a positioning calculation is performed.

  The C / A code is a spreading code composed of a code of a PN (pseudo random noise) sequence having a transmission signal speed (chip rate) of 1.023 MHz and a code length of 1023, for example, a Gold code. The signal from the satellite is a signal obtained by subjecting a carrier having a frequency of 1575.42 MHz to BPSK (Binary Phase Shift Keying) modulation using a signal obtained by spectrum-spreading 50 bps data using a spreading code. In this case, since the code length is 1023, the C / A code is such that the code of the PN sequence repeats with 1023 chips as one cycle (thus, one cycle = 1 millisecond).

  The PN sequence code of the C / A code is different for each satellite, but which satellite uses which PN sequence code can be detected in advance by a GPS receiver. Further, a navigation message (orbit information) as will be described later allows the GPS receiver to know from which satellite a signal can be received at that point and at that point. Therefore, in the GPS receiver, for example, in the case of three-dimensional positioning, it receives radio waves from four or more satellites that can be acquired at that point and at that point, performs spectrum despreading, performs positioning calculation, and (See, for example, Patent Document 1 (Japanese Patent Laid-Open No. 2003-258769)).

  As described above, the GPS receiver detects the position, velocity, used PN code, etc. of each satellite from the orbit information of the satellite acquired and held in the memory, and preferably receives signals from four or more satellites. (Hereinafter referred to as a GPS signal) is used to perform positioning calculation. However, the position resulting from the positioning calculation by the GPS receiver has a certain amount of error.

  Therefore, in a mobile position determination device such as a conventional car navigation system, in addition to a GPS receiver that receives a GPS signal from a GPS satellite and performs a positioning calculation process, the speed of the vehicle is detected from the number of rotations of the tire and the like. An azimuth sensor using a vehicle speed sensor or a gyro is provided, and using these sensor outputs, the positioning result obtained by the GPS receiver is corrected to calculate the absolute position of the moving body. In the mobile body position determination apparatus having such a configuration, a position determination result with higher accuracy than the positioning calculation of the GPS receiver alone can be obtained by the position calculation using the GPS signal and the sensor output for correcting the position change amount.

  FIG. 6 is a block diagram showing a configuration of a conventional mobile body position determination apparatus that can obtain a position determination result with high accuracy as described above. This is an example of a car navigation system. That is, the mobile body position determination apparatus of this example includes a GPS receiver unit 1, a host application unit 2, a vehicle speed sensor 3, a direction sensor 4 using a gyro, a map information memory 5, an LCD (Liquid) The display unit 6 includes a crystal display and the operation input unit 7.

  The GPS receiver unit 1 receives a signal from a GPS satellite, performs a positioning calculation, for example, at a constant cycle, and sends the positioning calculation result to the host application unit 2 in synchronization with the cycle. The vehicle speed sensor 3 detects the speed of the automobile on which the moving body position determination device is mounted from the number of rotations of the tire per predetermined time, etc., and uses the detected speed information as a sensor output as a host application unit. Send to 2. Further, the direction sensor 4 formed of a gyro or the like detects the direction in which the automobile is moving, and sends the detection output to the host application unit 2 as the sensor output.

  The host application unit 2 receives the positioning calculation results sent from the GPS receiver unit 1 at a certain period, and is provided with sensor outputs from the vehicle speed sensor 3 and the direction sensor 4 in the host application unit 2. It is converted into a digital signal by an A / D converter, and captured by sampling in synchronization with a positioning calculation result sent at a constant cycle, for example. Then, using the sensor output from the vehicle speed sensor 3 and the azimuth sensor 4, the position change amount of the automobile as a moving body is measured.

  Then, the host application unit 2 corrects the positioning calculation result from the GPS receiver unit 1 using the position change amount measured from the sensor output, and determines the current position of the automobile.

  Then, the host application unit 2 displays the map near the current position read from the map information memory 5 on the screen of the display unit 6 based on the scale ratio through the operation input unit 7 and makes the determination as described above. The current position of the automobile is superimposed on the displayed map and displayed together with the moving direction using, for example, a triangle mark.

The above-mentioned patent documents are as follows.
JP 2003-258769 A

  As described above, in the mobile body position determination apparatus, the host application unit 2 obtains the positioning position obtained by the positioning calculation by the GPS receiver unit from the sensor outputs from the vehicle speed sensor 3 and the direction sensor 4. The position is determined with high accuracy by performing correction based on the amount of change in position.

  However, as shown in FIG. 6, in the conventional mobile body position determination device, the digital conversion processing of the sensor output from the vehicle speed sensor 3 and the direction sensor 4 and the sampling processing of the digital signal are all performed by the host application unit 2. Therefore, in order to obtain a highly accurate position determination result, it is necessary to provide a sensor output A / D converter and a sampling processing unit in the host application unit 2, There is a problem that the processing load of the microcomputer in the application section becomes heavy.

  The host application unit 2 needs to perform processing according to an instruction from the user through a map display or an operation input unit, and a lighter processing load is advantageous in terms of processing speed. In the mobile body position determination apparatus, since the sensor output process must be performed, the processing speed and the responsiveness to the operation may be deteriorated.

  This invention aims at providing the mobile body position determination apparatus which solved the above-mentioned problem in view of the above points.

In order to solve the above problems, a mobile object position determination device according to the present invention provides:
From a positioning device unit that receives radio waves from a plurality of artificial satellites and performs positioning calculation, a sensor unit that detects a speed and / or moving direction of a moving body, a positioning result from the positioning device unit, and a sensor unit A host processing unit that determines the position of the moving body from the sensor output of
The positioning device section is
A signal demodulation / positioning calculation unit that demodulates signals from satellites and performs positioning calculations;
An A / D converter for converting a sensor output from the sensor into a digital signal;
A sampling processing operation unit for sampling a digital signal of the sensor output from the A / D converter unit;
A data transfer unit that transfers a result of the positioning calculation from the signal demodulation / positioning calculation unit and a sampling result of the sensor output from the sampling processing calculation unit to the host processing unit; And

  In the present invention having the above-described configuration, the A / D converter that converts the sensor output from the sensor unit into a digital signal and the sampling processing calculation unit that samples the digital signal of the sensor output are provided in the GPS receiver unit. Then, a sampling result of the sensor output is sent from the GPS receiver unit to the host processing unit unit together with the positioning calculation result.

  Therefore, the host processing device unit can receive the positioning calculation result from the GPS receiver unit and the sampling processing result of the sensor output, and perform highly accurate position determination. Thus, there is no need to convert the sensor output into a digital signal or to sample it.

  According to the present invention, it is not necessary to convert the sensor output into a digital signal or perform sampling processing in the host processing unit, so that the processing load on the host processing unit is reduced. Further, since it is not necessary to add an A / D converter or a sampling processing unit to the host processing unit, the mounting of the moving body position determination device as a whole system is reduced, leading to cost reduction.

  DESCRIPTION OF EMBODIMENTS Hereinafter, an embodiment of a moving body position determination device according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a moving body position determination device when the embodiment of the present invention is applied to a car navigation system.

  That is, the mobile body position determination apparatus of this example is composed of a GPS receiver section 11 as a positioning apparatus section, a host application section 12 as a host processing apparatus section, and a vehicle speed sensor, as in the conventional case. 13, an orientation sensor 14 using a gyroscope, a map information memory 15, a display unit 16 including, for example, an LCD (Liquid Crystal Display), and an operation input unit 17.

  However, in the moving body position determination device of this embodiment, the vehicle speed sensor 13 and the direction sensor 14 are not connected to the host application unit 12 but are connected to the GPS receiver unit 11. Then, the GPS receiver unit 11 converts the sensor output into a digital signal and performs sampling processing. Then, the sampling processing result of the digital signal of the sensor output and the positioning result obtained from the GPS satellite signal are sent to the host application unit 12 together.

  Therefore, in this embodiment, the GPS receiver unit 11 has a configuration as shown in FIG. That is, the GPS receiver unit 11 includes a high-frequency signal processing unit (hereinafter abbreviated as an RF unit) 21 for extracting a GPS satellite signal from a signal received by a GPS antenna, an arithmetic control unit 22, and an A / D converter units 23 and 24 are provided.

  The arithmetic control unit 22 is composed of a microcomputer and a DSP (Digital Signal Processor), and includes a signal demodulation / positioning arithmetic unit 221 that demodulates a GPS satellite signal from the RF unit 21 and executes a positioning operation, and a data input unit. An output unit 222, a sampling processing calculation unit 223, and a control unit 224 are provided.

  The RF unit 21 includes a local oscillator (not shown) and a mixer (mixing circuit). In the mixer, the received signal of the satellite signal and the local oscillation signal from the local oscillator are mixed, and several MHz to several tens MHz. The intermediate frequency signal is converted into an intermediate frequency signal, and the intermediate frequency signal is output to the signal demodulation / positioning calculation unit 221 of the calculation control unit 22.

  Under the control of the control unit 224, the signal demodulation / positioning calculation unit 221 performs C / A code synchronization, performs GPS signal demodulation (spectrum despreading) processing, performs time synchronization, and executes positioning calculation. To do. The signal demodulation / positioning calculation unit 3 also stores ephemeris information and almanac information obtained by demodulating the received signal in a storage unit (not shown).

  Then, the position information of the positioning result obtained by the signal demodulation / positioning calculation unit 221 (hereinafter referred to as GPS positioning data) is sent to the host application unit 12 via the data input / output unit 222 under the control of the control unit 224. , And sent from the GPS receiver unit 11 at a constant cycle.

  The A / D converter unit 23 converts the vehicle speed sensor output from the vehicle speed sensor 13 into a digital signal and supplies the digital signal to the sampling processing calculation unit 223 of the calculation control unit 22. Further, the A / D converter unit 24 converts the azimuth sensor output from the azimuth sensor 14 into a digital signal and supplies the digital signal to the sampling processing calculation unit 223 of the calculation control unit 22.

  As will be described later, the sampling processing calculation unit 223 performs sampling processing on the vehicle speed sensor output and the azimuth sensor output that are converted into digital signals at a sampling rate instructed by the host application unit 12.

  FIG. 2 is a diagram for explaining the sampling processing in the sampling processing calculation unit 223.

  The GPS positioning data of the positioning result of the signal demodulation / positioning calculation unit 221 is transmitted to the host application unit 12 at a constant cycle at a transmission timing as shown in FIG. Then, the following sampling processing calculation is performed with the one-cycle period of the transmission as the digital sampling processing interval Ts of the sensor output.

  In the sampling processing operation unit 223, sampling is performed by reading the sensor outputs from the A / D converters 23 and 24 at the timing of a predetermined clock CK as shown in FIG. Then, the sampling values are cumulatively added. In this embodiment, the sampling processing arithmetic unit 223 divides each cumulative addition value SUM by the average value AVR () obtained by dividing the number of times of sensor output read from the A / D converters 23 and 24 within the sampling processing section Ts. = SUM / CT) is the sampling processing result of each sensor output.

  In this case, the sampling processing result of the sensor output is information at the same time synchronized with the GPS positioning data from the signal demodulation / positioning calculation unit 221. That is, as can be seen from FIG. 2, the GPS positioning data is position information of the positioning result of the section Ts, and the sampling processing result obtained by the sampling processing calculation unit 223 is also the A / D converter 23 in the same section Ts. , 24 are sampling processing results.

  In this embodiment, the sampling processing result of the sampling processing calculation unit 223 is based on the control by the control unit 224 only when a request for transmission of the sampling processing result is received from the host application unit 12. It is sent from the GPS receiver unit 22 to the host application unit 12 through the input / output unit 222 together with the GPS positioning data at the transmission timing of FIG.

  The sensor output sampling processing result sent to the host application unit 12 is not the average sampling value AVR of the sensor output but the cumulative addition of the digital signal of each sensor output depending on the processing contents in the host application unit 12. It may be the value SUM and the reading count CT. That is, in this case, the host application unit 12 performs the above-described calculation for obtaining the average value.

  In this embodiment, the host application unit 12 not only receives the GPS positioning data and the sensor output sampling processing result from the GPS receiver unit 11 but also instructs the GPS receiver unit 11 about the sampling rate of the sensor output. In addition, a function for requesting acquisition of the sensor output sampling processing result is provided only when necessary.

  As described above, when the host application unit 12 receives the sampling processing result of the sensor output, the host application unit 12 measures the position change amount of the automobile as a moving body from the sampling processing result of the sensor output, and receives the received GPS The positioning data is corrected using the measured position change amount, and the current position of the automatic person is determined.

  Then, the host application unit 12 displays the map on the display screen of the display unit 16 using the map information from the map information memory 15 and superimposes the determined current position on the displayed map. For example, a triangle mark or the like is displayed together with the moving direction to notify the user.

[Transmission and reception between the GPS receiver unit 11 and the host application unit 12]
FIG. 3 is a sequence diagram for explaining transmission / reception of transmission data and control commands performed between the GPS receiver unit 11 and the host application unit 12.

  As shown in FIG. 3B, when the GPS receiver unit 11 does not request the sensor output sampling processing result from the host application unit 12, as shown in FIG. Only GPS positioning data is sent to the host application unit 12 at regular intervals. At this time, a GPS data header including information indicating that the transmission data is only GPS positioning data is added to the GPS positioning data.

  When the host application unit 12 requests the sampling result of the digital signal of the sensor output (hereinafter referred to as A / D sampling data) in addition to the GPS positioning data, the host application unit 12 sends the GPS receiver unit 11 (2) shown in FIG. The control command (sensor output acquisition request information) as shown in FIG. That is, the sensor output acquisition request information includes a head control command header, the next A / D sampling data request command data, and instruction data for the next sampling rate.

  When the GPS receiver unit 11 receives this sensor output acquisition request command, the sensor output acquisition request response information including the command response header and the control command response data as shown in (2) of FIG. Send to part 12. Then, the GPS receiver unit 11 samples the sensor output digital signal at a sampling rate in accordance with the sampling rate instruction data included in the sensor output acquisition request information.

  That is, as will be described later, the control unit 224 receives the control command, notifies the sampling processing calculation unit 223 of the sampling rate instruction data included therein, and instructs to perform the sampling process.

  Then, when the GPS receiver unit 11 reaches the transmission timing, the GPS receiver unit 11 starts with the GPS data header as shown in (3) of FIG. 3, then the GPS positioning data, and then the sensor. The transmission data to which the output A / D sampling data is added is sent to the host application unit 12. At this time, the GPS data header added to the transmission data includes information indicating that the transmission data is GPS positioning data and sensor output A / D sampling data is added.

  When the host application unit 12 receives the command response information from the GPS receiver unit 11, the host application unit 12 receives the transmission data with the A / D sampling data of the sensor output sent from the GPS receiver unit 11 at the next transmission timing. When the transmission data is sent, the transmission data is received.

  Then, the host application unit 12 determines from the GPS data header added to the received transmission data that the received transmission data includes GPS positioning data and A / D sampling data of the sensor output. Sometimes, as described above, the GPS positioning data is corrected using the position change amount measured by the A / D sampling data of the sensor output, and the current position is determined.

  When the host application unit 12 cancels the acquisition request for the A / D sampling data of the sensor output that has been requested to be acquired, the host application unit 12 sends a control command as shown in (4) of FIG. (Sensor output acquisition request release information) is sent. This sensor output acquisition request release information is composed of the head control command header and the next A / D sampling data request release command data.

  When the GPS receiver unit 11 receives this sensor output acquisition request release command, the sensor output acquisition request release response information including the command response header and control command response data as shown in (4) of FIG. Send to application section 12 Based on this sensor output acquisition request release information, the GPS receiver unit 11 is composed of the top GPS data head and GPS positioning data at the next transmission timing as shown in (5) of FIG. The transmission data not including the A / D sampling data of the sensor output is sent to the host application unit 12. At this time, the GPS data header indicates that the transmission data is only GPS positioning data.

  Similarly, the host application unit 12 sends a command requesting A / D sampling data to the GPS receiver unit 11 to correct the sensor output by A / D sampling data. When the A / D sampling data request disappears, a command for canceling the A / D sampling data request is sent to determine the positioning position using the A / D sampling data of the sensor output as necessary.

[Command reception processing operation of GPS receiver unit 11]
The command reception processing operation from the host application unit 12 in the GPS receiver unit 11 will be described with reference to the flowchart of FIG. 4 is mainly performed by the control unit 224 of the arithmetic control unit 22.

  First, the control unit 224 determines whether a control command from the host application unit 12 has been received (step S101). If it is determined that the control command has not been received, the control unit 224 performs other processing (step S102).

  When it is determined in step S101 that the control command from the host application unit 12 has been received, the control unit 224 determines whether the received control command is a valid command from the control command header or the like (step S101). When it is determined that the control command is not valid (S103), a command error is sent to the host application unit 12 (step S104), and this processing routine is terminated.

  If it is determined in step S103 that the received control command is a valid command, the received control command is analyzed (step S105).

  Then, the control unit 224 determines whether or not the received control command is sensor output acquisition request information based on the control command header of the received control command (step S106). It is determined whether it is sensor output acquisition request release information (step S107). If it is determined in step S107 that the information is not sensor output acquisition request cancellation information, it is determined that the command is another command, and processing corresponding to the other command is executed (step S108).

  Then, the control unit 224 sends control command response information to the host application unit 12 (step S109), and ends this processing routine.

  When it is determined in step S106 that the received control command is sensor output acquisition request information, the control unit 224 passes the sampling rate information included in the control command to the sampling processing calculation unit 223, and The sampling processing operation unit 223 is instructed to start sampling processing of the digital signal output from the sensor and to start sending A / D sampling data (step S110). Then, the control unit 224 sets a sampling data request flag (step S111), and then sends control command response information to the host application unit 12 (step S109), and ends this processing routine.

  Upon receiving the instruction control from the control unit 224, the sampling processing calculation unit 223 receives the digital signal from the vehicle speed sensor 13 from the A / D converter unit 23 and the direction sensor 14 from the A / D converter unit 24 as described above. The digital signal is taken in at the instructed sampling rate, sampling processing is performed, and the processing result is output to the data input / output unit 222 at the data transmission timing.

  At this time, the control unit 224 notifies the sampling processing calculation unit 223 of the sampling processing period Ts and the data transmission timing shown in FIGS. 2A and 2B for control.

  If it is determined in step S107 that the received control command is sensor output acquisition request cancellation information, the control unit 224 terminates the sampling process of the sensor output and sends the sampling process result to the sampling process calculation unit 223. An end instruction is given (step S112), the sampling data request flag is cleared (step S113), and then control command response information is sent to the host application unit 12 (step S109), and this processing routine is ended.

  In response to the instruction control from the control unit 224, the sampling processing calculation unit 223 stops the sampling processing calculation of the sensor output and the sending of the sampling processing result.

[Transmission processing operation of the GPS receiver section to the host application section]
FIG. 5 is a flowchart for explaining the transmission processing operation of the GPS receiver section to the host application section. FIG. 5 mainly shows processing steps performed by the control unit 224 and the data input / output unit 222 of the arithmetic control unit 22 and is activated every time the transmission timing of FIG. 2B arrives.

  First, the control unit 224 reads the positioning calculation result from the signal demodulation / positioning calculation unit 221 (step S121), and generates GPS positioning data to be transmitted to the host application unit 12 using the read positioning calculation result (step S121). S122).

  Next, the control unit 224 determines whether or not the sampling data request flag is set (step S123). When it is determined that the sampling data request flag is not set, only the GPS positioning data generated in step S122 is obtained. A GPS data header including information indicating that the transmission data is only GPS positioning data is added as transmission data, and is transmitted to the host application unit 12 through the data input / output unit 222 (step S124). Then, this processing routine ends.

  When it is determined in step S123 that the sampling data request flag is set, the sampling processing result of the sensor output is read from the sampling processing calculation unit 223 (step S125), and the read sampling processing result is read in step S122. The transmission data is generated by adding to the GPS positioning data generated in (Step S126).

  Then, the control unit 224 adds a GPS data header including information indicating that the transmission data is obtained by adding the sampling processing result of the sensor output to the GPS positioning data. It transmits to the application part 12 (step S124). Then, this processing routine ends.

[Modification]
In the above embodiment, the sampling process of the sensor output is performed by reading the digital signals from the A / D converter units 23 and 24 within the sampling process section Ts, and accumulating the read values. Is divided by the number of readings to obtain the average value of the sensor output within the sampling processing section Ts. However, the present invention is not limited to such a process of obtaining the average value. For example, the value of the digital signal at the center time point of the sampling processing section Ts may be obtained as the sampling processing result and sent to the host application unit 12.

  In addition, although the above embodiment is a case where this invention is applied to a car navigation system, it cannot be overemphasized that this invention is not limited to this, For example, it can apply also to the positioning determination apparatus etc. which a person carries. .

1 is a block diagram of an embodiment of a mobile body position determination device according to the present invention. It is a timing chart used in order to explain processing operation of an embodiment of this invention. It is a sequence diagram for demonstrating the processing operation of embodiment of this invention. It is a flowchart for demonstrating the processing operation of embodiment of this invention. It is a flowchart for demonstrating the processing operation of embodiment of this invention. It is a block diagram of embodiment of the conventional mobile body position determination apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 ... GPS receiver part, 12 ... Host application part, 13 ... Vehicle speed sensor, 14 ... Direction sensor, 23, 24 ... A / D converter part, 221 ... Signal demodulation and positioning calculating part, 222 ... Data input / output part, 223 ... Sampling processing calculation unit, 224 ... Control unit

Claims (4)

From a positioning device unit that receives radio waves from a plurality of artificial satellites and performs positioning calculation, a sensor unit that detects a speed and / or moving direction of a moving body, a positioning result from the positioning device unit, and a sensor unit A host processing unit that determines the position of the moving body from the sensor output of
The positioning device section is
A signal demodulation / positioning calculation unit that demodulates signals from satellites and performs positioning calculations;
An A / D converter for converting a sensor output from the sensor into a digital signal;
A sampling processing arithmetic unit for sampling a digital signal of the sensor output from the A / D converter unit;
A data transfer unit that transfers the positioning calculation result from the signal demodulation / positioning calculation unit and the sampling processing result of the sensor output from the sampling processing calculation unit to the host processing unit. A moving body position determination device. In the moving body position determination apparatus of Claim 1,
In the sampling processing calculation unit, the sensor output is sampled in synchronization with the transmission timing of the positioning calculation result from the signal demodulation / positioning calculation unit to the host processing unit, and the data transfer unit is The moving body position determination device, wherein the sampling result of the sensor output and the result of the positioning calculation are sent in synchronization to the host processing unit. In the moving body position determination apparatus of Claim 1,
The positioning device unit sends the sampling processing result of the sensor output from the sampling processing computing unit to the host processing device unit only when an acquisition request for the sensor output is made from the host processing device unit. A moving body position determination device characterized by the above. In the moving body position determination apparatus of Claim 1,
The positioning device unit receives instruction data of the sampling rate of the sensor output in the sampling processing operation unit from the host processing device unit, and the sampling processing operation unit performs sampling at a sampling rate according to the instruction data. A moving body position determination apparatus characterized by performing sampling processing of sensor output.

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