JP2008281552A5 - - Google Patents

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JP2008281552A5
JP2008281552A5 JP2008037115A JP2008037115A JP2008281552A5 JP 2008281552 A5 JP2008281552 A5 JP 2008281552A5 JP 2008037115 A JP2008037115 A JP 2008037115A JP 2008037115 A JP2008037115 A JP 2008037115A JP 2008281552 A5 JP2008281552 A5 JP 2008281552A5
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positioning
satellite
current
apr
calculation
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Priority to JP2008037115A priority Critical patent/JP2008281552A/en
Priority claimed from JP2008037115A external-priority patent/JP2008281552A/en
Priority to US12/062,159 priority patent/US7612713B2/en
Priority to CN2008100899182A priority patent/CN101285879B/en
Publication of JP2008281552A publication Critical patent/JP2008281552A/en
Priority to US12/565,012 priority patent/US8072372B2/en
Publication of JP2008281552A5 publication Critical patent/JP2008281552A5/ja
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測位用の衛星から送出される衛星信号を受信し、該受信した衛星信号に基づく現在位置の測位演算を行って、測位開始後に最初に測位出力する測位位置を決定する初回測位出力位置演算決定方法であって、
受信された衛星信号に基づく測位演算を行って測位位置を算出する測位処理を実行する測位処理ステップと、
前記測位処理ステップによる前記測位処理の繰り返し実行回数を可変する繰り返し回数可変ステップと、
前記測位処理ステップによる前記測位処理が前記繰り返し実行回数分実行された場合に、最終的に算出された測位位置を、測位出力する初回の測位位置に決定する初回測位出力位置決定ステップと、
を含むとともに、
前記測位処理ステップは、
受信された衛星信号に基づいて今回の測位処理に用いる衛星の組合せである衛星組を選出する衛星組選出ステップと、
前記選出された衛星組それぞれについて、当該衛星組に含まれる各衛星の衛星信号を用いて現在位置候補を算出する現在位置候補算出ステップと、
前記選出された衛星組それぞれについて、当該衛星組の衛星それぞれの、１）擬似距離と、２）当該衛星と前記算出された現在位置候補間の距離である近似距離と、の差分の二乗和であるＡＰＲ値を算出するＡＰＲ値算出ステップと、
前記ＡＰＲ値算出ステップで算出された衛星組それぞれのＡＰＲ値を平均することで、今回の測位処理のＡＰＲ平均値を算出する平均値算出ステップと、
前記算出された衛星組それぞれの現在位置候補の中から択一的に現在位置候補を選択して、今回の測位処理による測位位置とする今回測位位置選択ステップと、
を有し、
前記繰り返し回数可変ステップは、前記測位処理ステップにおいて算出されたＡＰＲ平均値に基づいて繰り返し実行回数を可変するＡＰＲ平均値基準回数可変ステップを有する、
初回測位出力位置演算決定方法。 Initial positioning output position calculation determining method for receiving a satellite signal transmitted from a positioning satellite, performing a positioning calculation of a current position based on the received satellite signal, and determining a positioning position for first positioning output after the positioning is started Because
A positioning process step for performing a positioning process for calculating a positioning position by performing a positioning calculation based on a received satellite signal;
A repeat count variable step of varying the repeat execution count of the positioning processing by the positioning processing step;
When the positioning processing by the positioning processing step is executed for the number of times of repeated execution, an initial positioning output position determining step for determining the positioning position finally calculated as the initial positioning position for positioning output;
Including
The positioning processing step includes
A satellite set selection step of selecting a satellite set that is a combination of satellites used for the current positioning process based on the received satellite signals;
For each selected satellite set, a current position candidate calculating step for calculating a current position candidate using the satellite signal of each satellite included in the satellite set;
For each of the selected satellite sets, the sum of squares of the difference between 1) the pseudorange of each satellite of the satellite set and 2) the approximate distance that is the distance between the satellite and the calculated current position candidate An APR value calculating step for calculating an APR value;
An average value calculating step for calculating an APR average value of the current positioning process by averaging the APR values of the satellite sets calculated in the APR value calculating step;
A current positioning position selection step of selecting a current position candidate alternatively from among the calculated current position candidates of each satellite set, and setting the positioning position by the current positioning process;
Have
The repetition number variable step includes an APR average value reference number variable step for varying the number of repetition executions based on the APR average value calculated in the positioning processing step.
Initial positioning output position calculation determination method. 請求項１に記載の初回測位出力位置演算決定方法であって、
前記繰り返し回数可変ステップは、前記測位処理ステップによる測位処理が実行される毎に、今回の測位処理の際に算出されたＡＰＲ平均値に基づき繰り返し実行回数を可変するステップである初回測位出力位置演算決定方法。 The initial positioning output position calculation determination method according to claim 1,
The repeat count variable step is a step of changing the repeat execution count based on the APR average value calculated at the time of the current positioning process every time the positioning process in the positioning process step is executed. Decision method. 請求項１又は２に記載の初回測位出力位置演算決定方法であって、
前記測位処理ステップによる前回の測位処理による測位位置と、今回の測位処理による測位位置との距離差が、所定の近距離条件を満たさない場合には今回までの繰り返し回数をリセットして繰り返し回数の計数をやり直し、満たす場合には繰り返し回数の計数を続行する繰り返し回数計数ステップを含む初回測位出力位置演算決定方法。 An initial positioning output position calculation determination method according to claim 1 or 2,
If the distance difference between the positioning position of the previous positioning process at the positioning process step and the positioning position of the current positioning process does not satisfy the predetermined short-distance condition, the number of repetitions is reset by resetting the number of repetitions up to this time. An initial positioning output position calculation determination method including a repeat count step that repeats counting and continues counting the number of repetitions when the count is satisfied. 請求項１又は２に記載の初回測位出力位置演算決定方法であって、
前記現在位置候補算出ステップは、現在位置候補の算出とともに、当該衛星組に含まれる各衛星の衛星信号を用いて時刻誤差を算出するステップであり、
前記測位処理ステップは、前記今回測位位置選択ステップで選択された現在位置候補が前記現在位置候補算出ステップで算出された際に算出された時刻誤差を、今回の測位処理による時刻誤差とする今回時刻誤差決定ステップを有し、
前記測位処理ステップによる前回の測位処理による時刻誤差と、今回の測位処理による時刻誤差との差が、所定の近似条件を満たさない場合には今回までの繰り返し回数をリセットして繰り返し回数の計数をやり直し、満たす場合には繰り返し回数の計数を続行する繰り返し回数計数ステップを更に含む、
初回測位出力位置演算決定方法。 An initial positioning output position calculation determination method according to claim 1 or 2,
The current position candidate calculation step is a step of calculating a time error using a satellite signal of each satellite included in the satellite set, together with calculation of a current position candidate.
In the positioning process step, the current time candidate, which is the time error calculated when the current position candidate selected in the current positioning position selection step is calculated in the current position candidate calculation step, is set as the time error due to the current positioning process. An error determination step;
If the difference between the time error due to the previous positioning process in the positioning process step and the time error due to the current positioning process does not satisfy the predetermined approximate condition, the number of repetitions is counted by resetting the number of repetitions up to this time. And further includes a repeat count step to continue counting the repeat count if redoed and satisfied.
Initial positioning output position calculation determination method. 請求項１又は２に記載の初回測位出力位置演算決定方法であって、
前記現在位置候補算出ステップは、現在位置候補の算出とともに、当該衛星組に含まれる各衛星の衛星信号を用いて時刻誤差を算出するステップであり、
前記測位処理ステップは、前記今回測位位置選択ステップで選択された現在位置候補が前記現在位置候補算出ステップで算出された際に算出された時刻誤差を、今回の測位処理による時刻誤差とする今回時刻誤差決定ステップを有し、
１）前記測位処理ステップによる前回の測位処理による測位位置と今回の測位処理による測位位置との距離差が所定の近距離条件を満たさない場合、或いは、２）前記測位処理ステップによる前回の測位処理による時刻誤差と今回の測位処理による時刻誤差との差が所定の近似条件を満たさない場合の何れかに該当する場合には今回までの繰り返し回数をリセットして繰り返し回数の計数をやり直し、何れにも該当しない場合には繰り返し回数の計数を続行する繰り返し回数計数ステップを更に含む、
初回測位出力位置演算決定方法。 An initial positioning output position calculation determination method according to claim 1 or 2,
The current position candidate calculation step is a step of calculating a time error using a satellite signal of each satellite included in the satellite set, together with calculation of a current position candidate.
In the positioning process step, the current time candidate, which is the time error calculated when the current position candidate selected in the current positioning position selection step is calculated in the current position candidate calculation step, is set as the time error due to the current positioning process. An error determination step;
1) When the distance difference between the positioning position by the previous positioning process at the positioning process step and the positioning position by the current positioning process does not satisfy a predetermined short distance condition, or 2) The previous positioning process by the positioning process step If the difference between the time error due to this time and the time error due to the current positioning process does not satisfy the predetermined approximate condition, the number of repetitions up to this time is reset and the number of repetitions is counted again. If not, it further includes a repeat count step for continuing the repeat count.
Initial positioning output position calculation determination method. 今回の測位処理に用いる衛星の組合せである衛星組を選出する衛星組選出ステップと、
前記衛星組それぞれについて、当該衛星組に含まれる各衛星の衛星信号を用いて現在位置候補を算出する現在位置候補算出ステップと、
前記衛星組それぞれについて、前記現在位置候補に基づき当該衛星組の衛星それぞれのＡＰＲ値を算出するＡＰＲ値算出ステップと、
前記衛星組それぞれの前記ＡＰＲ値を平均することで、今回の測位処理のＡＰＲ平均値を算出する平均値算出ステップと、
前記衛星組それぞれの前記現在位置候補の中から択一的に現在位置候補を選択して、今回の測位処理による測位位置とする今回測位位置選択ステップと、
前記ＡＰＲ平均値に基づいて前記測位処理を繰り返し実行する回数を変更するＡＰＲ平均値基準回数可変ステップと、
前記測位処理が前記繰り返し実行回数分実行された場合に、最終的に算出された測位位置を、測位出力する初回の測位位置に決定する初回測位出力位置決定ステップと、
を含む初回測位出力位置演算決定方法。 A satellite set selection step for selecting a satellite set that is a combination of the satellites used for the positioning process of this time;
For each of the satellite sets, a current position candidate calculation step of calculating a current position candidate using the satellite signal of each satellite included in the satellite set;
An APR value calculating step for calculating an APR value of each satellite of the satellite set based on the current position candidate for each of the satellite sets;
An average value calculating step of calculating an APR average value of the current positioning process by averaging the APR values of the satellite sets;
A current positioning position selection step of selecting a current position candidate alternatively from the current position candidates of each of the satellite sets and setting a positioning position by the current positioning process;
An APR average value reference number variable step for changing the number of times the positioning process is repeatedly executed based on the APR average value;
When the positioning process is executed for the number of times of repeated execution, an initial positioning output position determination step for determining a positioning position finally calculated as an initial positioning position for positioning output;
The first positioning output position calculation determination method including. 測位用の衛星から送出される衛星信号を受信し、該受信した衛星信号に基づく現在位置の測位演算を行う測位装置であって、
受信された衛星信号に基づく測位演算を行って測位位置を算出する測位処理を実行する測位処理部と、
前記測位処理部による前記測位処理の繰り返し実行回数を可変する繰り返し回数可変部と、
前記測位処理部による前記測位処理が前記繰り返し実行回数分実行された場合に、最終的に算出された測位位置を、最初に測位出力する測位位置に決定する初回測位出力位置決定部と、
を備えるとともに、
前記測位処理部は、
受信された衛星信号に基づいて今回の測位処理に用いる衛星の組合せである衛星組を選出する衛星組選出部と、
前記選出された衛星組それぞれについて、当該衛星組に含まれる各衛星の衛星信号を用いて現在位置候補を算出する現在位置候補算出部と、
前記選出された衛星組それぞれについて、当該衛星組の衛星それぞれの、１）擬似距離と、２）当該衛星と前記算出された現在位置候補間の距離である近似距離と、の差分の二乗和であるＡＰＲ値を算出するＡＰＲ値算出部と、
前記ＡＰＲ値算出部により算出された衛星組それぞれのＡＰＲ値を平均することで、今回の測位処理のＡＰＲ平均値を算出する平均値算出部と、
前記算出された衛星組それぞれの現在位置候補の中から択一的に現在位置候補を選択して、今回の測位処理による測位位置とする今回測位位置選択部と、
を有し、
前記繰り返し回数可変部は、前記測位処理部により算出されたＡＰＲ平均値に基づいて繰り返し実行回数を可変するＡＰＲ平均値基準回数可変部を有する、
測位装置。 A positioning device that receives a satellite signal transmitted from a positioning satellite and performs a positioning calculation of a current position based on the received satellite signal,
A positioning processing unit that performs a positioning process to calculate a positioning position by performing a positioning calculation based on a received satellite signal;
A repeat count variable section that varies the number of repetitions of the positioning process by the positioning processing section;
When the positioning processing by the positioning processing unit is executed for the number of times of repeated execution, an initial positioning output position determining unit that determines a positioning position that is finally calculated as a positioning position for which positioning output is performed first;
With
The positioning processing unit
A satellite set selection unit that selects a satellite set that is a combination of satellites used for the current positioning process based on the received satellite signals;
For each selected satellite set, a current position candidate calculation unit that calculates a current position candidate using satellite signals of each satellite included in the satellite set;
For each of the selected satellite sets, the sum of squares of the difference between 1) the pseudorange of each satellite of the satellite set and 2) the approximate distance that is the distance between the satellite and the calculated current position candidate An APR value calculation unit for calculating a certain APR value;
An average value calculating unit that calculates an APR average value of the current positioning process by averaging the APR values of the satellite sets calculated by the APR value calculating unit;
A current positioning position selection unit that selects a current position candidate alternatively from the calculated current position candidates of each satellite set, and sets the positioning position by the current positioning process;
Have
The repeat count variable section includes an APR average value reference count variable section that varies the repeat execution count based on the APR average value calculated by the positioning processing section.
Positioning device.
JP2008037115A 2007-04-09 2008-02-19 Method and program for calculating and determining first located output position, storage medium, positioning device, and electronic equipment Withdrawn JP2008281552A (en)

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JP2008037115A JP2008281552A (en) 2007-04-09 2008-02-19 Method and program for calculating and determining first located output position, storage medium, positioning device, and electronic equipment
US12/062,159 US7612713B2 (en) 2007-04-09 2008-04-03 First output position calculation method, storage medium, positioning device, and electronic instrument
CN2008100899182A CN101285879B (en) 2007-04-09 2008-04-09 First output position calculation method, positioning device, and electronic instrument
US12/565,012 US8072372B2 (en) 2007-04-09 2009-09-23 First output position calculation method, storage medium, positioning device, and electronic instrument

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JP2007101477 2007-04-09
JP2008037115A JP2008281552A (en) 2007-04-09 2008-02-19 Method and program for calculating and determining first located output position, storage medium, positioning device, and electronic equipment

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JP5017392B2 (en) 2010-02-24 2012-09-05 クラリオン株式会社 Position estimation apparatus and position estimation method
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