JP2010085246A - Gps device and positioning method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a GPS device and a positioning method thereof capable of eliminating error factors even without a DGPS reference station as infrastructure or a DGPS signal receiving mechanism mounted on a receiver. <P>SOLUTION: A GPS module 10 obtains acceleration of a carrying person carrying a terminal device and a direction in which the carrying person travels per a prescribed time by a sensor processing part 12, performs information processing, receives a GPS signal 48 from a GPS satellite by a reception processing part 16, obtains positional information on the basis of the information included in the received GPS signal 48, holds the obtained positional information for a prescribed period of time, calculates a moving distance of the terminal device using a directional component in each of three-dimensional axes per prescribed period of time from the acceleration 28 and the direction 30 of the carrying person obtained by a calculation part 14, eliminates the error of a pseudo distance by using the calculated moving distance and the positional information obtained from the GPS satellite, and corrects the positional information of the GPS satellite. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a GPS device and a positioning method thereof. The GPS device according to the present invention relates to a terminal device with a GPS function that improves GPS positioning information, and is carried by a pedestrian or mounted on a moving body. The GPS positioning method according to the present invention relates to a method for obtaining position information by correcting positioning information obtained from a GPS system to improve accuracy.

  GPS (Global Positioning System) is a positioning system using an artificial satellite for checking the current position of a device equipped with a positioning device on the earth or a user who owns this device. The artificial satellite transmits information including the GPS signal emission time and the orbit of the satellite to the onboard equipment. A receiver of a device equipped with a GPS device receives a GPS signal emitted from an artificial satellite. The GPS device calculates the distance between the artificial satellite and the receiver based on the reception time of the received GPS signal, the emission time of the GPS signal emitted from the artificial satellite, and the speed of light. The GPS device calculates the position of the satellite from the satellite orbit information.

Using the distance from the artificial satellite and the position of the artificial satellite, the GPS apparatus calculates the position of the receiver mainly from the principle of triangulation. Several variables are defined in calculating the position. The positioning point that is the current position is represented by three-dimensional coordinates (x, y, z). The artificial satellite is assumed to be satellite number i, and the position of the artificial satellite is assumed to be (x _i , y _i , z _i ). Since the distance from the satellite observed by the receiver includes an error, the pseudorange of the satellite _i is expressed as r _i . Since the pseudorange r _i includes an error, if the pseudorange r _i is used as a parameter of the distance between the receiver and the artificial satellite, a positioning point cannot be obtained. Therefore, by setting the clock bias of the receiver to a constant b, equation (1)

で表わされる。

It is represented by

  In this case, since the positioning point (x, y, z) and receiver clock bias b in equation (1) are variables, equation (1) for each satellite is at least four, that is, four or more satellites. It is known that it will be necessary. In equation (1), the positioning point (x, y, z), which is the current position, is obtained by combining four equations with satellite numbers i = 1, 2, 3, and 4.

There exists patent document 1 as such a specific example. Patent Document 1 is a mobile station position management system, which aims to always determine an accurate movement position of a mobile station even if a positioning signal of a GPS satellite fluctuates. The mobile station location management system knows the exact location of the base station, locates its own location in this base station, compares its location with its own location, and uses GPS. Estimate and calculate the position error, store the estimated position error and its calculation time, apply the position error at the calculation time closest to the orientation time received from the mobile station to the GPS of the mobile station, and position the mobile station It is corrected.
JP 07-146995 A

  However, for GPS positioning, the predicted value obtained from the ephemesis data included in the transmitted signal, that is, the predicted value of ephemesis, error due to the satellite clock model, ionospheric delay, tropospheric delay, receiver noise and Since there are a plurality of error factors such as multipath, even if the positioning point is calculated by applying the three sides of the original embedding, an error occurs in the positioning information.

  Here, the principle of DGPS (Differential GPS) is briefly described. In DGPS, the effects of the above four error factors of GPS, namely the ephemesis prediction value, the error caused by the satellite clock model, the ionospheric delay and the tropospheric delay, are in the short range of several tens to several hundred km. It takes advantage of the fact that it is known to be about the same and changes fairly slowly over time.

  Using this characteristic, the DGPS reference station, which is a known point with a known longitude and latitude, calculates the error amount included in the pseudorange, and transmits this as a DGPS signal to the GPS receiver. The GPS receiver can calculate the positioning point with high accuracy by subtracting the error amount included in the pseudorange acquired from the DGPS signal in Equation (1).

  In this way, DGPS eliminates the error factors caused by these by transmitting errors included in the pseudo-range due to the four error factors in the GPS receiver, and performs positioning with high accuracy.

  However, in order to solve this problem, a positioning system is required for a DGPS reference station that transmits DGPS signals and a mechanism for receiving DGPS signals in a receiver as a new infrastructure.

  In view of these problems, the present invention provides a GPS device and a positioning method thereof that can realize the elimination of error factors even if the receiver is not equipped with a DGPS reference station that is an infrastructure or a DGPS signal receiving mechanism. The purpose is to do.

  In order to solve the above-described problems, the present invention acquires position information obtained based on GPS signals from GPS (Global Positioning System) satellites, a traveling direction per predetermined time, and a moving distance of the predetermined time. In the GPS device that corrects the positioning position of the terminal device that is mounted, this GPS device receives a GPS signal from a GPS satellite, acquires position information based on information contained in the received GPS signal, Using the reception processing means that holds the position information acquired over a predetermined time and the direction component of each of the three-dimensional axes per predetermined time, the movement distance of the terminal device is calculated, and the calculated movement distance and the GPS satellite are calculated. And calculating means for correcting the position information of the GPS satellite by eliminating the error of the pseudo distance using the acquired position information.

  In order to solve the above-mentioned problem, the present invention acquires a position information obtained based on a GPS signal from a GPS (Global Positioning System) satellite and corrects a positioning position of an installed terminal device. In this, the GPS device receives the acceleration of the user of the terminal device and the azimuth in which the user travels at a predetermined time, and receives and receives the GPS signal from the GPS satellite and the sensor processing means for information processing. Receiving processing means for acquiring position information based on the information included in the GPS signal and retaining the position information acquired over a predetermined time, and three-dimensional per predetermined time from the acquired acceleration and direction of the user Calculate the distance traveled by the terminal device using the direction component of each axis in the, and use the calculated distance traveled and the position information acquired from the GPS satellite to eliminate the pseudorange error and position the GPS satellite. And a calculating means for correcting.

  Further, in order to solve the above-described problems, the present invention provides position information obtained based on GPS signals from GPS (Global Positioning System) satellites, a traveling direction per predetermined time, and a moving distance of the predetermined time. In the GPS positioning method that corrects the positioning position of the terminal device installed by acquiring the GPS signal, this method receives the GPS signal from the GPS satellite and acquires the position information based on the information contained in the received GPS signal. The first step of holding the position information acquired over a predetermined time, and using the direction component of each axis in three dimensions per predetermined time, the movement distance of the terminal device is calculated, And a second step of correcting the position information of the GPS satellite by eliminating the error of the pseudo distance using the position information acquired from the GPS satellite.

  In order to solve the above-mentioned problems, the present invention acquires position information obtained based on GPS signals from GPS (Global Positioning System) satellites, and corrects the positioning position of the terminal device to be mounted. In the method, the method obtains the acceleration of the user of the terminal device and the direction in which the user travels per predetermined time, receives the GPS signal from the GPS satellite, A second step of acquiring position information based on the information included in the received GPS signal and retaining the acquired position information over a predetermined time, and 3 per predetermined time from the acquired acceleration and direction of the user Calculate the moving distance of the terminal device using the direction component of each axis in the dimension, eliminate the pseudo distance error using the calculated moving distance and the position information acquired from the GPS satellite, and the position of the GPS satellite Correct information And a third step.

  According to the GPS device and the positioning method thereof according to the present invention, the position information obtained based on GPS signals from GPS (Global Positioning System) satellites, the traveling direction per predetermined time, and the moving distance of this predetermined time In the GPS device that corrects the positioning position of the terminal device mounted by acquiring the GPS signal, the GPS device receives the GPS signal from the GPS satellite by the reception processing means, and the position is based on the information contained in the received GPS signal. The information is acquired, the position information acquired over a predetermined time is held, the calculation means calculates the movement distance of the terminal device using the direction component of each axis in three dimensions per predetermined time, and the calculated movement By using the distance and the position information acquired from the GPS satellite, the error of the pseudo distance is eliminated and the position information of the GPS satellite is corrected to transmit correction data from the outside, for example, DGPS reference station or DGPS signal Even if not equipped with a receiving mechanism in the receiver, i.e. even unnecessary reception of correction data, it is possible to obtain position information with high accuracy GPS. Moreover, since the DGPS reference station is not required, capital investment can be greatly reduced.

  Further, according to the GPS device and the positioning method thereof according to the present invention, the position information obtained based on the GPS signal from the GPS (Global Positioning System) satellite is acquired, and the positioning position of the mounted terminal device is corrected. In the GPS device, this GPS device obtains the acceleration of the carrier of the terminal device and the direction in which the carrier travels per predetermined time by the sensor processing means, processes the information, and receives the GPS from the GPS satellite by the reception processing means. The signal is received, the position information is acquired based on the information included in the received GPS signal, the position information acquired over a predetermined time is retained, and the predetermined time is determined from the acceleration and direction of the carrier acquired by the calculation means By using the direction component of each axis in three dimensions, the movement distance of the terminal device is calculated, and using the calculated movement distance and the position information acquired from the GPS satellite, the error of the pseudo distance is eliminated, and the GPS Defense By transmitting the correction data from the outside by correcting the position information of the stars, for example, even if the receiver does not have a DGPS reference station or DGPS signal reception mechanism, that is, it is not necessary to receive correction data Highly accurate GPS location information can be obtained. Moreover, since the DGPS reference station is not required, capital investment can be greatly reduced.

  Next, an embodiment of a GPS device according to the present invention will be described in detail with reference to the accompanying drawings. Referring to FIG. 1, the embodiment of the GPS device according to the present invention is applied to a GPS module 10. The GPS module 10 obtains position information obtained based on GPS signals from GPS (Global Positioning System) satellites. It is a GPS device that acquires and corrects the positioning position of the terminal device installed. This GPS module 10 is configured to acquire the acceleration of the portable user of the terminal device and the direction in which the portable person travels at a predetermined time by the sensor processing unit 12 and process the information, and the reception processing unit 16 performs GPS from the GPS satellite. The position information acquired based on the information included in the received GPS signal 48 is received, the position information acquired over a predetermined time is retained, and the acceleration 28 and direction of the user acquired by the calculation unit 14 From 30, the movement distance of the terminal device is calculated using the direction component of each axis in three dimensions per predetermined time, and the pseudo distance error is calculated using the calculated movement distance and the position information obtained from the GPS satellite. By canceling and correcting the GPS satellite position information, external correction data is transmitted, for example, even if the receiver is not equipped with a DGPS reference station or DGPS signal reception mechanism, that is, the correction data is received. Unnecessary Also, it is possible to obtain position information of high precision GPS. Moreover, since the DGPS reference station is not required, capital investment can be greatly reduced.

  The illustration and description of parts not directly related to the present invention are omitted. In the following description, the signal is indicated by the reference number of the connecting line in which it appears.

  The GPS module 10 includes a sensor processing unit 12, a calculation unit 14, a reception processing unit 16, and an output interface 18, as shown in FIG. In particular, in this embodiment, a GPS module 10 is disposed as a highly accurate positioning calculation mechanism inside a portable terminal device (not shown) that is carried by a pedestrian. The GPS module 10 is connected to the portable terminal device via the output interface 18 for the positioning point data.

  The sensor processing unit 12 has a function of measuring the acceleration and direction of a pedestrian carrying the mobile terminal device. The sensor processing unit 12 includes a terminal sensor unit 20 and an information processing unit 22. The terminal sensor unit 20 further includes an acceleration sensor 24 and an electronic compass 26.

  The acceleration sensor 24 has a function of measuring acceleration, which is a physical quantity generated as a pedestrian moves. The acceleration sensor 24 outputs the obtained acceleration data 28 to the information processing unit 22. Further, the electronic compass 26 has a function of measuring an azimuth indicating a direction in which the pedestrian moves. The electronic compass 26 outputs the measured azimuth data 30 to the information processing unit 22.

  Note that the terminal sensor unit 20 is not limited to the acceleration sensor 24 and the electronic compass 26, and may use a method other than the acceleration sensor or the electronic compass as long as the acceleration and the direction are obtained. Further, the GPS module 10 calculates the position information obtained based on the GPS signal from the GPS satellite, the traveling direction per predetermined time, and the moving distance at the predetermined time in calculating the position of the terminal device possessed by the user. If it can be obtained, the sensor processing unit 12 may not be provided.

  The information processing unit 22 has a function of calculating the traveling direction and moving distance of the terminal carrier per epoch based on the acquired data. An epoch is a unit positioning time. In this embodiment, this unit positioning time is set to 1 second. Upon receiving the data transmission command 32 from the calculation unit 14, the information processing unit 22 calculates the traveling direction and the moving distance of the terminal carrier per epoch based on the supplied acceleration data 28 and azimuth data 30, and the calculated epoch The traveling direction and the moving distance of the pertinent terminal carrier are output as sensor data 34 to the calculation unit 14.

  Note that the information processing unit 22 is not limited to the present embodiment and may be obtained by another method as long as the traveling direction and the moving distance of the terminal carrier can be calculated.

  The calculation unit 14 has a function of calculating highly accurate position information based on a newly proposed principle. As shown in FIG. 2, the calculation unit 14 includes a distance calculation function unit 14 a that calculates the movement distance of the terminal device using the direction component of each of the three-dimensional axes at an arbitrary epoch, and a pseudo including an observed error. Approximate operation function unit that calculates by subtracting the subtraction of the pseudo distance including the error observed in the previous epoch from the distance equal to the subtraction of the true distance in the previous epoch from the true distance The true value calculation function that calculates the true position information in the GPS satellite by using 14b, the calculated moving distance, the position information acquired from the GPS satellite, and the true clock bias accompanying reception to eliminate the error of the pseudorange Part 14c. Needless to say, the calculation unit 14 uses the parameters acquired from the GPS satellites as appropriate.

  Briefly, the calculation unit 14 calculates the true positioning point, epoch (τ) in the epoch (τ) expressed by adding the movement distance of the terminal carrier to the true positioning point in the previous epoch (τ-1). ) Of the true positioning point in the previous epoch (τ-1) represented by subtracting the distance traveled by the terminal carrier from the true positioning point in the previous epoch (τ-1) to the true positioning point in Calculate and calculate the true positioning point in the previous epoch (τ-1).

  Then, the calculation unit 14 also calculates the moving distance of the terminal device using the directional component of each axis in three dimensions at an arbitrary epoch. The calculation unit 14 is equivalent to the pseudo-range error in the approximate distance, and the pseudo-distance of any epoch and the previous epoch as well as the principle of DGPS using the fact that the error factor changes little over time Is characterized in that the error contained in can be approximated. That is, the difference between the observed value of the pseudorange including the error in the epoch (τ) and the observed value of the pseudorange including the error in the previous epoch (τ-1) is the observed value of the pseudorange in the epoch (τ). Approximate to be equal to the difference in the observed value of the pseudorange at the previous epoch (τ-1), and calculate the true value for the difference in the pseudorange between the epochs obtained by approximation A bias is added, and at least four equations are created based on the received data of GPS satellites according to the number of unknowns, and these are solved simultaneously. These newly proposed principles will be described in detail later using equations.

  Returning to FIG. 1, the calculation unit 14 transmits data transmission commands 32 and 38 to the information processing unit 22 and the storage 36 of the reception processing unit 16 for each epoch, respectively. The calculation unit 14 receives the sensor data 34 supplied from the information processing unit 22 and the data 40 indicating the satellite position and the pseudorange transmitted from the storage 36. After receiving all the sensor data 34 and data 40, the calculation unit 14 calculates highly accurate position data and outputs the calculated position data 42 to the output interface 18.

  The reception processing unit 16 has a function of receiving a GPS signal from an artificial satellite, calculating a satellite position and a pseudorange as data based on information included in the received GPS signal, and temporarily storing the calculated data. In order to realize this function, the reception processing unit 16 includes an antenna 44, a GPS receiving unit 46, and a storage 36.

  The antenna 44 has a function of receiving GPS signals from artificial satellites and converting them into electrical signals. The antenna 44 receives the incoming GPS signal 48 and supplies the received signal as a GPS signal 50 to the GPS receiver 46.

  The GPS receiver 46 has a function of calculating the position of the artificial satellite and the pseudo distance as GPS data for each epoch of the GPS signal. The GPS receiver 46 supplies the calculated GPS data 52 to the storage 36. The storage 36 has a function of storing GPS data. Upon receiving the data transmission command 38, the storage 36 outputs the GPS data 40 to be saved to the calculation unit 14.

  The output interface 18 has a function of outputting the supplied position data to a mobile terminal device mounted. The output interface 18 outputs the position data 42 as the position data 54.

Next, the positioning principle of the GPS module 10 to which the GPS device according to the present invention is applied will be described with reference to FIG. Using the satellite position 56 ( ^(τ) x _i , ^(τ) y _i , ^(τ) z _i ) at any epoch and the pseudorange 58 ^(τ) r _i observed by the receiver, A positioning point 60 ( ^(τ) x ₀ , ^(τ) y ₀ , ^(τ) z ₀ ) including an error is calculated.

  Here, each parameter used for this positioning principle is defined as follows. That is, the constant b is a clock bias of the GPS receiver. The subscript i is the satellite number, and the variable τ indicates the epoch.

The true positioning point 62 ( ^(τ) x ^ ₀ , ^(τ) y ^ ₀ , ^(τ) z ^ ₀ ) in the error-free epoch (τ) is the true distance 64 ^(τ) r without error If ^ _i can be known, it is calculated by equation (1). At this time, since the positioning point is a true value, the receiver clock bias b becomes zero. The movement vector 66 ( ^(τ) x _s , ^(τ) y _s , ^(τ) z _s ) of the terminal carrier in the unit epoch is the terminal carrier from the previous epoch to any epoch. It is the movement distance.

The epoch immediately before an arbitrary epoch is indicated by a variable τ-1. Therefore, the satellite position 68 in this epoch (τ-1) is ( ^(τ-1) x _i , ^(τ-1) y _i , ^(τ-1) z _i ). Further, the pseudo-range 70 observed by the receiver in the epoch (tau-1), a ^(τ-1) r _^i. The positioning point 72 including the error in the epoch (τ-1) is represented by ( ^(τ-1) x ₀ , ^(τ-1) y ₀ , ^(τ-1) z ₀ ), and the error in the epoch (τ-1). The true positioning points 74 not included are ( ^(τ-1) x ^ ₀ , ^(τ-1) y ^ ₀ , ^(τ-1) z ^ ₀ ), true without error in the epoch (τ-1) Is set to ^(τ-1) r ^ _i .

  In the present embodiment, the GPS module 10 calculates the position information obtained based on the GPS signal from the GPS satellite, the traveling direction per predetermined time, and the movement at the predetermined time in calculating the position of the terminal device possessed by the user. If distance can be obtained, the first principle is to use equations (2) and (3)

は使用しないが、両式を解くことにより、誤差を含む測位点72および60が算出される。

Is not used, but positioning points 72 and 60 including errors are calculated by solving both equations.

  Equation (4) and Equation (5)

を解くことにより、任意のエポックにおける真の測位点74および一つ前の任意のエポックにおける真の測位点62が、それぞれ、算出される。

, The true positioning point 74 at an arbitrary epoch and the true positioning point 62 at an immediately preceding epoch are respectively calculated.

In addition, the true positioning point 62 ( ^(τ) x ^ ₀ , ^(τ) y ^ ₀ , ^(τ) z ^ ₀ ) at any epoch (τ) is at the previous epoch (τ-1). Since the relationship is obtained by adding the movement distance vector 66 of the terminal carrier to the true positioning point 74, Equation (6)

で表わされる。

It is represented by

  When equation (6) is transformed, equation (7)

が得られる。

Is obtained.

  If the value of equation (7) is substituted into equation (5), equation (8)

が得られる。

Is obtained.

Next, the application of approximation is described. The observed pseudorange 58 ^(τ) r _i including the error is given by Equation (9)

近似式における左辺の関係で表わされる。
ここで、変数^(τ)r_iは、エポックτにおける人工衛星iの擬似距離であり観測値である。また、変数^(τ)Δr_iは、エポックτにおける人工衛星iの擬似距離に含まれる誤差である。さらに、^(τ)r^_iは、エポックτにおける人工衛星iの擬似距離の真値である。すなわち、式(9)が示すように、任意のエポックにおける擬似距離に含まれる誤差は、近距離における擬似距離の誤差が等しく、時間経過による誤差要因の変化が少ないことを利用したDGPSの原理と同様に、この一つ前のエポックの擬似距離に含まれる誤差とほぼ等しいとして近似している。これにより、近似式の右辺の関係が示される。

It is represented by the relationship of the left side in the approximate expression.
Here, the variable ^(τ) r _i is a pseudorange of the artificial satellite i at the epoch τ and an observed value. The variable ^(τ) Δr _i is an error included in the pseudorange of the artificial satellite i at the epoch τ. Furthermore, ^(τ) r ^ _i is the true value of the pseudorange of the artificial satellite i at the epoch τ. In other words, as shown in Equation (9), the error included in the pseudorange at any epoch is equal to the error of the pseudorange at a short distance, and the principle of DGPS using the fact that the error factor changes little over time. Similarly, it is approximated as being substantially equal to the error included in the pseudo-distance of the previous epoch. Thereby, the relationship of the right side of the approximate expression is shown.

Moreover, the observed value 70 ^(τ-1) r _i of the pseudorange at the previous arbitrary epoch is given by the equation (10)

の関係に表わされる。

It is expressed in the relationship.

  Furthermore, subtracting both sides of equation (10) from equation (9) yields equation (11)

が得られる。

Is obtained.

  Similar to the left side of equation (11), the true distance difference between epochs is calculated by subtracting equation (8) from equation (4).

によって得られる。

Obtained by.

  Here, using the approximation of equation (11), if the equations in the square root in equation (12) are rearranged, equation (13)

が得られる。式(13)より、誤差を含む擬似距離^(τ)r_iと^(τ-1)r_iを用いて真の測位点(^(τ)x^₀, ^(τ)y^₀, ^(τ)z^₀)を導出していることが分かる。

Is obtained. From Equation (13), the true positioning point ( ^(τ) x ^ ₀ , ^(τ) y ^ ₀ , ^(τ) z is calculated using the pseudorange ^(τ) r _i and ^(τ-1) r _i including the error. It can be seen that ^ ₀ ) is derived.

  Since equation (13) uses approximation, an exact solution may not be obtained due to a slight error. In order to calculate the true value, if we insert the clock bias b ^ which plays a role in Equation (13) to obtain an accurate solution, Equation (14)

が得られる。

Is obtained.

The unknown variable in equation (14) is the true positioning point 62 ( ^(τ) x ^ ₀ , ^(τ) y ^ ₀ , ^(τ) z ^ ₀ ) at any epoch and the clock bias used to calculate the true value. Since there are four b ^, if there are at least four equations (14) for each artificial satellite, the true positioning point 62 is calculated using a calculation method such as Newton's method or bisection method.

  Next, the operation of the GPS module 10 to which the GPS device according to the present invention is applied will be described. The GPS module 10 acquires the acceleration and direction of the terminal carrier from the acceleration sensor 24 and the electronic compass 26 of the terminal sensor unit 20 at an arbitrary time. The terminal sensor unit 20 sends the acquired acceleration and orientation data 28 and 30 of the terminal carrier to the information processing unit 22.

  When receiving the data transmission command 32, the information processing unit 22 outputs a value obtained by averaging the acquired acceleration and azimuth for one second to the calculation unit 14 as sensor information 34 of the terminal carrier, to the calculation unit 14. The calculation unit 14 calculates a moving distance for one second from the sensor information 34 including the acceleration and azimuth of the terminal carrier, and converts the moving distance vector 66 from the azimuth to each axial direction in three dimensions.

  On the other hand, the GPS receiver 46 calculates the artificial satellite position 56 and pseudorange 58 in the epoch (τ) from the GPS signal 50 received by the antenna 44 as GPS data every second, and sends it to the storage 36. The storage 36 stores GPS data calculated every second. The storage 36 stores the GPS data for 30 seconds and overwrites the oldest GPS data in order. When the storage 36 receives the data transmission command 38 from the calculation unit 14, the storage 36 transmits the GPS data at the current time (τ) and the GPS data 1 second before (τ−1) to the calculation unit 14.

  The calculation unit 14 calculates a highly accurate positioning point by calculating based on the principle shown in FIG. The computing unit 14 outputs the calculated positioning point data 42 to the output interface 18. The output interface 18 transmits position data 54 as highly accurate position information to a mobile terminal device (not shown).

  By operating in this way, highly accurate positioning data of a pedestrian carrying a mobile terminal device can be obtained without using an infrastructure such as a DGPS reference station or a mechanism for receiving a DGPS signal.

It is a schematic block diagram in the Example of the GPS module to which the GPS apparatus which concerns on this invention is applied. It is a block diagram which shows the schematic functional block based on the principle in the calculating part of FIG. It is a figure showing the relationship of the calculation parameter in the GPS module of FIG.

Explanation of symbols

10 GPS module
12 Sensor processing section
14 Calculation unit
16 Reception processor
18 Output interface
20 Terminal sensor
22 Information processing department
24 Accelerometer
26 Electronic compass
36 Storage
44 Antenna
46 GPS receiver

Claims (10)

The position information obtained based on GPS signals from GPS (Global Positioning System) satellites, the direction of travel per predetermined time and the travel distance of the predetermined time are obtained, and the positioning position of the terminal device to be mounted is obtained. In the GPS device to be corrected, the GPS device is
A reception processing means for receiving a GPS signal from the GPS satellite, acquiring position information based on information included in the received GPS signal, and holding the position information acquired over the predetermined time;
Using the directional component of each axis in three dimensions per the predetermined time, the moving distance of the terminal device is calculated, and using the calculated moving distance and the position information acquired from the GPS satellite, an error in pseudo distance And a calculating means for correcting the position information of the GPS satellite. 2. The GPS device according to claim 1, wherein the calculation unit calculates a moving distance of the terminal device using a direction component of each of three-dimensional axes per the predetermined time;
The subtraction of the pseudo distance including the error observed at the previous predetermined time from the pseudo distance including the observed error is equal to the subtraction of the true distance from the true distance at the predetermined previous time. And a second calculation function block for calculating,
The subtraction of the pseudo distance including the error observed at the previous predetermined time from the pseudo distance including the observed error is equal to the subtraction of the true distance from the true distance at the predetermined previous time. And a second calculation function block for calculating,
The subtraction of the pseudo distance including the error observed at the previous predetermined time from the pseudo distance including the observed error is equal to the subtraction of the true distance from the true distance at the predetermined previous time. And a second calculation function block for calculating,
Third calculation functional block for calculating the true position information in the GPS satellite by using the calculated moving distance, the position information acquired from the GPS satellite and the true clock bias associated with the reception to eliminate the error of the pseudorange And a GPS device.   2. The GPS device according to claim 1, wherein the GPS device includes interface means for outputting the corrected position information from the GPS satellite to the outside. In a GPS device that acquires position information obtained based on a GPS signal from a GPS (Global Positioning System) satellite and corrects a positioning position of a terminal device to be mounted, the GPS device includes:
Sensor processing means for acquiring and processing the acceleration of the portable person of the terminal device and the direction in which the portable person travels about the predetermined time;
A reception processing means for receiving a GPS signal from the GPS satellite, acquiring position information based on information included in the received GPS signal, and holding the position information acquired over the predetermined time;
The movement distance of the terminal device is calculated from the acquired acceleration and azimuth of the user using the directional component of each of the three-dimensional axes per predetermined time, and the calculated movement distance and the position information acquired from the GPS satellite And a calculation means for correcting the position information of the GPS satellite by eliminating pseudo-range errors. 5. The GPS device according to claim 4, wherein the calculation means calculates a movement distance of the terminal device using a direction component of each of three-dimensional axes per the predetermined time;
The subtraction of the pseudo distance including the error observed at the previous predetermined time from the pseudo distance including the observed error is equal to the subtraction of the true distance from the true distance at the predetermined previous time. And a second calculation function block for calculating,
Third calculation functional block for calculating the true position information in the GPS satellite by using the calculated moving distance, the position information acquired from the GPS satellite and the true clock bias associated with the reception to eliminate the error of the pseudorange And a GPS device.   5. The GPS device according to claim 4, wherein the GPS device includes interface means for outputting the corrected position information from a GPS satellite to the outside. The position information obtained based on GPS signals from GPS (Global Positioning System) satellites, the direction of travel per predetermined time and the travel distance of the predetermined time are obtained, and the positioning position of the terminal device to be mounted is obtained. In the GPS positioning method to be corrected, the method includes:
A first step of receiving a GPS signal from the GPS satellite, acquiring position information based on information included in the received GPS signal, and retaining the acquired position information over the predetermined time;
Using the directional component of each axis in three dimensions per the predetermined time, the moving distance of the terminal device is calculated, and using the calculated moving distance and the position information acquired from the GPS satellite, an error in pseudo distance And a second step of correcting the position information of the GPS satellite. The method according to claim 7, wherein the second step includes a fourth step of calculating a moving distance of the terminal device using a direction component of each axis in three dimensions per the predetermined time;
The subtraction of the pseudo distance including the error observed at the previous predetermined time from the pseudo distance including the observed error is equal to the subtraction of the true distance from the true distance at the predetermined previous time. And a fifth step of calculating and approximating
A sixth step of calculating the true position information in the GPS satellite by using the calculated moving distance, the position information acquired from the GPS satellite, and the true clock bias associated with the reception to eliminate the error of the pseudorange; GPS positioning method characterized by including. In a GPS positioning method for acquiring position information obtained based on GPS signals from GPS (Global Positioning System) satellites and correcting the positioning position of a terminal device mounted thereon, the method includes:
A first step of acquiring and processing the acceleration of the user of the terminal device and the direction in which the user travels around the predetermined time;
A second step of receiving a GPS signal from the GPS satellite, acquiring position information based on information included in the received GPS signal, and retaining the acquired position information over the predetermined time;
The movement distance of the terminal device is calculated from the acquired acceleration and azimuth of the user using the directional component of each of the three-dimensional axes per predetermined time, and the calculated movement distance and the position information acquired from the GPS satellite And a third step of correcting the position information of the GPS satellite by eliminating the error of the pseudo distance using the GPS positioning method. The method according to claim 9, wherein the third step calculates a moving distance of the terminal device by using a direction component of each axis in three dimensions per the predetermined time;
The subtraction of the pseudo distance including the error observed at the previous predetermined time from the pseudo distance including the observed error is equal to the subtraction of the true distance from the true distance at the predetermined previous time. And a fifth step of calculating and approximating
A sixth step of calculating the true position information in the GPS satellite by using the calculated moving distance, the position information acquired from the GPS satellite, and the true clock bias associated with the reception to eliminate the error of the pseudorange; GPS positioning method characterized by including.

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