JP4702800B2 - Position calculation device by GPS positioning - Google Patents

Description

  The present invention relates to a position calculation technique using GPS (Global Positioning System).

  In navigation devices, GPS positioning using GPS satellites is widely used to calculate the vehicle position. In general, when GPS receivers supplement four or more satellites, the absolute position of XYZ is calculated (three-dimensional positioning), and when only three satellites can be supplemented, With the height Z fixed, the horizontal position of XY is calculated (two-dimensional positioning).

  A concept representing the accuracy of GPS positioning is DOP (Dilution of Precision). PDOP (Position Dilution of Precision) is an index indicating the quality of the positioning state of GPS satellites. The larger the volume of a tetrahedron formed by connecting four satellites, the higher the accuracy and the smaller the PDOP value. HDOP (Horizontal Dilution of Precision) is an index of the horizontal component of PDOP, and VDOP (Vertical Dilution of Precision) is an index of the vertical component of PDOP. It is indicated by 1.

  Patent Document 1 relates to a GPS position measurement device that selects a combination of satellites that minimizes the HDOP value for three-dimensional positioning from among the captured satellites, and that the HDOP value for two-dimensional positioning is the smallest among the captured satellites. Select the combination of satellites, compare the minimum value of HDOP for 3D positioning with the minimum value of HDOP for 2D positioning, and if the HDOP value for 3D positioning is smaller than the HDOP value for 2D positioning, 3D positioning If the HDOP value of the two-dimensional positioning is smaller than the HDOP value of the three-dimensional positioning, the two-dimensional positioning is performed. As a result, the position of the vehicle can be calculated in a positioning mode with a small HDOP value.

  Patent Document 2 relates to a GPS navigation device, and compares the previous first position data measured by a GPS satellite with the current first position data to determine whether or not the difference is within a first predetermined value. 1 position data comparison and determination means, PDOP value determination means for determining whether or not the PDOP value of the current first position data is equal to or less than a second predetermined value, and a positioning sensor provided on the mobile body itself. The second position data is compared with the current first position data, and a distance difference between the current position of the moving object indicated by the current first position data and the current position of the moving object indicated by the second position data is a third predetermined value. Distance difference determining means for determining whether or not the value is greater than or equal to a value, the difference between the previous first position data and the current first position data is within a first predetermined value, and the PDOP value is equal to or less than a second predetermined value And the distance difference is not less than the third predetermined value. When, accuracy of GPS satellites as higher than accuracy by autonomous navigation, the first position data to output the current position data.

JP 6-75103 Patent 30630301

  In a conventional GPS receiver, when four or more GPS satellites are supplemented, the PDOP value is compared with a threshold value, and switching between three-dimensional positioning or two-dimensional positioning is performed according to the comparison result. Has been done. That is, if the PDOP value is smaller than the threshold value, the positioning accuracy is high, so that the three-dimensional positioning is selected. If the PDOP value is larger than the threshold value, the positioning accuracy is poor, and the two-dimensional positioning is selected.

  However, the threshold value for determining the magnitude of the PDOP value is fixed in the GPS receiver, and the fixed threshold value is not necessarily the optimum value in a situation where the positioning environment of the moving object changes dynamically. However, it may cause the following problems.

(1) When the threshold for performing 3D positioning is high:
When the satellite arrangement is poor, the positioning accuracy deteriorates and the PDOP value increases. Even if the PDOP value is large, if the threshold is high, three-dimensional positioning is performed, and when driving in urban areas such as high-rise buildings with poor positioning environment, it may be affected by multipath and output abnormal height is there. For example, although the actual height is 50 m above sea level, the output of the GPS receiver may become 1000 m above sea level. As a result, the error in the XY horizontal position becomes large.
(2) When threshold threshold value for performing 3D positioning is low:
When the satellite arrangement is good, the positioning accuracy is good and the PDOP value is small. Even if the PDOP value is small, if the threshold is low, two-dimensional positioning is performed, and if the two-dimensional positioning is performed continuously for a long time when traveling on a course such as a mountain road where the height is likely to change, Since the height stored at the time of three-dimensional positioning is gradually shifted, the XY horizontal position is also shifted to an incorrect position.

  The present invention has been made to solve the above-described conventional problems, and monitors the GPS positioning environment and the movement of the moving body in the height direction to determine whether or not to perform three-dimensional positioning. It is an object of the present invention to provide a position calculation device and a position calculation method that can be determined dynamically.

  The position calculation device according to the present invention can calculate the position of a moving body using GPS positioning by a GPS satellite, compares the PDOP value obtained by the capture status of the GPS satellite with a threshold value, and calculates the PSOP value. Switching means that enables two-dimensional positioning when the value is greater than the threshold value, and enables three-dimensional positioning when the PDOP value is less than or equal to the threshold value, and the threshold value is variable during movement of the moving object. Variable means.

  Preferably, the position calculating device further includes positioning environment determining means for determining whether the GPS positioning environment is good or bad, and the variable means varies the threshold value according to the determination result of the positioning environment determining means. That is, the variable means makes it difficult to switch to three-dimensional positioning by reducing the threshold value when it is determined that the GPS positioning environment is poor.

  Preferably, the position calculation device further includes a height variation determination unit that determines a variation in the height direction of the moving body, and the variable unit varies the threshold value according to the determination result of the height variation determination unit. That is, the variable means facilitates switching to three-dimensional positioning by increasing the threshold value when it is determined that there is a change in the height direction of the moving body.

  Preferably, the variable means prioritizes the determination by the positioning environment determination means over the determination by the height fluctuation determination means, the positioning environment determination means determines that the positioning environment is good, and the height fluctuation determination means determines the height fluctuation. When it is determined that there is, the threshold value is changed.

  The positioning environment determining means determines that the positioning environment is bad when the ratio of the distance traveled by GPS positioning over a certain period and the travel distance of the moving body by self-contained navigation exceeds a predetermined value. In this case, since it is assumed that multipath has occurred, the threshold value is reduced to make it difficult to switch to three-dimensional positioning.

  Preferably, the height variation determination means determines that there is a height variation when the acceleration in the direction of gravity obtained from the output of the acceleration sensor is greater than a predetermined value. The height variation determining means may determine that there is a height variation when the acceleration in the gravitational direction obtained from the GPS speed obtained by GPS positioning is greater than a predetermined value.

  According to the present invention, a position calculation method for calculating a position of a moving body using GPS positioning by a GPS satellite includes a step of determining at least one of a positioning environment quality and a height variation of the moving body; The threshold value is set accordingly, and the PDOP value obtained by the GPS satellite acquisition status is compared with the threshold value. If the PSOP value is larger than the threshold value, two-dimensional positioning is enabled. A step of enabling three-dimensional positioning when the threshold value is not more than the threshold value.

  Furthermore, the position calculation apparatus or position calculation method of the present invention may be executed by a computer program. More preferably, the position calculation device of the present invention can be applied to a navigation device.

  According to the present invention, the GPS positioning environment and fluctuations in the height direction of the moving body are monitored, and the threshold value for determining whether or not the three-dimensional positioning is performed during the movement of the moving body is changed. Compared with the conventional method of fixing the threshold value, the positioning accuracy can be improved and the displacement of the moving body can be prevented.

  The best mode for carrying out the present invention will be described below in detail with reference to the drawings. The position calculation device according to the present invention is preferably used in an in-vehicle navigation device.

  FIG. 1 is a block diagram illustrating a configuration of a position calculation apparatus according to an embodiment of the present invention. The position calculation device 1 includes a GPS receiver 10 that receives a GPS signal transmitted from a GPS satellite, a self-contained navigation sensor 20 that outputs data related to relative azimuth, travel distance, and the like using various sensors attached to a moving body, It is configured to include a position calculation unit 30 that inputs data output from the GPS receiver 10 and the self-contained navigation sensor 20 and calculates the position of the moving body based on the input data, and a memory 40.

The GPS receiver 10 includes an antenna 12 that receives a signal from a GPS satellite, and a receiver 14 that performs processing such as decoding of the GPS signal received by the antenna 12 and outputs the signal to a position calculator. The self-contained navigation sensor 20 includes an angular velocity sensor 22 such as a gyro that detects the rotation angle of the moving body, a velocity sensor 24, and an acceleration sensor 26. The angular velocity sensor 22 outputs the relative orientation θ _gyro of the moving body, the speed sensor 24 outputs the speed S of the moving body, and the acceleration sensor 26 outputs the acceleration A of the moving body.

  The position calculation unit 30 is configured by a microcomputer, for example, and executes position calculation by a program stored in the ROM / RAM. The memory 40 sequentially stores the position information calculated by the position calculation unit 30.

  FIG. 2 shows a functional block diagram of the position calculation unit 30. The position calculation unit 30 includes a PDOP calculation unit 50 that calculates a PDOP value from the geometric arrangement of the captured GPS satellites, a positioning environment determination unit 52 that determines whether the positioning environment of the GPS receiver is good, and a height variation of the moving object. Determination result of the height variation determination unit 54 to determine, the threshold value storage unit 56 that stores a threshold value for determining whether or not to perform three-dimensional positioning, the determination result of the positioning environment determination unit 52 and the height variation determination unit 54 The threshold value setting unit 58 that varies the threshold value based on the threshold value, the threshold value stored in the threshold value storage unit 56 and the PDOP value from the PDOP calculation unit 50 are compared, and the PDOP value exceeds the threshold value. If the PDOP value is below a threshold value, the positioning switching unit 60 outputs a switching signal for switching to three-dimensional positioning, and performs a three-dimensional positioning or a two-dimensional positioning calculation in accordance with the switching signal. Calculate the position of Includes a high storage unit 64 that updates while storing altitude information when positioning operation unit 62, and the three-dimensional positioning is.

  When the receiver acquires four or more GPS satellites, the PDOP calculation unit 50 calculates a PDOP value based on the arrangement of these satellites. If five or more GPS satellites are captured, PDOP values for all captured GPS satellites may be calculated. Alternatively, if three-dimensional positioning is performed by a combination of GPS satellites having the smallest PDOP value from five or more captured GPS satellites, the PDOP value of the smallest GPS satellite combination may be used.

  The threshold value storage unit 56 stores a standard threshold value as an initial value. For example, if the GPS receiver has a city-type directivity, the threshold value is set to 5. On the other hand, if the GPS receiver has a mountain direction directivity, the threshold value is set to 10. Is set. As will be described later, the initially set threshold value is dynamically changed and optimized by monitoring the GPS positioning environment and the height fluctuation of the moving body.

If the switching signal from the positioning switching unit 60 indicates three-dimensional positioning, the positioning calculation unit 62 performs XYZ three-dimensional positioning calculation based on the received signal from the GPS receiver 10. The height (Z) obtained by the three-dimensional positioning updates the height of the altitude storage unit 64. When the switching signal from the positioning switching unit 60 is switched to two-dimensional positioning, the positioning calculation unit 62 performs two-dimensional positioning calculation using the altitude stored in the altitude storage unit 64. The positioning calculation unit 62 also has a relative angle θ _GYRO and a speed S from the self-contained navigation sensor 20 when the GPS receiver 10 cannot capture GPS satellites, or when only less than three GPS satellites can be captured. The position of the moving body can be calculated using the acceleration A. Furthermore, the position calculation unit 30 can also use the positioning by the GPS receiver 10 and the self-contained navigation sensor 20 as necessary.

  Next, the operation of the position calculation unit in the present embodiment will be described with reference to the flowchart of FIG. When positioning is started by the GPS receiver 10, the positioning environment determination unit 52 first determines whether the GPS positioning environment is good or bad (step S101). The positioning environment determination unit 52 determines that the positioning environment is bad when the following conditions are satisfied.

(1) When the ratio between the position jump distance (movement trajectory) between two GPS positions for a fixed time and the travel distance by the autonomous navigation sensor exceeds a threshold, it is determined that the positioning environment is bad. For example, when the ratio of both exceeds 5 times, it is determined that the positioning environment is bad. When an opening of about 5 times occurs, it can be considered that a large variation in the locus of the GPS position occurs due to the influence of multipath or the like. When the sampling period of GPS positioning is 1 second, the ratio of the movement locus of the GPS position for about 10 seconds and the traveling distance for 10 seconds is calculated. The travel distance by the self-contained navigation sensor is calculated from the speed S from the vehicle speed sensor 24.

(2) In addition to the above travel distance ratio, for example, using a camera image attached to a moving body, when it can be recognized that there is a high-rise building in front of or around the moving body, it is determined that the positioning environment is bad. May be. For example, if the imaging data around the moving object is subjected to image processing, and there is a high-rise building having a certain height, for example, 50 meters or more, it is determined that a multipath effect may occur, and the positioning environment is determined to be bad. You may enable it to change suitably the height and number of high-rise buildings according to a situation.

(3) Furthermore, when the position calculation device is applied to a navigation device, if the map data used in the navigation device is used and it can be recognized that there is a high-rise building around the moving body, the positioning environment is bad. Can be determined. The map data includes building house data in addition to road (link) data. If there is a high-rise building of, for example, 50 meters or more around the moving object, the positioning environment is poor due to the effects of multipath. You may judge.

  When the positioning environment determining unit 52 determines that the positioning environment is bad, the threshold setting unit 58 changes the threshold value so that the threshold value stored in the threshold value storage unit 56 becomes smaller (step S102). When the threshold value is small, three-dimensional positioning is difficult to be performed.

  On the other hand, when the positioning environment determining unit 52 determines that the positioning environment is good (step S101), the height variation determining unit 54 determines whether or not there is a variation in the height of the moving object (step S103). . The height variation determination unit 54 determines that there is a variation in the height of the moving object when the following conditions are satisfied.

(1) Using the output of the acceleration sensor 28 by the autonomous navigation sensor 20, when the static acceleration or the acceleration in the direction of gravity exceeds a threshold value, it is determined that there is a height variation.

  A method for detecting the height fluctuation using the acceleration sensor 28 will be described below. The acceleration generated for the moving body is roughly divided into two. One is acceleration generated by acceleration / deceleration during the movement of the moving body, which is called dynamic acceleration. The other is acceleration in the gravitational direction that occurs when a moving body is present at an inclined location, which is called static acceleration.

  When the acceleration sensor 28 is attached with the longitudinal direction of the moving body as an axis, as shown in FIG. 4, the acceleration A, which is a combination of these two static accelerations g and dynamic acceleration k due to acceleration / deceleration of the moving body, is an acceleration. Detected as sensor output. In order to detect the height fluctuation by the acceleration sensor, it is necessary to extract only the static acceleration component generated by the inclination from the synthesized acceleration A. Therefore, the dynamic acceleration due to acceleration / deceleration of the moving body is calculated from the current and previous GPS speed difference ΔV = (V (t) −V (t−1)), and the GPS speed difference ΔV is subtracted from the acceleration A. The static acceleration g can be obtained (g = A−ΔV).

  Preferably, when the output of the acceleration sensor 28 is sampled at 40 Hz (40 times / second) and the average acceleration of the static acceleration for 3 seconds (120 times) exceeds about 0.1 G, there is a height variation. judge. In addition to the above, the static acceleration may use an average value over a relatively long time or an average value over a certain travel distance.

(2) There are the following two methods for detecting height fluctuation using the GPS speed.
(A) When using GPS speed of XY direction composition:
As shown in FIG. 5A, the dynamic acceleration k due to acceleration / deceleration of the moving body is calculated from the current and previous GPS speed difference ΔV = (V (t) −V (t−1)). The longitudinal acceleration A1 of the moving object is calculated from the difference between the current and previous GPS speeds in the XY combination (Vgpsxy (t) −Vgpsxy (t−1)). The static acceleration g is obtained by subtracting the longitudinal acceleration A1 of the moving body from the dynamic acceleration k.
(B) When using GPS speed in the Z direction:
As shown in FIG. 5B, the height variation of the moving body can be detected by directly using the Z direction (Vgpsz) of the GPS speed.

  The GPS signal is sampled at 1 Hz (once / second), and if the GPS speed in the Z direction (Z direction) for 3 seconds (= 3 times) exceeds about 1 m / s, it is determined that there is a height variation. A certain number of samples is required to remove the noise component. As the GPS speed (Z direction), in addition to using a value for each time, an average value for a certain length of time or an average value for a fixed travel distance may be used.

(3) In addition to using an acceleration sensor and GPS speed, for example, using a camera image attached to a moving body, when it can be recognized that there is a height around the moving body, it is determined that there is a height variation. May be.
(4) Furthermore, when the position calculation device is applied to the navigation device, it is determined that there is a height fluctuation when the map data used in the navigation device is used and the periphery is recognized as a mountainous area. Also good. In addition, since map data can include height information above sea level in a mesh shape (lattice shape), when a guide route is set for a mobile object, refer to the height information in the traveling direction, If the difference from the current height is greater than or equal to a certain level, it may be determined that there is a height variation. Alternatively, if the link data included in the map data includes height information, the information may be referred to.

  When the height variation determining unit 54 determines that there is a height variation (step S103), the threshold value setting unit 58 sets the threshold value so that the threshold value stored in the threshold value storage unit 56 increases. Update (step S104). This facilitates three-dimensional positioning.

  When it is determined that the positioning environment is good and there is no height fluctuation, the threshold value stored in the threshold value storage unit 56 is maintained as it is (step S105).

  According to the position calculation apparatus of the present embodiment, the positioning environment of the GPS satellite and the height fluctuation of the moving body are monitored, and if the positioning environment deteriorates, the threshold value to be compared with the PDOP value is decreased, and the height of the moving body is increased. If a fluctuation occurs, the threshold value is increased and the threshold value is dynamically changed, so that two-dimensional positioning or three-dimensional positioning can be performed in an optimum state, and more accurate position calculation is performed. Can do.

  FIG. 6 is a block diagram when the position calculation apparatus according to the present embodiment is applied to a navigation apparatus. The navigation device 100 includes a GPS receiver 10 that receives radio waves from the GPS satellite described above, a self-contained navigation sensor 20, a VICS / FM multiplex receiver 116 that receives current road traffic information outside the vehicle via an antenna 114, and an operation panel. 122, user input interface 120 including voice input unit 124 and remote control operation unit 126, storage device 130 having a large-capacity hard disk, data communication control unit 132 enabling wireless or wired data communication, and output of sound from speaker 142 A display control unit 150 that displays an image on the display 152, a program memory 160 that stores various programs, a data memory 170 that temporarily stores data, and a control unit 180. The control unit 180 includes operations such as threshold value setting and 3D / 2D position calculation of the position calculation unit 30 shown in FIG.

  The storage device 130 stores a program and a database for executing various navigation functions. The database includes map data and facility data, and the map data includes road link data and intersection data. The program memory 160 loads a program stored in the storage device 130, and includes a program for determining a threshold value to be compared with the PDOP value, a program for performing position calculation by two-dimensional or three-dimensional positioning, A program for map matching the vehicle position on map data, a program for searching for an optimum route to the destination, and the like are stored. The data memory 170 stores map data read from the storage device 130, positioning data from the GPS receiver 10 and the self-contained navigation sensor 20, and the like.

  When the position calculation device is applied to a navigation device, the navigation function can be used to determine whether the GPS positioning environment is good or bad. In the navigation device, when a route to the destination is set and the vehicle is guided along the route, the control unit 180 refers to the link data in which the route from the departure point to the destination is set, and the height difference Is calculated. For example, as shown in FIG. 7A, when the height difference of the link L from the start point S to the destination G is obtained, the height Z1 is higher than Z0 with reference to the height Z0 of the start point S1. It is determined that there is a height variation in the high range R1 and the range R2 lower than the Z1 by the height Z2. Then, the control unit 180 changes the threshold value when the vehicle position enters the region R1 and the region R2.

  In addition, in the map data M including the route from the start point S to the goal G, as shown in FIG. 7B, when the height information is set in the mesh area, the control unit 180 As in the case of FIG. 7 (a), when the start point S is used as a reference, areas R1 and R2 having a certain height difference are recognized in advance, and the vehicle enters the areas R1 and R2. The threshold value may be varied.

  Furthermore, map data can also be used for the quality determination of the GPS positioning environment. As shown in FIG. 8, when the route from the starting point S to the destination G is set, the high-rise building B having a certain height is referred to by referring to the link data and the house data existing along the road. If there is a certain number, the control unit 180 may recognize that the positioning environment of the region R3 including the region is bad and the vehicle enters the region R3, and the control unit 180 may decrease the threshold value.

  As described above, by applying the position calculation device of the present embodiment to the navigation device, it is possible to display the vehicle position information with high accuracy on the map data and to perform the guidance guidance at the accurate timing of the vehicle position. . Further, when the map matching process is performed, if the calculated position accuracy is high, it is possible to prevent the vehicle position from matching the wrong road.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific embodiments according to the present invention, and various modifications can be made within the scope of the gist of the present invention described in the claims. Deformation / change is possible.

  The position calculation device according to the present invention is used in a navigation device or a navigation system for a moving body such as a vehicle.

It is a block diagram which shows the structure of the position calculation apparatus which concerns on the Example of this invention. It is a block diagram which shows the functional structure of the position calculation part of FIG. It is a figure which shows the operation | movement flow of the position calculation apparatus which concerns on the Example of this invention. It is a figure explaining the method of detecting the height fluctuation | variation of a moving body with an acceleration sensor. It is a figure explaining the method of detecting the height fluctuation | variation of a moving body by GPS speed. It is a block diagram which shows the structure of the navigation apparatus to which the position calculation apparatus of a present Example is applied. It is a figure explaining the example of height variation determination when the position calculation apparatus of a present Example is applied to a navigation apparatus. It is a figure explaining the example of GPS positioning environment determination when the position calculation apparatus of a present Example is applied to a navigation apparatus.

Explanation of symbols

1: Position calculation device 10: GPS receiver 12: Antenna 14: Reception unit 20: Autonomous navigation sensor 22: Angle sensor 24: Speed sensor 26: Acceleration sensor 30: Position calculation unit 40: Memory 50: PDOP calculation unit 52: Positioning Environment determination unit 54: Height variation determination unit 56: Threshold value storage unit 58: Threshold value setting unit 60: Positioning switching unit 62: 2D / 3D positioning calculation unit 64: Altitude storage unit

Claims (19)

A position calculation device that calculates the position of a moving object using GPS positioning by a GPS satellite,
The PDOP value obtained according to the GPS satellite acquisition status is compared with the threshold value. If the PDOP value is larger than the threshold value, two-dimensional positioning is possible. If the PDOP value is less than the threshold value, three-dimensional positioning is performed. Switching means to enable;
Variable means for varying the threshold during movement of the moving body;
A height variation determination means for determining that there is a variation in the height direction when the difference in acceleration in the gravitational direction of the moving body over a certain period is equal to or greater than a threshold value ,
The variable means varies the threshold according to the determination result of the height variation determination means.
Position calculation device. A position calculation device that calculates the position of a moving object using GPS positioning by a GPS satellite,
The PDOP value obtained according to the GPS satellite acquisition status is compared with the threshold value. If the PDOP value is larger than the threshold value, two-dimensional positioning is possible. If the PDOP value is less than the threshold value, three-dimensional positioning is performed. Switching means to enable;
Variable means for varying the threshold during movement of the moving body;
Using map data including height information, when the moving body is located in an area where the difference between the current height information of the moving body and the height information in the direction of travel is greater than or equal to the threshold value , A height variation judging means for judging that there is a variation,
The variable means varies the threshold according to the determination result of the height variation determination means.
Position calculation device. Position calculating unit further includes a positioning environment determination means for determining the quality of the GPS positioning environment, the varying means varies the threshold in accordance with the determination result of the positioning environment determination means, to claim 1 or 2 The position calculation device described. The position calculating device according to claim 3 , wherein the variable means reduces the threshold value when it is determined that the GPS positioning environment is poor. The variable means, when it is determined that there is variation in the height direction of the moving body, to increase the threshold, the position calculating apparatus according to claim 1 or 2. The variable means prioritizes the determination by the positioning environment determination means over the determination by the height fluctuation determination means, the positioning environment determination means determines that the positioning environment is good, and the height fluctuation determination means causes height fluctuation. The position calculation device according to claim 1 , wherein when it is determined that the threshold value is present, the threshold value is varied. The positioning environment determination means, when the ratio of the travel distance of the moving body by the moving distance and self-contained navigation by the GPS positioning at the predetermined period exceeds a predetermined value, determines that the positioning environment is poor, either claims 3 to 6 1 The position calculation device described in one. The positioning environment determining means includes an imaging camera that images the surroundings of the moving body, and when it is recognized from the imaging data captured by the imaging camera that there is a high-rise building with a predetermined height, the positioning environment is poor. The position calculation apparatus according to claim 3 , wherein the position calculation apparatus determines the position. The positioning environment determination means utilizing the map data, when it is recognized around the mobile body is high-rise building of the predetermined height, it is determined that the positioning environment is poor, either claims 3 to 6 1 The position calculation device described in one. Said height variation determining means, when the acceleration in the direction of gravity obtained from the GPS velocity by the acceleration sensor or GPS positioning is larger than a predetermined value, it is determined that there is variation in the height direction, any one of claims 1 to 6 1 The position calculation device described in one. A position calculation method for calculating a position of a moving object using GPS positioning by a GPS satellite,
Determining that there is a variation in the height direction when the difference in acceleration in the gravitational direction of the moving body over a certain period is greater than or equal to a threshold value ;
Setting a threshold according to the determination result of the variation in the height direction;
The PDOP value obtained according to the acquisition status of the GPS satellite is compared with the threshold value. When the PDOP value is larger than the threshold value, two-dimensional positioning is possible. When the PDOP value is less than the threshold value, 3 is used. Steps enabling dimension positioning;
A position calculation method comprising: A position calculation method for calculating a position of a moving object using GPS positioning by a GPS satellite,
Using map data including height information, when the moving body is located in an area where the difference between the current height information of the moving body and the height information in the direction of travel is greater than or equal to the threshold value , Determining that there is a change;
Setting a threshold according to the determination result of the variation in the height direction;
The PDOP value obtained according to the acquisition status of the GPS satellite is compared with the threshold value. When the PDOP value is larger than the threshold value, two-dimensional positioning is possible. When the PDOP value is less than the threshold value, 3 is used. Steps enabling dimension positioning;
A position calculation method comprising: The position calculation method further includes a step of determining whether the GPS positioning environment is good or bad, and the step of setting the threshold value prioritizes the determination of whether the GPS positioning environment is good or bad over the determination of the height variation of the moving object. The position calculation method according to claim 11, wherein the position calculation method is performed. The position calculation method according to claim 13 , wherein a threshold value when it is determined that the positioning environment is bad is smaller than a threshold value when it is determined that there is a height variation. When the ratio of the travel distance of the moving body by the moving distance and self-contained navigation obtained by the GPS positioning at the predetermined period exceeds a predetermined value, it determines that the positioning environment is poor, reduce the threshold to claim 13 The position calculation method described. The position according to claim 12 , wherein when the acceleration in the gravitational direction of the moving body obtained from a GPS speed or acceleration sensor exceeds a predetermined value, it is determined that there is a fluctuation in the height of the moving body and the threshold value is increased. Calculation method. A position calculation program executed by a position calculation device that calculates the position of a moving object using GPS positioning by a GPS satellite,
Determining that there is a variation in the height direction when the difference in acceleration in the gravitational direction of the moving body over a certain period is greater than or equal to a threshold value ;
Setting a threshold according to the determination result of the variation in the height direction;
The PDOP value obtained according to the acquisition status of the GPS satellite is compared with the threshold value. When the PDOP value is larger than the threshold value, two-dimensional positioning is enabled. When the PDOP value is less than the threshold value, A step for enabling three-dimensional positioning;
A position calculation program. A position calculation program executed by a position calculation device that calculates the position of a moving object using GPS positioning by a GPS satellite,
Using map data including height information, when the moving body is located in an area where the difference between the current height information of the moving body and the height information in the direction of travel is greater than or equal to the threshold value , Determining that there is a change;
Setting a threshold according to the determination result of the variation in the height direction;
The PDOP value obtained according to the acquisition status of the GPS satellite is compared with the threshold value. When the PDOP value is larger than the threshold value, two-dimensional positioning is enabled. When the PDOP value is less than the threshold value, A step for enabling three-dimensional positioning;
A position calculation program. A position calculation device according to any one of claims 1 to 10 ,
Display means for displaying the position information of the moving object output by the position calculating device on a road map;
A navigation device.

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