JP4736780B2 - Positioning device, positioning method, positioning program. - Google Patents

Description

  The present invention relates to a positioning system that uses vehicle information and radio waves from a positioning satellite, a positioning device, a positioning device control method, a positioning device control program, and a computer-readable recording medium that records the positioning device control program. is there.

Conventionally, a positioning system that measures the current position of a GPS receiver by using, for example, a GPS (Global Positioning System) that is a satellite navigation system has been put into practical use.
This GPS receiver uses radio waves from GPS satellites (hereinafter referred to as satellite radio waves) based on navigation messages (including approximate satellite orbit information: almanac, precision satellite orbit information: ephemeris, etc.) indicating the orbits of GPS satellites. A C / A (Clear and Acquisition or Coarse and Access) code, which is one of pseudo noise codes (hereinafter referred to as PN (Psuedo random noise code) codes), is received. The C / A code is a code that is the basis of positioning.
The GPS receiver specifies from which GPS satellite the C / A code is transmitted, and based on the transmission time and reception time of the C / A code, the GPS satellite and the GPS receiver The distance (pseudo distance) is calculated. The GPS receiver measures the position of the GPS receiver based on the pseudoranges of three or more GPS satellites and the position of each GPS satellite on the satellite orbit (Japanese Patent Laid-Open No. Hei 10-2010). No. 339772).
However, positioning using GPS (hereinafter referred to as “GPS positioning”) may have a large positioning error due to, for example, the case where the radio wave intensity of the received satellite radio wave is weak.
On the other hand, when the GPS receiver is used in a car navigation device that displays the position of an automobile, autonomous navigation positioning is used in combination to correct the GPS positioning error (for example, Patent Document 1). ).
JP 2003-134007 A

  However, in the above-described technology, as means for transmitting vehicle information (wheel rotation signal and gyro signal) for autonomous navigation positioning from the in-vehicle device on the transmission side to the in-vehicle device (car navigation device) on the reception side, It is necessary to use wiring to supply the power. For this reason, the position of the car navigation device is limited to a position where wiring is possible, and in any position (such as a passenger seat or a rear seat) in a car, the car navigation can be performed in any user posture (such as a reclining angle of the seat). There is a problem that the device may not be used.

  Accordingly, the present invention provides a positioning system, positioning device, and positioning device control method using vehicle information and satellite radio waves, which can be used at any position in a car and at any posture of a user. It is an object of the present invention to provide a positioning device control program and a computer-readable recording medium in which the positioning device control program is recorded.

  According to a first aspect of the present invention, there is provided a positioning system comprising: a vehicle information providing device that is mounted on a vehicle and transmits vehicle information; and a positioning device that receives the vehicle information in the vehicle. The vehicle information providing device includes vehicle speed information acquisition means for acquiring vehicle speed information indicating the speed of the vehicle, direction information acquisition means for acquiring direction information indicating the moving direction of the vehicle, the vehicle speed information and the direction information. Wireless transmission means for wirelessly transmitting the vehicle information comprising: the positioning device includes: wireless reception means for wirelessly receiving the vehicle information from the vehicle information providing device; and Based on speed vector information generating means for generating speed vector information indicating a speed vector, previous output position information indicating a previous output position which is a position output last time, and the speed vector information. Based on the estimated position information generating means for generating estimated position information indicating the current estimated position of the vehicle, satellite radio wave receiving means for receiving a satellite radio wave from the positioning satellite, and using the satellite radio wave Satellite positioning position information generating means for generating satellite positioning position information indicating the positioning position, average position information generating means for generating average position information indicating an average position of the estimated position and the positioning position, and the average position information A position output unit that outputs the average position information when the average position information is generated, and outputs the estimated position information when the average position information is not generated. Achieved.

According to the configuration of the first aspect of the invention, since the vehicle information providing apparatus includes the wireless transmission unit, the vehicle information can be transmitted wirelessly.
Since the positioning device has the wireless receiving means, the vehicle information can be received wirelessly from the vehicle information providing device. This means that the position of the positioning device is not limited by wiring.
For this reason, the user of the positioning device can use the positioning device at an arbitrary position in the automobile and at an arbitrary posture of the user.

Furthermore, the positioning device can generate the speed vector information by the speed vector information generating unit, and can generate the estimated position information by the estimated position information generating unit.
Further, since the positioning device has the satellite positioning position information generating means, the satellite positioning position information can be generated.
And since the said positioning apparatus has the said average position information production | generation means, it can produce | generate the said average position information. This means, for example, that the positioning position information can be corrected with the estimated position information when the satellite radio wave reception state is good and the positioning position information can be generated.
And since the said positioning apparatus has the said position output means, it can output the said average position information.
In addition, for example, if the positioning device cannot generate the positioning position information because the reception state of the satellite radio wave is poor and, as a result, cannot generate the average position information, the estimated position Information can be output.
Thereby, the positioning device can output either the average position information or the estimated position information according to the reception state of the satellite radio wave.

  According to a second aspect of the present invention, there is provided a positioning device that receives vehicle information from a vehicle information providing device mounted on a vehicle, the vehicle information providing device including vehicle speed information indicating the speed of the vehicle; Wireless receiving means for wirelessly receiving the vehicle information including direction information indicating the moving direction of the vehicle, speed vector information generating means for generating speed vector information indicating a speed vector based on the vehicle information, and previous output An estimated position information generating means for generating estimated position information indicating the current estimated position of the vehicle based on the previous output position information indicating the previous output position and the velocity vector information, and a radio wave from a positioning satellite Satellite radio wave receiving means for receiving satellite radio waves, satellite positioning position information generating means for generating satellite positioning position information indicating a positioning position using the satellite radio waves, and the estimation Average position information generating means for generating average position information indicating an average position between the position and the positioning position; and if the average position information is generated, the average position information is output, and the average position information is generated. If not, the positioning device includes position output means for outputting the estimated position information.

According to the structure of 2nd invention, since the said positioning apparatus has the said radio | wireless receiving means, it can receive the said vehicle information wirelessly from the said vehicle information provision apparatus. This means that the position of the positioning device is not limited by wiring.
For this reason, the user of the positioning device can use the positioning device at an arbitrary position in the automobile and at an arbitrary posture of the user.
And since the said positioning apparatus has the said average position information production | generation means, it can produce | generate the said average position information. This means, for example, that the positioning position information can be corrected with the estimated position information when the satellite radio wave reception state is good and the positioning position information can be generated.
And since the said positioning apparatus has the said position output means, it can output the said average position information.
In addition, for example, if the positioning device cannot generate the positioning position information because the reception state of the satellite radio wave is poor and, as a result, cannot generate the average position information, the estimated position Information can be output.
Thereby, the positioning device can output either the average position information or the estimated position information according to the reception state of the satellite radio wave.

  According to a third invention, in the configuration of the second invention, vehicle speed information evaluation means for determining whether or not the vehicle is stopped based on the vehicle speed information, and the vehicle speed information evaluation means is configured so that the vehicle is stopped. If it is determined that there is, the position output means is configured to output the previous output position information.

If the vehicle is stopped, the position of the vehicle should not have moved. For this reason, it is not necessary to newly calculate and output the current position.
In this regard, according to the configuration of the third aspect of the invention, the positioning device can output the previous output position information when the vehicle is stopped.
As a result, the positioning device can quickly output an appropriate position while the vehicle is stopped. Further, since the positioning device does not newly calculate the current position, power consumption can be reduced.

  According to a fourth aspect of the present invention, in any one of the second and third aspects, the satellite radio wave receiving means uses the velocity vector information to calculate a Doppler shift of the satellite radio wave. It is a positioning device characterized by becoming.

In order to receive the satellite radio wave earlier, it is necessary to calculate the reception frequency of the satellite radio wave by calculating the Doppler shift due to the relative movement of the positioning satellite and the positioning device. The higher the accuracy of this Doppler shift, the higher the accuracy of the reception frequency of the satellite radio wave.
The movement state of the positioning satellite can be calculated from satellite orbit information of the positioning satellite. Here, for example, by calculating not only the approximate position of the positioning device and the moving state of the positioning satellite but also the moving state of the positioning device and calculating the Doppler shift, the Doppler shift can be accurately calculated. can do.
In this regard, according to the configuration of the fourth aspect of the invention, the satellite radio wave receiving means is configured to use the velocity vector information for calculating the Doppler shift of the satellite radio wave. Can be calculated with high accuracy. For this reason, the positioning device can quickly receive the satellite radio wave.

  According to the fifth aspect of the present invention, the positioning device includes vehicle information including vehicle speed information indicating the speed of the vehicle and direction information indicating the moving direction of the vehicle from a vehicle information providing device mounted on the vehicle. A wireless reception step of receiving wirelessly, a speed vector information generation step in which the positioning device generates speed vector information indicating a speed vector based on the vehicle information, and a previous time at which the positioning device has output the previous time An estimated position information generating step for generating estimated position information indicating the current estimated position of the vehicle based on the previous output position information indicating the output position and the velocity vector information; and the positioning device includes radio waves from a positioning satellite. A satellite radio wave receiving step for receiving a satellite radio wave, and a satellite positioning in which the positioning device generates satellite positioning position information indicating a positioning position using the satellite radio wave A position information generation step, an average position information generation step in which the positioning device generates average position information indicating an average position of the estimated position and the positioning position, and the positioning device generates the average position information. A position output step that outputs the average position information when the average position information is not generated and outputs the estimated position information when the average position information is not generated. Is done.

According to the configuration of the fifth invention, similarly to the configuration of the second invention, the user of the positioning device can use the positioning device at an arbitrary position in the automobile and at an arbitrary posture of the user. Can be used.
In addition, the positioning device can output either the average position information or the estimated position information according to the reception state of the satellite radio wave.

  According to the sixth aspect of the present invention, in the computer according to the sixth aspect, the positioning device includes vehicle speed information indicating the speed of the vehicle and direction information indicating the moving direction of the vehicle from a vehicle information providing device mounted on the vehicle. A wireless reception step of receiving vehicle information wirelessly; a speed vector information generating step in which the positioning device generates speed vector information indicating a speed vector based on the vehicle information; and a position output by the positioning device last time An estimated position information generating step for generating estimated position information indicating the current estimated position of the vehicle based on the previous output position information indicating the previous output position and the velocity vector information; and the positioning device includes a positioning satellite A satellite radio wave reception step for receiving a satellite radio wave from the satellite, and the positioning device uses the satellite radio wave to obtain satellite positioning position information indicating a positioning position. A satellite positioning position information generation step, an average position information generation step in which the positioning device generates average position information indicating an average position of the estimated position and the positioning position, and the positioning device includes the average position information. And a position output step of outputting the estimated position information when the average position information is not generated, and executing the position output step. Achieved by the control program.

  According to the seventh aspect of the present invention, in the computer according to the seventh aspect, the positioning device includes vehicle speed information indicating the speed of the vehicle and direction information indicating the moving direction of the vehicle from a vehicle information providing device mounted on the vehicle. A wireless reception step of receiving vehicle information wirelessly; a speed vector information generating step in which the positioning device generates speed vector information indicating a speed vector based on the vehicle information; and a position output by the positioning device last time An estimated position information generating step for generating estimated position information indicating the current estimated position of the vehicle based on the previous output position information indicating the previous output position and the velocity vector information; and the positioning device includes a positioning satellite A satellite radio wave reception step for receiving a satellite radio wave from the satellite, and the positioning device uses the satellite radio wave to obtain satellite positioning position information indicating a positioning position. A satellite positioning position information generation step, an average position information generation step in which the positioning device generates average position information indicating an average position of the estimated position and the positioning position, and the positioning device includes the average position information. And a position output step of outputting the estimated position information when the average position information is not generated, and executing the position output step. This is achieved by a computer-readable recording medium on which the control program is recorded.

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
The embodiments described below are preferred specific examples of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these embodiments.

FIG. 1 is a schematic diagram showing a position calculation system 10 according to an embodiment of the present invention.
The position calculation system 10 is an example of a positioning system.
As shown in FIG. 1, a vehicle-side information transmission device 20 (hereinafter referred to as “device 20”) is mounted on the automobile 15. The device 20 can transmit vehicle information including speed information indicating the speed of the automobile 15 and movement direction information indicating the movement direction of the automobile 15. The device 20 is an example of a vehicle information providing device.
The automobile 15 is equipped with a mobile terminal 50 (hereinafter referred to as “terminal 50”). The terminal 50 can receive vehicle information from the device 20 in the vehicle 15.
As shown in FIG. 1, the terminal 50 can receive radio waves S1, S2, S3 and S4 from GPS satellites 12a, 12b, 12c and 12d which are positioning satellites. The radio wave S1 and the like are examples of satellite radio waves. The terminal 50 can perform positioning using the radio wave S1 or the like. This terminal 50 is an example of a positioning device. Positioning based on the radio wave S1 or the like is called GPS positioning.
Various codes (codes) are carried on the radio wave S1 and the like. One of them is a C / A code. This C / A code is composed of 1,023 chips. The C / A code is a signal having a bit rate of 1.023 Mbps and a bit length of 1,023 bits (= 1 msec). This C / A code is an example of a positioning basic code.

For example, the terminal 50 can receive C / A codes from three or more different GPS satellites 12a and the like, and can determine the current position. The terminal 50 is mounted on the automobile 15 so that the position of the automobile 15 can be measured and displayed.
The terminal 50 first identifies which GPS satellite the received C / A code corresponds to. Next, terminal 50 calculates the phase of the received C / A code (hereinafter referred to as “code phase”) by correlation processing. Subsequently, terminal 50 uses the code phase to calculate the delay time of the C / A code, and further calculates the distance between each GPS satellite 12a and the like and terminal 20 (hereinafter referred to as a pseudorange). . Subsequently, the current position is calculated based on the position of each GPS satellite 12a or the like on the satellite orbit and the above-described pseudo distance.
However, when the radio wave intensity of the radio wave S1 or the like is weak or when the radio wave S1 is received as an indirect wave (multipath) instead of a direct wave, an error in the positioning result based on the radio wave S1 or the like becomes large.
For this reason, the terminal 50 is configured to receive vehicle information indicating the moving speed and moving direction of the vehicle from the vehicle 15 side and correct the positioning result of GPS positioning.
Moreover, the terminal 50 is configured so that the position in the automobile 15 is not limited as described below. Further, the user of the terminal 50 can use the terminal 50 in any posture.

The terminal 50 is, for example, a car navigation device, but is not limited to this. For example, the terminal 50 may be a mobile phone, a PHS (Personal Handy-phone System), a PDA (Personal Digital Assistance _), or the like.
Further, the number of GPS satellites 12a and the like is not limited to four, but may be three or five or more.

(Main hardware configuration of the device 20)
FIG. 2 is a schematic diagram showing the main hardware configuration of the apparatus 20.
As shown in FIG. 2, the apparatus 20 has a computer, and the computer has a bus 22. A CPU (Central Processing Unit) 24, a storage device 26, and the like are connected to the bus 22. The storage device 26 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), or the like.
In addition, a power supply device 28, an input device 30, and a vehicle-side short-range wireless communication device 32 (hereinafter referred to as “transmitting device 32”) are connected to the bus 22. The transmission device 32 is a short-range wireless communication device capable of transmitting a radio wave to a range within the vehicle 15, and uses, for example, Bluetooth (registered trademark).
A vehicle speed sensor 34 is connected to the bus 22. The vehicle speed sensor 34 detects the number of rotations per unit time of the rotation shaft of the wheel of the automobile 15 and can convert the number of rotations into a speed.
A gyro 36 is connected to the bus 22. The gyro 36 can detect the moving direction of the automobile 15.

(Main hardware configuration of terminal 50)
FIG. 3 is a schematic diagram showing a main hardware configuration of the terminal 50.
As illustrated in FIG. 3, the terminal 50 includes a computer, and the computer includes a bus 52. Connected to the bus 52 are a CPU 54, a storage device 56, a power supply device 58, an input device 60, and a terminal-side short-range wireless communication device 62 (hereinafter referred to as “receiving device 62”). The receiving device 62 is a short-range wireless communication device that can receive wireless radio waves in a range within the vehicle 15, and uses, for example, Bluetooth.
The bus 52 is connected to a GPS device 64 for receiving radio waves S1 and the like, a display device 66 for displaying various information including the position of the positioning device 50, and a clock 68.

(About structures related to reception of radio waves of terminal 50)
FIG. 4 is a schematic diagram illustrating a structure and the like related to reception of radio waves by the terminal 50.
As shown in FIG. 4, the transmission device 32 of the device 20 is connected to a vehicle speed sensor 34 and a gyro 36. The transmission device 32 can transmit, for example, 2.4 GHz communication radio waves on which vehicle information including vehicle speed information and movement direction information is placed.
The receiving device 62 of the terminal 50 receives communication radio waves from the transmitting device 32 of the device 20 through the antenna 62a. Then, the communication radio wave is down-converted by the RF 62b and further converted into a digital signal. In BB62c, vehicle information is extracted from a digital signal, and vehicle information is transmitted in the terminal 50 through I / F62f which is a serial interface. The receiving device 62 includes a CPU 62d and a memory 62e, and controls the operation of the receiving device 62.
The GPS device 64 of the terminal 50 receives, for example, a 1.5 GHz radio wave S1 or the like from the GPS satellite 12a or the like by the antenna 64a. Then, the radio wave S1 and the like are down-converted by the RF 64b and further converted into a digital signal. The BB 64c performs correlation processing between the C / A code such as the radio wave S1 and the replica C / A code generated by the BB 64c, and transmits the correlation result into the terminal 50 through the I / F 64f that is a serial interface. The GPS device 64 has a CPU 64d and a memory 64e, and controls the operation of the GPS device 64.

(Main software configuration of the device 20)
FIG. 5 is a schematic diagram showing a main software configuration of the apparatus 20.
As shown in FIG. 5, the device 20 includes a control unit 100 that controls each unit, a vehicle speed sensor unit 102 that corresponds to the vehicle speed sensor 34 in FIG. 2, a direction sensor unit 104 that corresponds to the gyroscope 36, and a communication that corresponds to the transmission device 32. Unit 106, a first storage unit 110 for storing various programs, and a second storage unit 150 for storing various types of information.

The device 20 is activated by a control device (not shown) of the vehicle 15 body when the ignition key of the vehicle 15 is inserted.
As illustrated in FIG. 5, the device 50 stores a vehicle speed information acquisition program 112 in the first storage unit 110. The vehicle speed information acquisition program 112 is a program for the control unit 100 to acquire vehicle speed information 154 indicating the speed of the vehicle 15 via the vehicle speed sensor unit 102.
The vehicle speed information 154 is an example of vehicle speed information. The vehicle speed information acquisition program 112 and the control unit 100 are examples of vehicle speed information acquisition means.

FIG. 6 is a diagram illustrating an example of the vehicle speed information 154.
As shown in FIG. 6, the vehicle speed information 154 is information indicating, for example, the time and the vehicle speed in a time interval of 1 second (s).
The control unit 100 stores the acquired vehicle speed information 154 in the second storage unit 150.

  As illustrated in FIG. 5, the apparatus 20 stores a moving direction information acquisition program 114 in the first storage unit 110. The movement direction information acquisition program 114 is a program for the control unit 100 to acquire movement direction information 156 indicating the movement direction of the vehicle 15 via the direction sensor unit 104. The movement direction information 156 is an example of direction information. The movement direction information acquisition program 114 and the control unit 100 are examples of direction information acquisition means.

FIG. 7 is a diagram illustrating an example of the movement direction information 156.
As illustrated in FIG. 7, the movement direction information 156 is information indicating, for example, the time and direction in a time interval of 1 second (s) in association with each other. In the movement direction information 156, the movement direction is indicated by an azimuth. As shown in FIG. 7, this azimuth is indicated by an angle of 360 degrees, where north (N) is 0 degrees and south (S) is 180 degrees.
In the example of FIG. 7, the azimuth at times t0 + 1 to t0 + 3 is 80 degrees, and the azimuth at times t0 + 4 to t0 + 6 is 85 degrees.
The control unit 100 stores the acquired movement direction information 156 in the second storage unit 150.

The vehicle speed information 154 and the moving direction information 156 described above are generated at the same timing. Specifically, as shown in FIG. 7, the vehicle speed information 154 and the moving direction information 156 are generated synchronously so that the vehicle speed and direction are measured at time t0 + 1 and the vehicle speed and direction are measured at time t0 + 2. The
As shown in FIG. 5, the vehicle information 152 includes vehicle speed information 154 and movement direction information 156.

  As illustrated in FIG. 5, the apparatus 20 stores a vehicle information transmission program 116 in the first storage unit 110. The vehicle information transmission program 116 is a program for the control unit 100 to wirelessly transmit the vehicle information 152 via the communication unit 106. That is, the vehicle information transmission program 116, the control unit 100, and the communication unit 106 are examples of wireless transmission means.

(Main software configuration of terminal 50)
FIG. 8 is a schematic diagram showing a main software configuration of the terminal 50.
As shown in FIG. 8, the terminal 50 includes a terminal control unit 200 that controls each unit, a communication unit 202 that corresponds to the receiving device 62 in FIG. 3, a GPS unit 204 that corresponds to the GPS device 64, and a terminal that stores various programs. 1 memory | storage part 210 and the terminal 2nd memory | storage part 250 which stores various information.

As illustrated in FIG. 8, the terminal 50 stores satellite orbit information 252 in the terminal second storage unit 250. The satellite orbit information 252 includes an almanac 252a and an ephemeris 252b. The almanac 252a is information indicating an approximate orbit of all the GPS satellites 12a and the like. The ephemeris 252b is information indicating a precise orbit of each GPS satellite 12a and the like.
The terminal 50 uses the almanac 252a and the ephemeris 252b for positioning.

  As illustrated in FIG. 8, the terminal 50 stores, in the terminal second storage unit 250, previous output position information 254 indicating the previous output position P0 that is the position output last time. The previous output position P0 is an example of the previous output position, and the previous output position information 254 is an example of the previous output position information.

As illustrated in FIG. 8, the terminal 50 stores a vehicle information reception program 212 in the terminal first storage unit 210. The vehicle information reception program 212 is a program for the terminal control unit 200 to wirelessly receive the vehicle information 152 from the device 20 via the terminal communication unit 202. That is, the vehicle information reception program 212, the terminal control unit 200, and the terminal communication unit 202 are examples of wireless reception means.
The terminal control unit 200 stores the received vehicle information 152 (see FIG. 5) in the terminal second storage unit 250 as terminal-side vehicle information 256.
The terminal-side vehicle information 256 includes vehicle speed information 258 and moving direction information 260. The vehicle speed information 258 has the same contents as the vehicle speed information 154 of the device 20 (see FIG. 6). The movement direction information 260 has the same contents as the movement direction information 156 of the device 20 (see FIG. 7).

As illustrated in FIG. 8, the terminal 50 stores a speed vector information generation program 214 in the terminal first storage unit 210. The speed vector information generation program 214 is a program for the terminal control unit 200 to generate speed vector information 262 indicating the speed vector a1 and the like based on the terminal-side vehicle information 256.
The speed vector information 262 is information indicating the moving speed and moving direction of the terminal 50.

FIG. 9 is a diagram illustrating an example of the velocity vector information 262.
As shown in FIG. 9A, the speed vector information 262 is information in which the vehicle speed and the direction are paired at a time interval of one second (s). For example, the speed vector at time t0 + 1 is a1, and the speed vector at time t0 + 2 is a2.
FIG. 9B shows the velocity vector information 262 in a graphic form for convenience of explanation. In FIG. 9B, the vehicle speed at each time is indicated by the length of the arrow, and the direction is indicated by the direction of the arrow.

  As illustrated in FIG. 8, the terminal 50 stores an estimated position information generation program 216 in the terminal first storage unit 210. The estimated position information generation program 216 is a program for the terminal control unit 200 to generate estimated position information 264 indicating the current estimated position Pe of the vehicle 15 based on the previous output position information 254 and the speed vector information 262. is there. The estimated position information 264 is an example of estimated position information. The estimated position information generation program 216 and the terminal control unit 200 are examples of estimated position information generation means.

FIG. 10 is an explanatory diagram of the estimated position information generation program 216.
As illustrated in FIG. 10, the terminal control unit 200 adds the speed vectors a1 and the like as time elapses with the previous output position P0 as a base point. For example, if the current time is t0 + 6, the estimated position Pe is calculated by adding the speed vectors a1 to a6 with the previous position P0 as the base point.
The terminal control unit 200 stores the generated estimated position information 264 in the terminal second storage unit 250.

  As illustrated in FIG. 8, the terminal 50 stores a satellite radio wave reception program 218 in the terminal first storage unit 210. The satellite radio wave reception program 218 is a program for the terminal control unit 200 to receive the radio wave S1 and the like from the GPS satellite 12a and the like. The satellite radio wave reception program 218 and the terminal control unit 200 are examples of satellite radio wave reception means.

Specifically, the terminal control unit 200 first calculates the GPS satellites 12a and the like that can be observed at the current time with reference to the almanac 252a. Next, based on the ephemeris 252b such as the observable GPS satellite 12a, the previous output position P0, and the velocity vector information 262, the Doppler shift of the radio wave S1 and the like is calculated. Since the transmission frequency when the radio wave S1 and the like are transmitted is known at 1.5 GHz, for example, the reception frequency of the radio wave S1 and the like can be calculated based on the transmission frequency and the Doppler shift.
After calculating the reception frequency of the radio wave S1 and the like, the terminal control unit 200 searches for and receives the radio wave S1 and the like within a predetermined frequency range from the reception frequency.

As shown in FIG. 8, the terminal 50 stores a satellite positioning program 220 in the terminal first storage unit 210. The satellite positioning program 220 is a program for the terminal control unit 200 to generate the satellite positioning position information 266 indicating the satellite positioning position Pg using the radio wave S1 from the GPS satellite 12a or the like. The satellite positioning position Pg is an example of a positioning position, and the satellite positioning position information 266 is an example of satellite positioning position information. The satellite positioning program 220 and the terminal control unit 200 are examples of satellite positioning position information generating means.
Since the positioning method using the radio wave S1 or the like is well known, the description thereof is omitted.
The terminal control unit 200 stores the generated satellite positioning position information 266 in the terminal second storage unit 250.

  As illustrated in FIG. 8, the terminal 50 stores a positioning calculation FIX determination program 222 in the terminal first storage unit 210. The positioning calculation FIX determination program 222 is a program for the terminal control unit 200 to determine whether or not the generation of the satellite positioning position information 266 has been completed.

  As illustrated in FIG. 8, the terminal 50 stores an average position information generation program 224 in the terminal first storage unit 210. The average position information generation program 224 is a program for the terminal control unit 200 to generate average position information 268 indicating the average position Pav between the estimated position Pe and the satellite positioning position Pg. The average position Pav is an example of the average position, and the average position information 268 is an example of the average position information. The average position information generation program 224 and the terminal control unit 200 are examples of average position information generation means.

FIG. 11 is an explanatory diagram of the average position information generation program 224.
As illustrated in FIG. 11, the terminal control unit 200 calculates an average position Pav between the estimated position Pe and the satellite positioning position Pg.
The terminal control unit 200 stores the generated average position information 268 in the second storage unit 250.

As illustrated in FIG. 8, the terminal 50 stores a vehicle speed evaluation program 226 in the terminal first storage unit 210. The vehicle speed evaluation program 226 is a program for the terminal control unit 200 to determine whether or not the automobile 15 is stopped based on the vehicle speed information 258. The vehicle speed evaluation program 226 and the terminal control unit 200 are examples of vehicle speed information evaluation means.
Specifically, the terminal control unit 200 determines whether or not the vehicle speed indicated in the vehicle speed information 258 is 0 km / h. If the vehicle speed is 0 km / h, the terminal control unit 200 determines that the automobile 15 is stopped.

As illustrated in FIG. 8, the terminal 50 stores a position output program 228 in the terminal first storage unit 210. The position output program 228 is a program for the terminal control unit 200 to output (display) information indicating the current position to the display device 66 (see FIG. 3). The position output program 228 and the terminal control unit 200 are examples of position output means.
Specifically, the terminal control unit 200 outputs the previous output position P0 when the vehicle speed evaluation program 226 determines that the automobile 15 is stopped.
When the terminal control unit 200 determines that the automobile 15 is not stopped, the terminal control unit 200 outputs the average position information 268 or the estimated position information 264. The terminal control unit 200 outputs the average position information 268 when the average position information 268 is generated, and outputs the estimated position information 264 when the average position information 268 is not generated. .

The position calculation system 10 is configured as described above.
As described above, the device 20 can wirelessly transmit the vehicle information 152 (see FIG. 5).
The terminal 50 can receive the vehicle information 152 from the device 20 wirelessly. This means that the position of the terminal 50 is not limited by wiring.
For this reason, the user of the terminal 50 can use the terminal 50 in an arbitrary position in the automobile 15 and in an arbitrary posture of the user.

Further, the terminal 50 can generate the velocity vector information 262 (see FIG. 8) and can generate the estimated position information 264. Further, the terminal 50 can generate the satellite positioning position information 266.
Then, the terminal 50 can generate the average position information 268. This means, for example, that the satellite positioning position information 266 can be corrected with the estimated position information 264 when the reception state of the radio wave S1 or the like is good and the satellite positioning position information 266 can be generated.
Then, the terminal 50 can output the average position information 264.
Further, for example, when the terminal 50 cannot generate the satellite positioning position information 266 because the reception state of the radio wave S1 or the like is inferior, and the average position information 268 cannot be generated as a result, the estimated position Information 264 can be output.
Thereby, the terminal 50 can output either the average position information 268 or the estimated position information 264 according to the reception state of the radio wave S1 or the like.

  Further, since the terminal 50 is configured to use the velocity vector information 262 for calculating the Doppler shift of the radio wave S1, etc., the terminal 50 can calculate the Doppler shift with high accuracy. Therefore, the terminal 50 can narrow the search range of the radio wave S1 and the like, and as a result, can quickly receive the radio wave S1 and the like.

Further, the terminal 50 can output the previous output position information 254 when the automobile 15 is stopped.
As a result, the terminal 50 can quickly output an appropriate position while the automobile 15 is stopped. Further, since the terminal 50 does not newly calculate the current position as long as the automobile 15 is stopped, power consumption can be reduced.

The above is the configuration of the positioning system 10 according to the present embodiment. Hereinafter, an example of the operation will be mainly described with reference to FIG.
FIG. 12 is a schematic flowchart showing an operation example of the terminal 50.

First, the terminal 50 receives vehicle information 152 (see FIG. 5) from the device 20 (step ST1 in FIG. 12). This step ST1 is an example of a radio reception step.
Subsequently, the terminal 50 receives the radio wave S1 and the like (step ST2). This step ST2 is an example of a satellite radio wave receiving step. In addition, the order of step ST1 and step ST2 may be reversed, and may be implemented in parallel.
Subsequently, the terminal 50 determines whether or not the vehicle speed is 0 km / h based on the vehicle speed information 258 (see FIG. 8) (step ST3).

In step ST3, when the terminal 50 determines that the vehicle speed is 0 km / h, the previous output position information 254 is output (step ST4).
In step ST3, if the terminal 50 determines that the vehicle speed is 0 km / h, reception (tracking) of the radio wave S1 and the like is involved, but no positioning calculation is performed.

When the terminal 50 determines that the vehicle speed is not 0 km / h in step ST3 described above, the speed vector information 262 is generated at a GPS positioning calculation interval (step ST5). This step ST5 is an example of a velocity vector information generation step. Here, the GPS positioning calculation interval is, for example, an interval of 1 second (s).
Subsequently, terminal 50 generates estimated position information 264 (step ST6). This step ST6 is an example of an estimated position information generation step.

  In parallel with step ST5 and step ST6 described above, terminal 50 performs GPS positioning calculation and generates satellite positioning position information 266 (step ST7). This step ST7 is an example of a satellite positioning position information generation step.

  Subsequently, the terminal 50 determines whether or not the GPS positioning calculation is FIX (convergence) (step ST8). Specifically, the terminal 50 determines whether or not the generation of the satellite positioning position information 266 has been completed.

  In step ST8, when the terminal 50 determines that the GPS positioning calculation is not FIXed, the terminal 50 outputs estimated position information 264 (step ST9). This step ST9 is an example of a position output step.

When the terminal 50 determines that the GPS positioning calculation is FIXed in step ST8 described above, the average position information 268 is generated (step ST10). This step ST10 is also an example of a position output step.
Subsequently, the terminal 50 outputs the average position information 268 (step ST11). This step ST11 is also an example of a position output step.

Subsequently, the terminal 50 stops when it is determined that the operation of the automobile 15 is finished.
When the operation of the automobile 15 continues, step ST1 and the subsequent steps are repeated.

As described above, the terminal 50 can receive the vehicle information 152 from the device 20 wirelessly. This means that the position of the terminal 50 is not limited by wiring.
For this reason, the user of the terminal 50 can use the terminal 50 in an arbitrary position in the automobile 15 and in an arbitrary posture of the user.
Further, when the terminal 50 is in a good reception state of the radio wave S1 or the like and can generate the satellite positioning position information 266, the terminal 50 corrects the satellite positioning position information 266 with the estimated position information 264, and average position information 268 is obtained. Can be generated.
Then, the terminal 50 can output the average position information 264.
In addition, the terminal 50 can output the estimated position information 264, for example, when the reception state of the radio wave S1 or the like is poor and the satellite positioning position information 266 cannot be generated.
Thereby, the terminal 50 can output either the average position information 268 or the estimated position information 264 according to the reception state of the radio wave S1 or the like.

  The present invention is not limited to the embodiments described above. Furthermore, the above-described embodiments may be combined with each other.

It is the schematic which shows the position calculation system of embodiment of this invention. It is the schematic which shows the main hardware constitutions of a vehicle side information transmitter. It is the schematic which shows the main hardware constitutions of a mobile terminal. It is the schematic which shows the structure relevant to reception of the electromagnetic wave of a terminal, etc. It is the schematic which shows the main software structures of the vehicle side information transmitter. It is a figure which shows an example of vehicle speed information. It is a figure which shows an example of movement direction information. It is the schematic which shows the main software structures of a mobile terminal. It is a figure which shows an example of speed vector information. It is explanatory drawing of an estimated position information generation program. It is explanatory drawing of an average position information generation program. It is a schematic flowchart which shows the operation example of a position calculation system.

Explanation of symbols

  12a, 12b, 12c, 12d ... GPS satellites, 20 ... vehicle side information transmitting device, 32 ... vehicle side short-range wireless communication device, 34 ... vehicle speed sensor, 36 ... gyro, ..Mobile terminal, 62... Terminal side short-range wireless communication device, 212... Vehicle information reception program, 214... Speed vector information generation program, 216. Satellite radio wave reception program, 220 ... satellite positioning program, 222 ... positioning calculation FIX program, 224 ... average position information generation program, 226 ... vehicle speed evaluation program, 228 ... position output program

Claims (7)

From the vehicle information providing apparatus mounted on a vehicle, a receiving means for receiving vehicle information including the vehicle speed information and the direction information,
Speed vector information generating means for generating speed vector information based on the vehicle information;
Based on the previous output position information indicating a position where the previously output and the velocity vector information, and the estimated position information generating means for generating estimated position information indicating the estimated position of the vehicle,
Satellite radio wave receiving means for receiving satellite radio waves from positioning satellites;
Satellite positioning position information generating means for generating satellite positioning position information indicating a satellite positioning position measured using the satellite radio wave;
A position output means for outputting the position of the vehicle based on the satellite positioning position information and the estimated position information;
Have
The receiving means receives the vehicle information using short-range wireless communication for performing wireless communication in a range inside the vehicle.
Positioning device. Average position information generating means for generating average position information indicating an average position of the estimated position and the satellite positioning position;
Have
The position output means outputs the average position information when the average position information is generated, and outputs the estimated position when the average position information is not generated.
The positioning device according to claim 1 . Vehicle speed information evaluation means for determining whether or not the vehicle is stopped based on the vehicle speed information ;
Have
When the position output means determines that the vehicle is stopped , the position output means outputs the previously output position .
The positioning device according to claim 1 or 2 . The satellite radio wave receiving means uses the velocity vector information when calculating the Doppler shift of the satellite radio wave ,
The positioning device according to any one of claims 1 to 3 . The short-range wireless communication is wireless communication using a communication wave of 2.5 GHz.
The positioning device according to any one of claims 1 to 4. A positioning method for performing positioning using a positioning device and a vehicle information providing device mounted on a vehicle,
And said positioning device, from the vehicle information providing device, receives the vehicle information including the vehicle speed information and the direction information,
And said positioning device, based on the vehicle information and generates a velocity vector information,
And said positioning device, based on the previous output position information indicating a position where the previously output and the velocity vector information to generate the estimated position information indicating the estimated position of the vehicle,
And that the positioning device receives the satellite radio waves from positioning satellites,
And that the positioning device generates satellite positioning position information which indicates a satellite positioning position position using the satellite wave,
Outputting the position of the vehicle based on the satellite positioning position information and the estimated position information;
Including
The receiving includes receiving the vehicle information using short-range wireless communication that performs wireless communication in a range inside the vehicle.
Positioning method. To computer which positioning device has
From the vehicle information providing apparatus mounted on a vehicle, a function of receiving the vehicle information including the vehicle speed information and the direction information,
A function of generating speed vector information based on the vehicle information;
Based on said velocity vector information as the previous output position information indicating a position where the previously output, and generating the estimated position information indicating the estimated position of the vehicle,
The ability to receive satellite radio waves from positioning satellites;
A function of generating satellite positioning position information indicating a satellite positioning position measured using the satellite radio wave;
A function of outputting the position of the vehicle based on the satellite positioning position information and the estimated position information;
Is a positioning program that realizes
The receiving function receives the vehicle information using short-range wireless communication that performs wireless communication in an internal range of the vehicle.
Positioning program.

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