JP4740303B2 - 粗い位置推定値を用いて位置を決定するための方法および装置 - Google Patents
粗い位置推定値を用いて位置を決定するための方法および装置 Download PDFInfo
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- JP4740303B2 JP4740303B2 JP2008239807A JP2008239807A JP4740303B2 JP 4740303 B2 JP4740303 B2 JP 4740303B2 JP 2008239807 A JP2008239807 A JP 2008239807A JP 2008239807 A JP2008239807 A JP 2008239807A JP 4740303 B2 JP4740303 B2 JP 4740303B2
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000004364 calculation method Methods 0.000 claims description 24
- 238000004891 communication Methods 0.000 claims description 23
- 238000005259 measurement Methods 0.000 claims description 19
- 239000013598 vector Substances 0.000 claims description 16
- 238000012937 correction Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/27—Acquisition or tracking or demodulation of signals transmitted by the system creating, predicting or correcting ephemeris or almanac data within the receiver
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/009—Transmission of differential positioning data to mobile
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- Computer Security & Cryptography (AREA)
- Power Engineering (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Control Of Position Or Direction (AREA)
- Radar Systems Or Details Thereof (AREA)
Description
Claims (6)
- 下記を具備する、擬似レンジ受信装置の正確なロケーションを計算するための方法:
a)送信機のロケーションに関する不正確な情報を用いて擬似レンジ受信装置の粗いロケーションを計算する、ここにおいて、前記擬似レンジ受信装置の粗いロケーションを計算することは、送信器の既知のアルマナック(Almanac)情報および既知のエフェメリス(Ephemeris)情報を用いて前記擬似レンジ受信装置の粗い位置推定値を計算することを含む;
b)前記擬似レンジ受信装置から位置識別装置に、前記擬似レンジ受信装置の前記計算された粗いロケーションと、前記送信機のロケーションに関する不正確な情報を供給する、ここにおいて、前記擬似レンジ受信装置の前記計算された粗いロケーションと、前記送信機のロケーションに関する不正確な情報を供給することは、
前記擬似レンジ受信装置から位置識別装置に、前記計算された前記擬似レンジ受信装置の粗い位置推定値と、前記古いアルマナック情報及び古いエフェメリス情報のバージョン情報と、擬似距離測定が行われた時間情報を供給することと、
前記供給された前記擬似レンジ受信装置の粗い位置推定値と、前記古いアルマナック情報および古いエフェメリス情報のバージョン情報と、擬似距離測定が行われた時間情報とに基づいて前記送信機の位置のより正確な推定値を計算することと、
前記位置識別装置により前記送信機ごとに等価な擬似距離測定誤差を計算することと、
前記識別装置により、前記送信機の位置の前記より正確な推定値を表すポイント、位置決定計算を実行するために前記擬似距離受信装置により受信される位置の正確でない推定値を表すポイントとの間に形成された、前記各送信機に関連する送信機位置誤差ベクトルを、
(1)前記位置推定計算を実行するために前記擬似距離受信装置により使用される位置の正確でない推定値を表すポイントと、前記位置識別装置との間のラインにより方向が定義された単位ベクトルと、
(2)前記位置推定計算を実行するために前記擬似距離受信装置により使用される位置の正確でない推定値を表すポイントと、前記擬似距離受信装置との間のラインにより方向が定義された単位ベクトルと、
(3)前記送信機と前記位置識別装置との間のラインにより方向が定義された単位ベクトルと、
(4)前記送信機または、前記位置推定計算を実行するために前記擬似距離受信装置により使用される位置の正確でない推定値を表すポイントと、前記擬似距離受信装置が通信している無線通信システム基地局との間のラインにより方向が定義された単位ベクトルと、
を含むグループのいずれか1つの単位ベクトル上に投影することにより等価な擬似距離誤差ベクトルを計算することと、
前記等価な擬似距離誤差を線形推定アルゴリズムに適用し、前記粗い位置推定値と、より正確な位置推定値とにオフセットを計算することと、
を備えた方法。 - 前記送信機はGPS衛星であり、前記不正確な情報は、前記GPS衛星のロケーションに関するデータが古くなったアルマナック(Almanac)情報である、請求項1の方法。
- 前記アルマナック情報は少なくとも1週間古い、請求項2の方法。
- 前記送信機はGPS衛星であり、前記不正確な情報は、前記GPS衛星のロケーションに関するデータが古くなったエフェメリス(Ephemeris)情報である、請求項1の方法。
- 前記エフェメリス情報は少なくとも2時間古い、請求項4の方法。
- 前記擬似レンジ受信装置は、前記位置識別装置と同一場所に配置される、請求項1の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/773,207 US6429809B1 (en) | 2001-01-30 | 2001-01-30 | Method and apparatus for determining location using a coarse position estimate |
US09/773,207 | 2001-01-30 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2002561964A Division JP4343531B2 (ja) | 2001-01-30 | 2002-01-17 | 粗い位置推定値を用いて位置を決定するための方法および装置 |
Publications (2)
Publication Number | Publication Date |
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JP2009063581A JP2009063581A (ja) | 2009-03-26 |
JP4740303B2 true JP4740303B2 (ja) | 2011-08-03 |
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Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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JP2002561964A Expired - Fee Related JP4343531B2 (ja) | 2001-01-30 | 2002-01-17 | 粗い位置推定値を用いて位置を決定するための方法および装置 |
JP2008239807A Expired - Fee Related JP4740303B2 (ja) | 2001-01-30 | 2008-09-18 | 粗い位置推定値を用いて位置を決定するための方法および装置 |
Family Applications Before (1)
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JP2002561964A Expired - Fee Related JP4343531B2 (ja) | 2001-01-30 | 2002-01-17 | 粗い位置推定値を用いて位置を決定するための方法および装置 |
Country Status (14)
Country | Link |
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US (3) | US6429809B1 (ja) |
EP (2) | EP2221641B1 (ja) |
JP (2) | JP4343531B2 (ja) |
KR (2) | KR100916875B1 (ja) |
CN (2) | CN1312486C (ja) |
AT (1) | ATE501448T1 (ja) |
BR (1) | BR0206801A (ja) |
CA (1) | CA2436706C (ja) |
DE (1) | DE60239406D1 (ja) |
ES (1) | ES2360280T3 (ja) |
HK (1) | HK1064446A1 (ja) |
IL (3) | IL157038A0 (ja) |
MX (1) | MXPA03006813A (ja) |
WO (1) | WO2002061450A2 (ja) |
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-
2001
- 2001-01-30 US US09/773,207 patent/US6429809B1/en not_active Expired - Lifetime
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2002
- 2002-01-17 DE DE60239406T patent/DE60239406D1/de not_active Expired - Lifetime
- 2002-01-17 MX MXPA03006813A patent/MXPA03006813A/es active IP Right Grant
- 2002-01-17 CN CNB028042301A patent/CN1312486C/zh not_active Expired - Fee Related
- 2002-01-17 ES ES02705891T patent/ES2360280T3/es not_active Expired - Lifetime
- 2002-01-17 CA CA2436706A patent/CA2436706C/en not_active Expired - Fee Related
- 2002-01-17 KR KR1020087016452A patent/KR100916875B1/ko active IP Right Grant
- 2002-01-17 CN CN200710087716XA patent/CN101013154B/zh not_active Expired - Fee Related
- 2002-01-17 EP EP10162707.3A patent/EP2221641B1/en not_active Expired - Lifetime
- 2002-01-17 BR BR0206801-0A patent/BR0206801A/pt not_active Application Discontinuation
- 2002-01-17 EP EP02705891A patent/EP1417508B1/en not_active Expired - Lifetime
- 2002-01-17 AT AT02705891T patent/ATE501448T1/de not_active IP Right Cessation
- 2002-01-17 IL IL15703802A patent/IL157038A0/xx unknown
- 2002-01-17 JP JP2002561964A patent/JP4343531B2/ja not_active Expired - Fee Related
- 2002-01-17 KR KR1020037009944A patent/KR100886499B1/ko not_active IP Right Cessation
- 2002-01-17 WO PCT/US2002/001798 patent/WO2002061450A2/en active Application Filing
- 2002-04-29 US US10/135,799 patent/US6707420B2/en not_active Expired - Lifetime
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2003
- 2003-01-30 US US10/356,156 patent/US6930635B2/en not_active Expired - Lifetime
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2004
- 2004-09-21 HK HK04107250A patent/HK1064446A1/xx not_active IP Right Cessation
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