JP4965535B2 - 衛星ポジショニングシステムにおいて高度情報を使用するための方法とシステム - Google Patents
衛星ポジショニングシステムにおいて高度情報を使用するための方法とシステム Download PDFInfo
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
- G01S19/12—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are telecommunication base stations
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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
- G01S19/38—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
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
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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
- G01S19/38—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
- G01S19/42—Determining position
- G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
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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
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Description
本発明は、衛星による測位システムを用いた高度支援を使用するためのさまざまな方法および装置を提供するものである。以下に述べる説明および図は本発明を説明するものであり、本発明を限定するように解釈されるるものでない。本発明を一貫して理解できるように多くの特定化した詳細な説明を記述してあるが、しかしながら公知のあるいは従来技術の詳細は、本発明の細部を不必要にぼやけさせないために記述しない。
無線ではない他の接続を含むことが理解される。受信機16との通信している他の電話かの伝送は、接続13b及びセルサイト13を経由してセルラー交換センター24から伝播され、従前の態様で受信機16に戻される。
一部)と、本発明による広域に渡り適用可能な異なるGPS修正データを収集し、提供する。
他の実施形態:
[1]セルベースの通信受信機を有する移動衛星位置決めシステム(SPS)受信機の位置を決定する方法であって、
セルオブジェクト情報を決定する、前記セルオブジェクト情報は、セルオブジェクト位置あるいはセルオブジェクト識別の少なくとも一つを含む、
前記セルオブジェクト情報から高度を決定する、ここにおいて、前記セルオブジェクト情報は前記セルベースの通信受信機との無線通信におけるセルサイト送信機に基づいて選択される、
前記高度を用いて前記移動SPS受信機の位置を計算する
を有する前記方法。
[2]前記セルオブジェクト情報は、前記セルサイト送信機の位置あるいは識別の少なくも一つを示す情報である、上記[1]の方法。
[3]前記高度は、実質的に前記セルサイト送信機の高度である、上記[2]の方法。
[4]前記高度は、前記セルサイト送信機の地理的近傍における高度の数学的な表示である、上記[2]の方法。
[5]前記セルオブジェクト情報及び前記高度はコンピュータ読み取り可能な記憶媒体に格納される、上記[2]の方法。
[6]さらに、前記移動SPS受信機から遠隔処理局への少なくとも一つの擬似距離を送信することを有する、上記[5]の方法。
[7]前記送信することは、前記セルサイト送信機における受信機を介して行われ、前記遠隔処理局は、前記セルサイト送信機に連結されたセルラー交換センターに連結され、前記遠隔処理システムは前記高度を決定し、前記高度を用いて前記位置を計算する、上記[6]の方法。
[8]さらに、前記高度を前記移動SPS受信機に送信することを有し、前記移動SPS受信機は前記高度を用いて前記位置を計算する、上記[2]の方法。
[9]さらに、前記セルオブジェクト情報を前記移動SPS受信機に送信することを有し、前記移動SPS受信機は前記高度を決定する、上記[2]の方法。
[10]さらに、前記遠隔処理局で、衛星暦データを受信することを備える、上記[7]の方法。
[11]データ処理システムにより実行される場合に、前記データ処理システムに下記を備える方法を実行させる実行可能なコンピュータプログラム命令を有するコンピュータ読み取り可能な媒体:
セルオブジェクト情報を決定する、前記セルオブジェクト情報は、セルオブジェクト位置あるいはセルオブジェクト識別の少なくとも一つを含む、
前記セルオブジェクト情報から高度を決定する、ここにおいて、前記セルオブジェクト情報は、移動衛星位置決めシステム(SPS)受信機のセルベースの通信受信機と無線通信中のセルサイト送信機に基づいて選択される、
前記高度を用いて前記移動SPS受信機の位置を計算する。
[12]前記セルオブジェクト情報は、前記セルサイト送信機の位置あるいは識別の少なくとも一つを示す情報である、上記[11]のコンピュータ読み取り可能な媒体。
[13]前記高度は、実質的に前記セルサイト送信機の高度である、上記[12]のコンピュータ読み取り可能な媒体。
[14]前記高度は、前記セルサイト送信機の地理的近傍における高度の数学的な表示である、上記[12]のコンピュータ読み取り可能な媒体。
[15]前記セルオブジェクト情報及び前記高度はコンピュータ読み取り可能な記憶媒体に格納される、上記[12]のコンピュータ読み取り可能な媒体。
[16]前記方法はさらに、前記移動SPS受信機から遠隔処理局に少なくとも一つの擬似距離を送信することを有する上記[15]のコンピュータ読み取り可能な媒体。
[17]前記送信することは、前記セルサイト送信機における受信機を介して行われ、前記遠隔処理局は、前記セルサイト送信機に連結された交換センターに連結され、前記遠隔処理システムは前記高度を決定し、前記高度を用いて前記位置を計算する、上記[16]のコンピュータ読み取り可能な媒体。
[18]前記方法はさらに、前記高度を前記移動SPS受信機に送信することを有し、ここにおいて前記移動SPS受信機は前記高度を使用して前記位置を計算する、上記[12]のコンピュータ読み取り可能な媒体。
[19]前記方法はさらに、前記セルオブジェクト情報を前記移動SPS受信機に送信し、前記移動SPS受信機は前記高度を決定することを備える、上記[12]のコンピュータ読み取り可能な媒体。
[20]前記方法はさらに、前記遠隔処理局で、衛星暦データを受信することを備える、上記[17]のコンピュータ読み取り可能な媒体。
[21]下記を具備するデータ処理局:
プロセッサ、
前記プロセッサに連結された記憶装置、
前記プロセッサに連結されたトランシーバ、ここにおいて、
このトランシーバは、前記データ処理局を無線セルサイトに連結し、
前記記憶装置は前記無線セルサイトに関するセルオブジェクト位置あるいはセルオブジェクト識別の内の少なくとも一つを備えるセルオブジェクト情報を格納し、
前記プロセッサは、移動衛星位置決めシステム(SPS)受信機のセルベースの通信受信機と無線通信中の前記無線セルサイトに基づいて選択される前記セルオブジェクト情報から高度を決定し、
前記プロセッサは、前記高度を用いて前記移動SPS受信機の位置を計算する。
[22]前記プロセッサはSPS信号の源を受信し、前記トランシーバは前記無線セルサイトから少なくとも一つの擬似距離を受信し、前記プロセッサは前記SPS信号及び前記少なくとも一つの擬似距離を用いて前記高度を決定する、上記[21]のデータ処理局。
[23]前記記憶装置は、前記トランシーバに連結される複数の無線セルサイト毎に対応する高度とセルオブジェクト情報とを有するデータベースを内蔵する上記[22]のデータ処理局。
[24]移動衛星位置決めシステム(SPS)受信機の位置を決定する方法、前記方法は下記を具備する、
複数のSPS衛星への複数の擬似距離から計算された高度を決定する、
前記計算された高度を前記移動SPS受信機の高度の推定と比較する、
前記擬似距離の少なくとも一つの状況を決定する、前記状況は前記計算された高度と前記推定との比較に基づく。
[25]前記位置は、位置決め解法アルゴリズムから決定され、ここにおいて、前記状況が第1の状態の場合、前記擬似距離は前記位置決め解法アルゴリズム中で用いられる、上記[24]の方法。
[26]前記状況が第2の状態の場合、前記擬似距離は前記位置決め解法アルゴリズム中で用いられない、上記[25]の方法。
[27]さらに、
前記移動SPS受信機で、前記複数の擬似距離を決定する、
セルオブジェクト情報を決定する、前記セルオブジェクト情報は、セルオブジェクト位置あるいはセルオブジェクト識別のうちの少なくとも一つを備える、
前記セルオブジェクト情報から前記高度の推定を決定する、ここにおいて、
前記セルオブジェクト情報は、前記移動SPS受信機に連結されたセルベースの通信システムと無線通信中のセルサイト送信機に基づいて選択される、を有する上記[26]の方法。
[28]前記移動SPS受信機は、前記状況及び前記位置を決定するデータ処理局に前記複数の擬似距離を送信する、上記[27]の方法。
[29]前記セルオブジェクト情報は、前記セルサイト送信機の位置あるいは識別の少なくとも一つを示す情報である、上記[27]の方法。
[30]前記高度は、前記セルサイト送信機の地理的近傍における少なくとも一つの高度の数学的な表示である、上記[29]の方法。
[31]前記セルオブジェクト情報及び前記高度は、コンピュータ読み取り可能な記憶媒体に格納される、上記[27]の方法。
[32]前記データ処理局は衛星暦データを受信する、上記[28]の方法。
[33]下記を具備するデータ処理局、
プロセッサ、
前記プロセッサに連結された記憶装置、
前記プロセッサに連結されたトランシーバ、ここにおいて、
このトランシーバは、前記データ処理局を無線通信システムに連結し、
前記記憶装置は前記無線通信システムの無線レディオカバレッジ内の少なくとも一つの領域に関する高度の推定を格納し、
前記トランシーバは、移動衛星位置決めシステム(SPS)受信機に連結された移動無線通信システムからの、第1の擬似距離を含む複数の擬似距離を受信し、
前記プロセッサは高度を決定し、前記推定と前記高度を比較し、及び
前記第1の擬似距離の状況を決定する、前記状況は、前記推定と前記高度擬似測定値との比較に基づいている、
データ処理局。
[34]前記プロセッサはSPS信号の源を受信し、
前記プロセッサは位置決め解法アルゴリズムから前記移動SPS受信機の位置を決定し、
前記状況が第1の状態の場合、前記第1の擬似距離は前記位置決め解法アルゴリズムで用いられる、
上記[33]のデータ処理システム。
[35]前記状況が第2の状態の場合、前記第1の擬似距離は前記位置決め解法アルゴリズムで用いられない、上記[34]のデータシステム。
[36]移動衛星位置決めシステム(SPS)受信機の位置を決定する方法、この方法は下記を具備する、
前記移動SPS受信機と、対応する複数の衛星との間の複数の衛星擬似距離を決定するステップ、
少なくとも一つの非衛星擬似測定値を決定する、
前記複数の衛星擬似距離の少なくとも一つの状況を決定する。
[37]前記非衛星擬似測定値は高度擬似測定値あるいはセルラ擬似距離の一つである、上記[36]の方法。
[38]前記状況は冗長測定値である非衛星擬似測定値から決定される上記[37]の方法。
[39]前記状況は、SPS誤り検出及び分離技術を用いて決定される、上記[38]の方法。
[40]前記対応する複数の衛星は、地球の周りの空間を軌道とする複数の衛星である、上記[39]の方法。
[41]前記位置は位置決め解法アルゴリズムから決定され、
前記状況が第1の状態の場合、前記複数の衛星擬似距離の少なくとも一つは前記位置決め解法アルゴリズムで用いられる、上記[39]の方法。
[42]前記状況が第2の状態の場合、前記複数の衛星擬似距離の少なくとも一つは、前記位置決め解法アルゴリズムで用いられない、上記[41]の方法。
Claims (12)
- 移動衛星位置決めシステム(SPS)受信機の位置を決定する方法、前記方法は下記を具備する、
複数のSPS衛星への複数の擬似距離から計算された高度を決定する、
前記計算された高度を前記移動SPS受信機の高度の推定と比較する、ここにおいて、前記高度の推定は、セルサイトからの無線信号によってカバーされる地理的領域の平均高度の推定或いはセルサイト周辺の高度の推定である、及び
前記擬似距離の少なくとも一つの状況を決定する、前記状況は前記計算された高度と前記推定との比較に基づく。 - 前記位置は、位置決め解法アルゴリズムから決定され、ここにおいて、前記状況が第1の状態の場合、前記擬似距離は前記位置決め解法アルゴリズム中で用いられる、請求項1に記載の方法。
- 前記状況が第2の状態の場合、前記擬似距離は前記位置決め解法アルゴリズム中で用いられない、請求項2に記載の方法。
- さらに、
前記移動SPS受信機で、前記複数の擬似距離を決定する、
セルオブジェクト情報を決定する、前記セルオブジェクト情報は、セルオブジェクト位置あるいはセルオブジェクト識別のうちの少なくとも一つを備える、
前記セルオブジェクト情報から前記高度の推定を決定する、ここにおいて、
前記セルオブジェクト情報は、前記移動SPS受信機に連結されたセルベースの通信システムと無線通信中のセルサイト送信機に基づいて選択される、を有する請求項3に記載の方法。 - 前記移動SPS受信機は、前記状況及び前記位置を決定するデータ処理局に前記複数の擬似距離を送信する、請求項4に記載の方法。
- 前記セルオブジェクト情報は、前記セルサイト送信機の位置あるいは識別の少なくとも一つを示す情報である、請求項4に記載の方法。
- 前記高度は、前記セルサイト送信機の地理的近傍における少なくとも一つの高度の数学的な表示である、請求項6に記載の方法。
- 前記セルオブジェクト情報及び前記高度は、コンピュータ読み取り可能な記憶媒体に格納される、請求項4に記載の方法。
- 前記データ処理局は衛星暦データを受信する、請求項5に記載の方法。
- 下記を具備するデータ処理局、
プロセッサ、
前記プロセッサに連結された記憶装置、
前記プロセッサに連結されたトランシーバ、ここにおいて、
このトランシーバは、前記データ処理局を無線通信システムに連結し、
前記記憶装置は前記無線通信システムの無線レディオカバレッジ内の少なくとも一つの領域に関する高度の推定を格納し、
前記トランシーバは、移動衛星位置決めシステム(SPS)受信機
に連結された移動無線通信システムからの、第1の擬似距離を含む複数の擬似距離を受信し、
前記プロセッサは高度を決定し、前記推定と前記高度を比較し、ここにおいて、前記高度の推定は、セルサイトからの無線信号によってカバーされる地理的領域の平均高度の推定或いはセルサイト周辺の高度の推定である、及び
前記第1の擬似距離の状況を決定する、前記状況は、前記推定と前記高度擬似測定値との比較に基づいている、
データ処理局。 - 前記プロセッサはSPS信号の源を受信し、
前記プロセッサは位置決め解法アルゴリズムから前記移動SPS受信機の位置を決定し、
前記状況が第1の状態の場合、前記第1の擬似距離は前記位置決め解法アルゴリズムで用いられる、
請求項10に記載のデータ処理システム。 - 前記状況が第2の状態の場合、前記第1の擬似距離は前記位置決め解法アルゴリズムで用いられない、請求項11に記載のデータシステム。
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