JP5113407B2 - Gps複合航法装置 - Google Patents
Gps複合航法装置 Download PDFInfo
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- JP5113407B2 JP5113407B2 JP2007073827A JP2007073827A JP5113407B2 JP 5113407 B2 JP5113407 B2 JP 5113407B2 JP 2007073827 A JP2007073827 A JP 2007073827A JP 2007073827 A JP2007073827 A JP 2007073827A JP 5113407 B2 JP5113407 B2 JP 5113407B2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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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
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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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
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
-
- 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
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Description
Masato Kawai, Shigeki Hara, Osamu Arai,"A New Step Detector Algorithm For GPS/SBAS Receiver"ION GPS 2001,14th International Technical Meeting of the Satellite Division of the Institute of NavigationSeptember 11-14, 2001
図1に本発明の実施の形態1に係るGPS複合航法装置の機能構成を示す。複数のGPS衛星からの測位信号をアンテナ1で受信し、GPS受信機2は、アンテナ1からの受信信号を受けて、衛星とアンテナ1間のGPS観測量を算出し、該GPS観測量に基づいてGPS位置及びGPS速度やGPS観測量、エフェメリス情報、GPS時刻などを算定し、GPS/INS統合演算部5に出力する。
移動体位置(緯度、経度、高度)のダイナミック方程式は[数1]、[数2]、[数3]で表せる。
また、移動体の進行方向速度及び方位のダイナミック方程式は、それぞれ、[数5]および[数6]で表す。
yi_ρは、i番目のGPS擬似距離観測量(i)と、該観測量推定値(i)との差である。yi_φは、i番目のGPSドップラー周波数観測量(i)と、該観測量推定値(i)との差である。yvxは速度センサ4の観測量と、統合演算部51で推定された移動体の進行方向速度との差である。尚、速度センサ4の観測量の代わりにGPS受信機2出力のGPS速度で代用することも可能である。
また、移動体の進行方向速度の推定値ve_estはECEF座標系における移動体の速度推定値であり、[数12]で求まる。
また、誤差推定部53において、[数9]の観測ベクトルYを[数13]で置換して前述の諸誤差を推定することもできる。
従って、設定計数を適切な値に設定すれば、異常の観測量(i)を正常と見なす確率は実質的に問題なき程度に低減できる。
通常、GPS観測量(i)の異常は比較的短時間で正常に復帰する確率が高いため、適切な閾値を設定しておけば、残差異常カウンタ(i)の設定期間経過後に、強制的に正常とする図4のステップ43の判定方法でも、真に異常のGPS観測量(i)を正常と見なす確率は実質的に問題なき程度に低減できる。
図4及び図5に示した構成において、GPS観測量残差(i)による異常判定の代わりに、移動体の位置及び/或いは速度と、統合演算部51出力の統合位置及び/或いは統合速度との比較差、即ち、位置残差及び/或いは速度残差を用いて、GPS観測量残差(i)の異常判定を行なうことも可能である。
2 GPS受信機
3 慣性センサ
4 速度センサ
5 GPS/INS統合演算部
51 統合演算部
52 GPS異常検出部
53 誤差推定部
Claims (6)
- GPS受信機を含む構成のGPS複合航法装置において、
移動体の位置、速度及び方位を演算する統合演算部と、
少なくとも前記GPS受信機出力及び前記統合演算部出力に基づいて、前記統合演算部出力の少なくとも速度誤差及び方位誤差を推定する誤差推定部と、
前記GPS受信機出力のGPS擬似距離観測量及び/或いはGPSドップラー周波数観測量と、該観測量の推定値との比較差に基づいて、前記GPS受信機出力の異常を検知するGPS異常検出部を備え、
前記GPS異常検出部で異常を検知したとき、異常期間を計数し、該計数値が予め決められた閾値以下の場合は前記GPS受信機出力を異常として扱い、予め決められた閾値を超えた場合は前記GPS受信機出力を強制的に正常として扱うことを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
前記GPS異常検出部は、前記GPS受信機出力の信頼度を判定するGPS信頼度判定部をさらに備え、前記GPS信頼度判定部で非信頼と判定されたときは前記異常期間の計数を停止またはリセットすることを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
前記GPS異常検出部における異常検知は、前記GPS受信機出力の位置及び/或いは速度と、前記統合演算部出力の位置及び/或いは速度との差に基づいて、前記GPS受信機出力の異常判定を行なうことを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
前記統合演算部は少なくとも前記GPS受信機出力の位置と、少なくとも移動体の進行方向成分の加速度を計測する加速度センサと、少なくとも移動体の方位軸回転成分を計測する角速度センサ出力に基づいて、移動体の位置、速度及び方位を演算することを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
前記統合演算部は少なくとも移動体の進行方向成分の速度を計測する速度センサと、少なくとも移動体の方位軸回転成分を計測する角速度センサ出力に基づいて、移動体の位置、速度及び方位を演算することを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
電源OFF直前の前記統合演算部出力を記憶する記憶部をさらに備え、該記憶部出力を統合演算部における演算の初期値として用いることを特徴とするGPS複合航法装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007073827A JP5113407B2 (ja) | 2007-03-22 | 2007-03-22 | Gps複合航法装置 |
EP07832442A EP2128645B1 (en) | 2007-03-22 | 2007-11-26 | Gps compound navigation device |
US12/532,395 US8149163B2 (en) | 2007-03-22 | 2007-11-26 | GPS compound navigation device |
AT07832442T ATE547718T1 (de) | 2007-03-22 | 2007-11-26 | Gps-verbundnavigationseinrichtung |
PCT/JP2007/072717 WO2008117493A1 (ja) | 2007-03-22 | 2007-11-26 | Gps複合航法装置 |
Applications Claiming Priority (1)
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JP2007073827A JP5113407B2 (ja) | 2007-03-22 | 2007-03-22 | Gps複合航法装置 |
Publications (2)
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JP2008232868A JP2008232868A (ja) | 2008-10-02 |
JP5113407B2 true JP5113407B2 (ja) | 2013-01-09 |
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JP2007073827A Active JP5113407B2 (ja) | 2007-03-22 | 2007-03-22 | Gps複合航法装置 |
Country Status (5)
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US (1) | US8149163B2 (ja) |
EP (1) | EP2128645B1 (ja) |
JP (1) | JP5113407B2 (ja) |
AT (1) | ATE547718T1 (ja) |
WO (1) | WO2008117493A1 (ja) |
Cited By (1)
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US8384903B2 (en) | 1998-11-18 | 2013-02-26 | Kla-Tencor Corporation | Detection system for nanometer scale topographic measurements of reflective surfaces |
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JP5270184B2 (ja) * | 2008-02-13 | 2013-08-21 | 古野電気株式会社 | 衛星航法/推測航法統合測位装置 |
JP5554560B2 (ja) * | 2009-12-28 | 2014-07-23 | 川崎重工業株式会社 | 測位信頼度評価装置、測位信頼度評価方法、および、測位信頼度評価プログラム |
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2007
- 2007-03-22 JP JP2007073827A patent/JP5113407B2/ja active Active
- 2007-11-26 US US12/532,395 patent/US8149163B2/en active Active
- 2007-11-26 EP EP07832442A patent/EP2128645B1/en active Active
- 2007-11-26 WO PCT/JP2007/072717 patent/WO2008117493A1/ja active Application Filing
- 2007-11-26 AT AT07832442T patent/ATE547718T1/de active
Cited By (1)
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US8384903B2 (en) | 1998-11-18 | 2013-02-26 | Kla-Tencor Corporation | Detection system for nanometer scale topographic measurements of reflective surfaces |
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EP2128645A4 (en) | 2011-03-02 |
JP2008232868A (ja) | 2008-10-02 |
EP2128645A1 (en) | 2009-12-02 |
ATE547718T1 (de) | 2012-03-15 |
US20100283670A1 (en) | 2010-11-11 |
EP2128645B1 (en) | 2012-02-29 |
WO2008117493A1 (ja) | 2008-10-02 |
US8149163B2 (en) | 2012-04-03 |
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