JP5181160B2 - Wave number estimation device, positioning device, and wave number estimation method - Google Patents

Description

  The present invention estimates the wave number of a carrier wave in a positioning apparatus equipped with a satellite positioning method for measuring a receiver position using carrier wave phase information of a radio wave signal transmitted by a positioning satellite such as a GPS (Global Positioning System) satellite. The present invention relates to a wave number estimating apparatus.

In the satellite positioning method, the receiver position is measured using a radio wave signal transmitted by a transmitter mounted on a positioning satellite such as a GPS satellite. In the satellite positioning method, the distance between the transmitter and the receiver is measured, and the receiver position is calculated using the position of each satellite and the distance between each satellite and the receiver. .
As a method for measuring the distance between the transmitter and the receiver, there is a method for calculating a distance (pseudo distance) between the transmitter and the receiver by measuring a signal propagation time.
When high position measurement accuracy of 1 meter or less is required, there is a method using carrier phase information (hereinafter referred to as carrier phase) of a transmission signal. For example, since the wavelength of the carrier wave of the GPS signal is about 20 cm, the distance between the satellite and the receiver can be measured with millimeter-level resolution by using the phase information of this signal.
When the distance is measured using the carrier phase, the information of the integer part (the part exceeding 360 degrees), that is, the distance component corresponding to the integer multiple of the carrier wavelength cannot be directly measured. The integer part of the carrier phase is called ambiguity, integer bias, wave number, etc., but is called “wave number” below. Since the wave number cannot be measured directly, a method for determining this is required. When the signal is continuously observed, the wave number becomes a constant value. Therefore, once the wave number can be determined, the receiver position can be calculated based on the observation amount continuously observed thereafter.
Several methods are known for determining the wave number. For example, a real number estimation value of the wave number is calculated using the carrier phase and other information, and an integer value wave number candidate existing around this is searched to find a highly reliable value. Hereinafter, the real number estimated value of the wave number is referred to as “real wave number”, and the wave number (integer value) determined as a result of the search is referred to as “integer wave number”.

In addition, in order to eliminate the error factor, two or more receivers may be installed. Two receivers simultaneously receive signals from one positioning satellite, and measure the relative position (baseline or baseline vector) between the receivers by using the calculated difference in measurement distance. If the exact position of one receiver is measured in advance, the position of the other receiver can be measured accurately. A receiver whose position is to be measured is called a mobile station, and a receiver that is the origin of a mobile station position vector is called a reference station. In this method, error factors such as fluctuations in propagation time due to medium characteristics of the signal propagation path and clock errors between transmitters mounted on the satellite are almost eliminated by the difference, so that highly accurate position measurement is possible. . Hereinafter, the difference observation amount between the two observation amounts of the mobile station and the reference station is referred to as a “single difference observation amount”.
Moreover, the clock error of the receiver can be eliminated by using the difference in the measurement distance based on the signals received by one receiver from the two positioning satellites.
In addition, by using the difference of single difference observations based on the signals received by the two receivers from the same two positioning satellites, the error factors such as the positioning satellite clock error, propagation time fluctuation, and receiver clock error can be eliminated. There is also a case. The difference between the single difference observables, that is, the difference between the four observables is called a “double difference observable”.

When using a single difference observable, it is necessary to determine the difference in wave numbers. When using a double difference observable, it is necessary to further determine the difference. In the following description, the difference between wave numbers and the difference may be referred to as “wave number”.
P. Y. C. Hwang “Kinematic GPS: Resolving Integrators On The Fly” IEEE PLANS '90, IEEE, pages 579-586, 1990. B. Hoffman-Wellenhof, H.H. Richteneger, J.M. Collins “GPS Theory and Application”, pages 245-286, Springer Fairlark Tokyo, 2005. JP 2003-185728 A

As described above, once the integer wave number can be determined, the position of the receiver can be calculated from the subsequent observation amount using the integer wave number. However, if the determined integer wave number is wrong, the position of the receiver calculated from the subsequent observation amount is also calculated as an incorrect position.
The present invention has been made to solve the above-described problems, for example, by simply and effectively determining the validity of the determined integer wave number and taking appropriate measures based on the determination result. An object is to improve the reliability of estimation of integer wave number and receiver position.

The wave number estimating apparatus according to the present invention is:
In the wave number estimating device for estimating the wave number of the radio wave for each of the plurality of positioning satellites based on the observation amount observed for each of the plurality of positioning satellites,
An observation amount acquisition unit, a real wave number estimation unit, an integer wave number estimation unit, and an estimated state determination unit;
The observation amount acquisition unit repeatedly acquires observation amounts for each of the plurality of positioning satellites,
The real wave number estimation unit estimates a real wave number for each of the plurality of positioning satellites based on the observation amount acquired by the observation amount acquisition unit, and estimates the real wave number of the plurality of positioning satellites. Output real wave number for successful positioning satellite,
The integer wave number estimating unit estimates an integer wave number for each of the plurality of positioning satellites based on the real number wave number output from the real number wave number estimating unit, and estimates the integer wave number of the plurality of positioning satellites. Output integer wave numbers for successful positioning satellites,
The estimated state determination unit is based on the number of observations acquired by the observation amount acquisition unit, the number of real wave numbers output by the real wave number estimation unit, and the number of integer wave numbers output by the integer wave number estimation unit. Then, based on a plurality of criteria, it is determined whether the real wave number estimated by the real wave number estimation unit is correct,
In the next estimation, the real wave number estimation unit further estimates the real wave number based on the result determined by the estimation state determination unit.

  According to the wave number estimation device according to the present invention, the estimated state determination unit determines whether the estimated real wave number estimated by the real wave number estimation unit is correct based on the number of observation quantities, the number of real wave numbers, and the number of integer wave numbers. Therefore, the determination can be easily made with a small amount of calculation, and the reliability of the real wave number and the integer wave number estimated by the wave number estimating apparatus can be improved. In addition, since the real wave number estimation unit estimates the estimated real wave number in consideration of the determination result of the estimation state determination unit in the next estimation, an erroneous estimation can be corrected at an early stage, and the wave number estimation device can estimate The reliability of the real wave number and the integer wave number can be improved.

Embodiment 1 FIG.
The first embodiment will be described with reference to FIGS.

FIG. 1 is a diagram showing an example of hardware resources of the positioning device 800 in this embodiment.
The positioning device 800 includes a CPU 911 (also referred to as a central processing unit, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a processor) that executes a program. The CPU 911 is connected to the ROM 913, the RAM 914, the communication device 915, the display device 901, the keyboard 902, the mouse 903, the FDD 904, the CDD 905, the printer device 906, the scanner device 907, and the magnetic disk device 920 via the bus 912, and the hardware. Control the device. Instead of the magnetic disk device 920, a storage device such as an optical disk device or a memory card read / write device may be used.
The RAM 914 is an example of a volatile memory. The storage media of the ROM 913, the FDD 904, the CDD 905, and the magnetic disk device 920 are an example of a nonvolatile memory. These are examples of a storage device or a storage unit.
A communication device 915, a keyboard 902, a scanner device 907, an FDD 904, and the like are examples of an input unit and an input device.
Further, the communication device 915, the display device 901, the printer device 906, and the like are examples of an output unit and an output device.

The communication device 915 is connected to, for example, a facsimile machine, a telephone, a LAN, a gateway, the Internet, a WAN (wide area network) such as ISDN, and the like.
The magnetic disk device 920 stores an operating system 921 (OS), a window system 922, a program group 923, and a file group 924. The programs in the program group 923 are executed by the CPU 911, the operating system 921, and the window system 922.

The program group 923 stores programs that execute functions described as “˜units” in the description of the embodiments described below. The program is read and executed by the CPU 911.
The file group 924 includes information, data, signal values, variable values, and parameters that are described as “determination results of”, “calculation results of”, and “processing results of” in the description of the embodiments described below. Are stored as items of “˜file” and “˜database”. The “˜file” and “˜database” are stored in a recording medium such as a disk or a memory. Information, data, signal values, variable values, and parameters stored in a storage medium such as a disk or memory are read out to the main memory or cache memory by the CPU 911 via a read / write circuit, and extracted, searched, referenced, compared, Used for CPU operations such as calculation, calculation, processing, output, printing, and display. Information, data, signal values, variable values, and parameters are temporarily stored in the main memory, cache memory, and buffer memory during the CPU operations of extraction, search, reference, comparison, operation, calculation, processing, output, printing, and display. Is remembered.
In addition, the arrows in the flowcharts described in the following description of the embodiments mainly indicate input / output of data and signals. The data and signal values are the RAM 914 memory, the FDD 904 flexible disk, the CDD 905 compact disk, and the magnetic field. The data is recorded on a recording medium such as a magnetic disk of the disk device 920, another optical disk, a mini disk, and a DVD (Digital Versatile Disk). Data and signals are transmitted online via a bus 912, signal lines, cables, or other transmission media.

  In the description of the embodiments described below, what is described as “to part” may be “to circuit”, “to device”, and “to device”, and “to step” and “to”. “Procedure” and “˜Process” may be used. That is, what is described as “˜unit” may be realized by firmware stored in the ROM 913. Alternatively, it may be implemented only by software, or only by hardware such as elements, devices, substrates, and wirings, by a combination of software and hardware, or by a combination of firmware. Firmware and software are stored as programs in a recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD. The program is read by the CPU 911 and executed by the CPU 911. That is, the program causes the computer to function as “to part” described below. Alternatively, the procedure or method of “to part” described below is executed by a computer.

FIG. 2 is a block configuration diagram showing an example of the overall configuration of the positioning apparatus 800 in this embodiment.
The positioning apparatus 800 includes an observation amount acquisition unit 810, a preprocessing unit 820, an estimation unit 100, and a position calculation unit 830.

The observation amount acquisition unit 810 uses the CPU 911 to acquire an observation amount.
The observation amount acquisition unit 810 receives, for example, a radio wave transmitted by a positioning satellite as an observation amount, and calculates and acquires a radio wave propagation time, a carrier phase, and the like based on the received radio wave. Note that the observation amount acquisition unit 810 may be configured to acquire, as an observation amount, a propagation time or a carrier wave phase calculated by a reference station or another device using an input device such as the communication device 915 or the like. A configuration may be adopted in which the observation amount calculated or acquired is stored using a storage device, and the observation amount stored in the storage device is acquired.
In addition, the observation amount acquisition unit 810 calculates and acquires values such as a propagation time and a carrier phase obtained by the reference station receiving and acquiring radio waves transmitted from the same positioning satellite as the positioning device 800 as the observation amount. Note that the observation amount acquisition unit 810 may be configured to acquire, as an observation amount, a propagation time or a carrier wave phase calculated by a reference station or another device using an input device such as the communication device 915 or the like. A configuration may be adopted in which the observation amount calculated or acquired is stored using a storage device, and the observation amount stored in the storage device is acquired.
Alternatively, the observation amount acquisition unit 810 calculates and acquires a single difference observation amount or a double difference observation amount based on the acquired observation amount as the observation amount. Note that the observation amount acquisition unit 810 may be configured to acquire a single difference observation amount or a double difference observation amount calculated by the reference station or another device as an observation amount using an input device such as the communication device 915. Alternatively, the observation amount calculated or acquired in the past may be stored using a storage device, and the observation amount stored in the storage device may be acquired.
Using the CPU 911, the observation amount acquisition unit 810 outputs the acquired observation amount.

  The preprocessing unit 820 uses the CPU 911 to preprocess the observation amount acquired by the observation amount acquisition unit 810. For example, the preprocessing unit 820 converts the expression format of the observation amount or adjusts the timing in order to facilitate the processing in the subsequent block. Using the CPU 911, the preprocessing unit 820 outputs a preprocessed observation amount (hereinafter referred to as “preprocessed post observation amount”).

  The estimation unit 100 (an example of a wave number estimation device) uses the CPU 911 to estimate the approximate position of the positioning device 800 (receiver) based on the pre-processed observation amount pre-processed by the pre-processing unit 820, and the real number Estimate wave number and integer wave number. Details of the estimation unit 100 will be described later. The estimation unit 100 uses the CPU 911 to estimate the estimated real wave number (hereinafter referred to as “estimated real wave number”), the estimated integer wave number (hereinafter referred to as “estimated integer wave number”), and the estimated position (hereinafter referred to as “estimated position”). ").) Is output.

  The position calculation unit 830 uses the CPU 911 to determine the positioning device 800 (based on the preprocessed observation amount preprocessed by the preprocessing unit 820, the estimated real wave number, the estimated integer wave number, and the estimated position estimated by the estimation unit 100. Calculate the exact position of the receiver. The position calculation unit 830 outputs the calculated position of the positioning device 800.

Further, the position calculation unit 830 uses the CPU 911 to test the estimated real wave number, the estimated integer wave number, and the estimated position quality estimated by the estimation unit 100 to determine whether there is an abnormality. If it is determined that there is an abnormality, the position calculation unit 830 outputs a reinitialization control signal.
The estimation unit 100 receives the reinitialization control signal output from the position calculation unit 830. When the reinitialization control signal is input, the estimation unit 100 performs an initialization process.

FIG. 3 is a block configuration diagram showing an example of a functional block configuration of the estimation unit 100 in this embodiment.
The estimation unit 100 includes a wave number position estimation unit 110 and a state determination output unit 120.

The wave number position estimation unit 110 (an example of a real wave number estimation unit and an integer wave number estimation unit) uses the CPU 911, based on the pre-processed observation amount pre-processed by the pre-processing unit 820, for example, using a Kalman filter, The estimated real wave number and estimated position are estimated, and the estimated integer wave number is estimated using, for example, a lambda (LAMBDA) method. The wave number position estimation unit 110 outputs the estimated real wave number, the estimated integer wave number, and the estimated position.
The wave number position estimation unit 110 receives the reinitialization control signal output from the position calculation unit 830. When the position calculation unit 830 outputs a reinitialization control signal, the wave number position estimation unit 110 initializes an internal state such as a Kalman filter.

Generally, assuming that the position of the positioning device 800 is an unknown number, there are three unknowns. Therefore, if the distance to three or more positioning satellites is known, the position of the positioning device 800 can be calculated.
Further, if the clock error of the positioning device 800 is also considered as an unknown number, there are four unknowns. Therefore, if the distance to four or more positioning satellites is known, the position (and clock error) of the positioning device 800 can be calculated.
If the integer wave number can be estimated for the observation amount of four or more positioning satellites (or single difference or double difference), a precise distance can be calculated and a precise position can be calculated. Conversely, if the precise position can be calculated, it can be verified whether the estimated integer wave number is correct.

In the following description, the number of observation amounts acquired by the observation amount acquisition unit 810 (or the preprocessed observation amount preprocessed by the preprocessing unit 820) is referred to as “the number of observation satellites”. For example, in the case of single positioning, the number of observed satellites is equal to the number of visible satellites. In the case of positioning based on the single difference observation amount, it is equal to the number of visible satellites that can be observed in common with the reference station. In the case of positioning based on the double difference observation amount, it is equal to the number obtained by subtracting one satellite as a reference satellite from the number of visible satellites that can be observed in common with the reference station.
The number of estimated real wave numbers estimated by the wave number position estimating unit 110 from the pre-processed observation amount pre-processed by the pre-processing unit 820 is referred to as “real wave number satellite number”. Since the wave number position estimation unit 110 estimates the estimated real wave number corresponding to each pre-processed observation amount, the number of real wave number satellites is equal to the number of observation amount satellites at the maximum. However, since the wave number position estimation unit 110 sometimes fails in estimation, the number of real wave number satellites may be smaller than the number of observed satellites and may be zero.
Further, the number of estimated integer wave numbers estimated by the wave number position estimating unit 110 is referred to as “integer wave number satellite number”. Since the wave number position estimation unit 110 estimates the estimated integer wave number corresponding to each estimated real wave number, the number of integer wave number satellites is equal to the estimated real wave number satellite number at the maximum. However, since the wave number position estimation unit 110 sometimes fails in estimation, the integer wave number satellite number may be smaller than the real wave number satellite number, and may be zero.
That is, there is a relationship “the number of observation satellites ≧ the number of real wave satellites ≧ the number of integer wave satellites ≧ 0”.

  The state determination output unit 120 includes an estimated state determination unit 130 and an integer wave number rejection unit 140.

  The estimated state determination unit 130 uses the CPU 911 to output the pre-processed observation amount preprocessed by the preprocessing unit 820, the estimated real wave number and the estimated integer wave number estimated by the wave number position estimation unit 110, and the position calculation unit 830. Based on the re-initialization control signal and the like, the estimation state of the wave number position estimation unit 110 is determined. The estimated state determination unit 130 uses the CPU 911 to output the determined result. The estimation state determination unit 130 determines the estimation state of the wave number position estimation unit 110 (whether the estimation of the wave number position estimation unit 110 is correct) based on a plurality of determination criteria. The estimated state determination unit 130 makes a determination based on, for example, three determination criteria, a result determined based on the first determination criterion, a result determined based on the second determination criterion, and a result determined based on the third determination criterion. Is output. For example, the estimation state determination unit 130 determines whether the estimated real wave number estimated by the wave number position estimation unit 110 is correct based on the first and second determination criteria, and based on the third determination criterion, It is determined whether or not the estimated integer wave number estimated by the wave number position estimation unit 110 is correct. The estimated state determination unit 130 outputs a determination result based on the first and second determination criteria as an estimated state determination result, and outputs a determination result based on the third determination criterion as an integer wave number determination result.

The integer wave number rejection unit 140 uses the CPU 911 to estimate the estimated integer wave number estimated by the wave number position estimation unit 110 when the estimated state determination unit 130 determines that the estimated integer wave number estimated by the wave number position estimation unit 110 is incorrect. Reject.
For example, the integer wave number rejection unit 140 receives the estimated integer wave number output from the wave number position estimation unit 110 and the integer wave number determination result output from the estimation state determination unit 130. The integer wave number rejection unit 140 determines the determination content of the estimated state determination unit 130 based on the input integer wave number determination result, and the estimated state determination unit 130 determines that the estimated integer wave number estimated by the wave number position estimation unit 110 is correct. If it is determined, the input estimated integer wave number is output as it is. The estimated integer wave number output by the integer wave number rejecting unit 140 is a formal output to the outside of the estimating unit 100. Conversely, when the estimated state determination unit 130 determines that the estimated integer wave number estimated by the wave number position estimation unit 110 is not correct, the integer wave number rejection unit 140 rejects the input estimated integer wave number without outputting it. Thereby, the estimation part 100 does not output an estimated integer wave number.

  Moreover, the wave number position estimation unit 110 inputs the estimation state determination result and the integer wave number determination result output from the estimation state determination unit 130. If the estimated state determination unit 130 determines that the estimated real wave number or the estimated integer wave number estimated by the wave number position estimation unit 110 is not correct based on the input determination result, the wave number position estimation unit 110 uses an internal state such as a Kalman filter. Take measures such as initializing. Corresponding to the estimation state determination unit 130 making a determination based on a plurality of determination criteria, the wave number position estimation unit 110 deals with a plurality of countermeasures.

FIG. 4 is a block configuration diagram illustrating an example of a detailed block of the estimated state determination unit 130 in this embodiment.
The estimated state determination unit 130 includes a condition determination unit 131, a determination accumulation unit 132, and a detailed determination generation unit 133.

  The condition determination unit 131 uses the CPU 911 to determine the wave number position estimation unit 110 based on the pre-processed observation amount pre-processed by the pre-processing unit 820, the estimated real wave number and the estimated integer wave number estimated by the wave number position estimation unit 110. It is determined whether or not a predetermined condition is satisfied with respect to the current estimation. The condition determination unit 131 uses the CPU 911 to output the determination result.

  The condition determined by the condition determining unit 131 is a material for the detailed determination generating unit 133 to determine whether or not the estimation by the wave number position estimating unit 110 is correct. The condition determined by the condition determining unit 131 is, for example, a condition relating to the number of observed satellites, the number of real wavenumber satellites, or the number of integer wavenumber satellites. These conditions can be easily determined with a small amount of calculation.

  The determination accumulating unit 132 stores the result determined by the condition determining unit 131 using the RAM 914. The determination accumulating unit 132 stores past determination results as a determination history up to a predetermined number of times. For example, the determination accumulation unit 132 stores the determination history determined by the condition determination unit 131 using a ring buffer or the like.

The detailed determination generation unit 133 uses the CPU 911 to determine whether the estimated real wave number and the estimated integer wave number estimated by the wave number position estimation unit 110 are correct based on the determination history stored in the determination accumulation unit 132. The detailed determination generation unit 133 includes not only the determination result determined this time by the condition determination unit 131 but also the determination results of the previous time, the last time,..., And the estimated real wave number and the estimated integer wave number estimated by the wave number position estimation unit 110. Determine whether it is correct. Using the CPU 911, the detailed determination generation unit 133 outputs the determination result.
Further, when the wave number position estimation unit 110 changes the internal state, such as when it is determined that the estimated real wave number estimated by the wave number position estimation unit 110 is not correct, the detailed determination generation unit 133 determines whether the detailed number generation unit 133 changes the internal state. Output a history erasure control signal.

  Using the CPU 911, the determination accumulation unit 132 inputs the history erasure control signal output from the detailed determination generation unit 133 and the reinitialization control signal output from the position calculation unit 830. When the detailed determination generation unit 133 outputs a history erasure control signal, or when the position calculation unit 830 outputs a reinitialization control signal, the wave number position estimation unit 110 changes the internal state. The previous determination history by the condition determination unit 131 stored using the RAM 914 is deleted.

  Next, the operation will be described.

FIG. 5 is a flowchart showing an example of the flow of positioning processing in which the positioning device 800 in this embodiment measures the position.
The positioning process includes an observation amount acquisition step S510, a preprocessing step S520, an estimation step S530, a position calculation step S540, a reinitialization step S550, and an abnormality handling step S560.

In the observation amount acquisition step S510, the observation amount acquisition unit 810 uses the CPU 911 to acquire the observation amount.
In the preprocessing step S520, the preprocessing unit 820 uses the CPU 911 to preprocess the observation amount acquired by the observation amount acquisition unit 810 in the observation amount acquisition step S510.

  The estimation step S530 includes a wave number position estimation step S531, an estimation state determination step S532, and an integer wave number rejection step S537.

In the wave number position estimation step S531, the wave number position estimation unit 110 uses the CPU 911 based on the pre-processed observation amount pre-processed by the pre-processing unit 820 in the pre-processing step S520, and the estimated real wave number, the estimated integer wave number, The estimated position is estimated.
The estimated state determination step S532 includes a condition determination step S533, a determination accumulation step S534, a detailed determination generation step S535, and a history deletion step S536.
In the condition determination step S533, the condition determination unit 131 uses the CPU 911, the pre-processing unit 820 pre-processing observation amount in the pre-processing step S520, and the estimated real number estimated by the wave number position estimation unit 110 in the wave number position estimation step S531. Whether or not a predetermined condition is satisfied is determined based on the wave number, the estimated integer wave number, and the estimated position.
In the determination accumulation step S534, the determination accumulation unit 132 uses the RAM 914 to store the result determined by the condition determination unit 131 in the condition determination step S533.
In the detailed determination generation step S535, the detailed determination generation unit 133 uses the CPU 911 to determine whether or not the estimation of the wave number position estimation unit 110 is correct based on the determination history stored in the determination storage unit 132 in the determination storage step S534. Determine based on multiple criteria. Below, the case where it determines based on three references | standards as an example is demonstrated.
When it is determined that the estimation of the wave number position estimation unit 110 is incorrect in the determination result based on the first determination criterion among the results determined by the detailed determination generation unit 133, the estimation unit 100 uses the CPU 911 to record the history. Proceed to erasing step S536.
Of the results determined by the detailed determination generation unit 133, the estimation unit 100 also uses the CPU 911 to determine that the estimation by the wave number position estimation unit 110 is incorrect in the determination result based on the second determination criterion. Proceed to history erasing step S536.
In the history erasing step S536, the determination accumulation unit 132 deletes the determination history stored using the RAM 914.

When it is determined that the estimation of the wave number position estimation unit 110 is incorrect in the determination result based on the third determination criterion among the results determined by the detailed determination generation unit 133, the estimation unit 100 uses the CPU 911 to calculate the integer wave number Proceed to rejection step S537.
In the integer wave number rejection step S537, the integer wave number rejection unit 140 uses the CPU 911 to reject the estimated integer wave number estimated by the wave number position estimation unit 110.

In the position calculation step S540, the position calculation unit 830 uses the CPU 911 to estimate the preprocessed observation amount preprocessed by the preprocessing unit 820 in the preprocessing step S520 and the wave number position estimation unit 110 in the wave number position estimation step S531. Based on the estimated real wave number and the estimated integer wave number (excluding the estimated integer wave number rejected by the integer wave number rejection unit 140 in the integer wave number rejection step S537) and the estimated position, the position of the positioning device 800 is calculated.
When the position calculation unit 830 determines that the estimation unit 100 has an abnormality in the process of calculating the position of the positioning device 800 and outputs a reinitialization control signal, the estimation unit 100 uses the CPU 911 to It progresses to re-initialization process S550.
In other cases, the estimation unit 100 branches the process based on the determination result determined by the detailed determination generation unit 133 in the detailed determination generation step S535 using the CPU 911.
In the determination result based on the first determination criterion among the determination results determined by the detailed determination generation unit 133, the estimation unit 100 uses the CPU 911 to determine that the estimation of the wave number position estimation unit 110 is incorrect. It progresses to re-initialization process S550.
Of the determination results determined by the detailed determination generation unit 133, in the determination result based on the second determination criterion, when it is determined that the estimation of the wave number position estimation unit 110 is incorrect, the estimation unit 100 uses the CPU 911. Proceed to abnormality handling step S560.
In other cases, the positioning apparatus 800 returns to the observation amount acquisition step S510 using the CPU 911.

In the reinitialization step S550, the wave number position estimation unit 110 uses the CPU 911 to initialize an internal state such as a Kalman filter. The determination accumulation unit 132 deletes the determination history stored using the RAM 914.
Thereafter, the positioning device 800 uses the CPU 911 to return to the observation amount acquisition step S510.

In the abnormality handling step S560, the wave number position estimation unit 110 uses the CPU 911 to take measures such as changing the internal state of the Kalman filter or the like.
Thereafter, the positioning device 800 uses the CPU 911 to return to the observation amount acquisition step S510.

The estimation unit 100 (wave number estimation device) in this embodiment is a wave number estimation device that estimates the wave number of radio waves for each of the plurality of positioning satellites based on the observation amount observed for each of the plurality of positioning satellites. The observation amount acquisition unit 810, the real wave number estimation unit (wave number position estimation unit 110), the integer wave number estimation unit (wave number position estimation unit 110), and the estimated state determination unit 130.
The observation amount acquisition unit 810 repeatedly acquires observation amounts for each of the plurality of positioning satellites.
The real wave number estimation unit (wave number position estimation unit 110) estimates a real wave number for each of the plurality of positioning satellites based on the observation amount acquired by the observation amount acquisition unit 810, and the plurality of positioning satellites. Among them, the real wave number (estimated real wave number) of the positioning satellite that has succeeded in estimating the real wave number is output.
The integer wave number estimating unit (wave number position estimating unit 110) is an integer for each of the plurality of positioning satellites based on the real number wave number (estimated real wave number) output from the real number wave number estimating unit (wave number position estimating unit 110). The wave number is estimated, and an integer wave number (estimated integer wave number) is output for the positioning satellite that has successfully estimated the integer wave number among the plurality of positioning satellites.
The estimation state determination unit 130 includes the number of observation amounts acquired by the observation amount acquisition unit 810 (number of observation satellites) and the number of real wave numbers output by the real wave number estimation unit (wave number position estimation unit 110) (real number). (Number of wave number satellites) and the number of integer wave numbers (number of integer wave number satellites) output by the integer wave number estimation unit (wave number position estimation unit 110) based on a plurality of determination criteria, the real number wave number estimation unit ( It is determined whether the real number wave number (estimated real wave number) estimated by the wave number position estimation unit 110) is correct.
The real wave number estimation unit (wave number position estimation unit 110) further estimates the real wave number based on the result determined by the estimation state determination unit 130 in the next estimation.

  According to the estimation unit 100 (wave number estimation device) in this embodiment, the estimation state determination unit 130 estimates the wave number position estimation unit 110 based on the number of observation satellites, the number of real wave satellites, or the number of integer wave satellites. Since it is determined whether or not the estimated real wave number is correct, the determination can be easily performed with a small amount of calculation, and the reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved. Further, since the real wave number estimation unit (wave number position estimation unit 110) estimates the estimated real wave number in consideration of the determination result of the estimation state determination unit 130 in the next estimation, the erroneous estimation is corrected early. The reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved.

The estimation unit 100 (wave number estimation device) in this embodiment further includes an integer wave number rejection unit 140.
The estimated state determination unit 130 further includes the number of observations acquired by the observation amount acquisition unit 810 (number of observation satellites) and the number of real wave numbers output by the real wave number estimation unit (wave number position estimation unit 110). Based on the (number of real wavenumber satellites) and the number of integer wavenumbers (number of integer wavenumber satellites) output by the integer wavenumber estimation section (wavenumber position estimation section 110), the integer wavenumber estimation section (wavenumber position estimation section 110). It is determined whether the integer wave number estimated by (the estimated integer wave number) is correct.
The integer wave number rejecting unit 140 outputs the integer wave number output by the integer wave number estimating unit (wave number position estimating unit 110) when the estimated state determining unit 130 determines that the integer wave number (estimated integer wave number) is not correct. (Estimated integer wave number) is rejected.

  According to the estimation unit 100 (wave number estimation device) in this embodiment, the estimation state determination unit 130 estimates the wave number position estimation unit 110 based on the number of observation satellites, the number of real wave satellites, or the number of integer wave satellites. Since it is determined whether or not the estimated integer wave number is correct, it can be easily determined with a small amount of calculation, and the reliability of the estimated integer wave number estimated by the estimation unit 100 can be increased. In addition, since the integer wave number rejection unit 140 rejects the estimated integer wave number determined to be incorrect by the estimated state determination unit 130, it is determined that the subsequent calculation (for example, position calculation by the position calculation unit 830) is incorrect. The estimated integer wave number thus used is not used, and the reliability of subsequent calculations can be improved.

The positioning device 800 in this embodiment includes a radio wave reception unit (observation amount acquisition unit 810), an observation amount calculation unit (observation amount acquisition unit 810), a wave number estimation device (estimation unit 100), a position calculation unit 830, Have
The radio wave reception unit (observation amount acquisition unit 810) receives radio waves transmitted from each of a plurality of positioning satellites.
The observation amount calculation unit (observation amount acquisition unit 810) calculates an observation amount for each of the plurality of positioning satellites based on the radio wave received by the radio wave reception unit (observation amount acquisition unit 810).
The wave number estimating device (estimating unit 100) estimates the real number wave number and the integer wave number based on the observed amount calculated by the observed amount calculating unit (observed amount acquiring unit 810).
The position calculation unit 830 calculates the position based on the observation amount calculated by the observation amount calculation unit (observation amount acquisition unit 810) and the real wave number and integer wave number estimated by the wave number estimation device (estimation unit 100). calculate.

  According to positioning apparatus 800 in this embodiment, position calculation unit 830 calculates a position based on a highly reliable estimated real wave number or estimated integer wave number estimated by wave number estimating apparatus (estimating unit 100). The reliability of the selected position can be increased.

The wave number estimation method in which the estimation unit 100 (wave number estimation device) in this embodiment estimates the wave number for each of the plurality of positioning satellites based on the observation amount observed for each of the plurality of positioning satellites is as follows. Process.
The observation amount acquisition unit 810 repeatedly acquires observation amounts for each of the plurality of positioning satellites (observation amount acquisition step S510).
The real wave number estimating unit (wave number position estimating unit 110) estimates the real wave number for each of the plurality of positioning satellites based on the observation amount acquired by the observation amount acquiring unit 810, and the plurality of positioning satellites. Among them, the real wave number (estimated real wave number) for the positioning satellite that has succeeded in estimating the real wave number is output (wave number position estimating step S531).
Based on the real wave number (estimated real wave number) output from the real wave number estimating unit (wave number position estimating unit 110), the integer wave number estimating unit (wave number position estimating unit 110) calculates an integer for each of the plurality of positioning satellites. The wave number is estimated, and an integer wave number (estimated integer wave number) for the positioning satellite that has successfully estimated the integer wave number among the plurality of positioning satellites is output (wave number position estimating step S531).
The estimated state determination unit 130 counts the number of observations acquired by the observation amount acquisition unit 810 (number of observation satellites) and the number of real wave numbers output by the real wave number estimation unit (wave number position estimation unit 110) (real number). (Number of wave number satellites) and the number of integer wave numbers (number of integer wave number satellites) output by the integer wave number estimation unit (wave number position estimation unit 110) based on a plurality of determination criteria, the real number wave number estimation unit ( It is determined whether the real number wave number (estimated real wave number) estimated by the wave number position estimation unit 110) is correct.
The real wave number estimation unit (wave number position estimation unit 110) estimates the real wave number based on the result of the estimation state determination unit 130 determining in the next estimation.

  According to the wave number estimation method in this embodiment, the estimated real number wave number estimated by the wave number position estimating unit 110 is correct by the estimated state determination unit 130 based on the number of observed satellites, the number of real wave number satellites, or the number of integer wave number satellites. Therefore, the determination can be easily made with a small amount of calculation, and the reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved. Further, since the real wave number estimation unit (wave number position estimation unit 110) estimates the estimated real wave number in consideration of the determination result of the estimation state determination unit 130 in the next estimation, the erroneous estimation is corrected early. The reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved.

  The positioning apparatus 800 described above calculates the number of observed satellites (the number of visible satellites), the number of (estimated) real wavenumber satellites, and the number of (estimated) integer wavenumber satellites at each time, and makes several types of determinations using these values. Do.

The positioning device 800 applies the pre-processing for facilitating the processing in the subsequent block to the observation amount of the receiver collected by the observation amount acquisition unit 810 and the pre-processing unit 820 to calculate the observation amount after the pre-processing. Generate. The estimation unit 100 and the position calculation unit 830 calculate and output the position of the receiver using the pre-processed observation amount.
The estimation unit 100 estimates a position, a real wave number, an integer wave number, and the like at the same time using the preprocessed observation amount corresponding to each time. The position calculation unit 830 calculates a precise position at the same time using these pieces of information. The position calculation unit 830 verifies the output quality of the estimation unit 100 when calculating the precise position, and outputs a reinitialization control signal for initializing the estimation unit 100 when an abnormality is detected.

  In the estimation unit 100, the wave number position estimation unit 110 performs output estimation of the estimation unit 100. The state determination output unit 120 uses the output of the wave number position estimation unit 110, the pre-processed observation amount, and the reinitialization control output of the position calculation unit 830, so that the estimation state determination unit 130 A state determination output is generated, and the integer wave number rejection unit 140 (integer wave number initialization unit) controls output of the estimated integer wave number. The integer wave number rejection unit 140 (integer wave number initialization unit) is a satellite that determines that the integer wave number determination output output from the estimated state determination unit 130 is incorrect from the estimated integer wave numbers output from the wave number position estimation unit 110. Reject the estimated integer wave number and output it.

In the estimated state determination unit 130, the condition determination unit 131 receives the estimated real wave number and the estimated integer wave number that are the output of the pre-processed observation amount and the wave number position estimation unit 110 as inputs, and is input to the detailed determination generation unit 133. A condition judgment output is generated. The determination accumulation unit 132 accumulates and outputs the past output history of the condition determination unit 131. When a reinitialization control signal is input, the determination accumulation unit 132 deletes the past output history of the condition determination unit 131 that has been accumulated.
The detail determination generation unit 133 uses the output history of the condition determination unit 131, which is the output of the determination accumulation unit 132, to determine the details of the state of the wave number position estimation unit 110 at each time using a plurality of methods. Then, an estimated state determination output and an integer wave number determination output, which are the respective determination results, are generated. Further, when it is determined that the past output history of the condition determination unit 131 is unnecessary for determination after the same time, a history erasure control signal is output. The determination accumulation unit 132 deletes the output history of the condition determination unit 131 according to the history deletion control signal output from the detailed determination generation unit 133.

The wave number position estimation unit 110 determines its own estimation state using the estimation state determination output and the integer wave number determination output, which are outputs of the detailed determination generation unit 133, and performs appropriate processing. Specific processing contents include, for example, initialization of each estimated state. For an estimated state in which several different initialization methods are possible, the reliability of the estimated state is determined according to the output of the detailed determination generation unit 133, and an appropriate initialization method is selected.
Thereby, the reliability of the output of the estimation unit 100 can be increased, and the reliability of the position output generated by the position calculation unit 830 is improved.

Embodiment 2. FIG.
The second embodiment will be described.
The hardware resources and overall configuration of the positioning device 800 in this embodiment, the internal configuration of the estimation unit 100, and the detailed configuration of the estimation state determination unit 130 are the same as those described in the first embodiment, and thus description thereof is omitted here. To do.

  In this embodiment, the determination criterion determined by the estimation state determination unit 130 and the coping method of the wave number position estimation unit 110 corresponding thereto will be described with a specific example.

  As one of a plurality of determination criteria determined by the estimated state determination unit 130, here, a state where the difference between the number of real wavenumber satellites and the number of integer wavenumber satellites is greater than a predetermined threshold (for example, 5) is a predetermined number of times. (For example, 50 times) or a criterion for determining whether or not a predetermined time (for example, 20 seconds) has been exceeded is used.

Using the CPU 911, the condition determination unit 131 inputs the preprocessed observation amount output from the preprocessing unit 820, the estimated real wave number and the estimated integer wave number output from the wave number position estimation unit 110.
Using the CPU 911, the condition determination unit 131 calculates the number of observation satellites by counting the number of input preprocessed observations, calculates the number of estimated real wave numbers, and calculates the number of real wave number satellites. Then, the number of estimated integer wave numbers input is counted, and the number of integer wave number satellites is calculated.

  The condition determination unit 131 uses the CPU 911 to calculate the difference between the calculated real wave number satellite number and the calculated integer wave number satellite number. The condition determination unit 131 uses the CPU 911 to determine whether or not the difference between the calculated real wave number satellite number and the integer wave number satellite number is greater than a predetermined threshold (for example, 5). The condition determination unit 131 uses the CPU 911 to output the determination result. The determination accumulation unit 132 uses the CPU 911 and the condition determination unit 131 inputs the output determination result. The determination accumulation unit 132 uses the RAM 914 to store the input determination result.

  The determination accumulating unit 132 does not directly store the input determination result as a history, but uses the CPU 911 to calculate how many times the same determination result as the latest determination result has been continuously generated, and using the RAM 914. The latest determination result and the calculated number of consecutive times may be stored.

The detailed determination generation unit 133 uses the CPU 911 to input the determination result history stored in the determination storage unit 132. The detailed determination generation unit 133 uses the CPU 911 to determine how many times a state in which the difference between the number of real wavenumber satellites and the number of integer wavenumber satellites is greater than a predetermined threshold is continued based on the input determination history. .
The detailed determination generation unit 133 uses the CPU 911 to determine whether the determined number of consecutive times is greater than a predetermined threshold (for example, 50).

  If it is determined that the determined number of consecutive times is greater than the predetermined threshold, the detailed determination generation unit 133 uses the CPU 911 to determine that the estimated integer wave number estimated by the wave number position estimation unit 110 is not correct. The detailed determination generation unit 133 uses the CPU 911 to output the determined result as one of a plurality of estimated state determination results.

  If the number of observation satellites is 4 or more, the position of the positioning device 800 can be roughly estimated. Based on the estimated rough position, the estimated integer wave number is estimated. If the number of integer wave number satellites is 4 or more, the position of the positioning device 800 can be accurately estimated. If the estimated integer wave number is verified based on the estimated precise position, it is possible to determine the contradiction of the estimation result, and therefore the wave number position estimation unit 110 rejects the estimated integer wave number determined to be wrong. . In that case, the number of integer wavenumber satellites is smaller than the number of real wavenumber satellites.

  If such a situation occurs occasionally, it is considered to be temporary due to an error factor such as multipath. Therefore, the position estimated by the wave number position estimation unit 110 and the estimated integer wave number determined to be correct are considered correct. It's okay. However, if such a situation occurs continuously, it is unlikely that this is due to a temporary error factor. Rather, since the estimated integer wave number determined to be correct is incorrect, the estimated position should also be considered to be incorrect, and there are other true positions where all estimated integer wave numbers can be estimated consistently.

  In the estimation using a Kalman filter or the like, a new estimated value is calculated based on a past estimated value and a new observation amount. Since the estimation value includes an estimation error and the observation amount includes an observation error, an optimum estimation result is obtained by appropriately weighting each. In the Kalman filter, the weighting is called Kalman gain. In the Kalman filter, an error covariance matrix of estimation errors of past estimated values is estimated, and a Kalman gain is calculated based on the estimated error covariance matrix. When the value of the error covariance matrix is large, it is considered that the estimation error of the past estimated value is large. Therefore, the Kalman filter makes an estimation with emphasis on the new observation amount. On the other hand, when the value of the error covariance matrix is small, it is considered that the estimation error of the past estimated value is small. Therefore, the Kalman filter performs estimation with emphasis on the past estimated value.

  In this way, the estimation method that stores the past estimated values and uses them for the next estimation has the advantage that the observation errors included in the observation amount are averaged and cancel each other, and the estimated values gradually approach the correct values. On the other hand, if you think that the past estimate is wrong but you think it is correct, it may be difficult to get out of it.

When the estimation method in the wave number position estimation unit 110 is the above estimation method and the output thereof matches the above-described determination criteria, the wave number position estimation unit 110, such as the estimated position, the estimated real number wave number, and the estimated integer wave number, There is a possibility that the estimated value and other internal values (for example, the value of the error covariance matrix) held for the next estimation are stable at an incorrect value.
In that case, there is a possibility that the estimated value held by the wave number position estimating unit 110 and other internal values are initialized, and the estimation is performed again from the beginning, so that the estimated value can be converged.

Using the CPU 911, the wave number position estimation unit 110 inputs a plurality of estimation state determination results output from the detailed determination generation unit 133.
When the estimation state determination unit 130 determines that the state where the difference between the real wave number satellite number and the integer wave number satellite number is greater than a predetermined threshold value has continued for a predetermined number of times or for a predetermined time, the wave number position estimation unit 110 performs the CPU 911. Is used to acquire the determination result based on the input estimated state determination result and perform initialization processing.

For example, when the wave number position estimating unit 110 stores the estimated real wave number estimated using the RAM 914 and uses it for the next estimation, the wave number position estimating unit 110 uses the RAM 914 in the initialization process. The stored estimated real wave number (hereinafter referred to as “previous estimated real wave number”) is deleted.
When the wave number position estimating unit 110 is configured to store an estimated value other than the estimated real wave number or an internal value using the RAM 914 and use it for the next estimation, the wave number position estimating unit 110 in the initialization process. Similarly, other estimated values and internal values stored using the RAM 914 are deleted.
As a result, the wave number position estimation unit 110 can estimate without being caught by the past estimated value in the estimation from the next time, thereby increasing the possibility of estimating a correct value and increasing the reliability of the estimated value. be able to.

The determination criterion described in this embodiment is an example of a determination criterion for determining whether or not the wave number position estimation unit 110 is stable in a wrong estimation state, and the wave number position is determined using another determination criterion. It may be determined whether the estimation unit 110 is stable in a wrong estimation state.
The determination criterion described in this embodiment is preferable because it requires a small amount of calculation and can be easily determined.

The coping method described in this embodiment is an example of a coping method that causes the wave number position estimation unit 110 to move away from the wrong stable state and move to the correct stable state, and using other coping methods, the wave number position estimation unit 110 may be removed from the wrong stable state.
The coping method described in this embodiment is preferable because the wave number position estimation unit 110 can be released from the wrong stable state in a simple manner.

  In addition, when the estimation state determination unit 130 determines that the wave number position estimation unit 110 is stable in the wrong estimation state, the integer wave number rejection unit 140 rejects the estimated integer wave number estimated by the wave number position estimation unit 110. It is good also as a structure.

  In the estimation unit 100 (wave number estimation device) in this embodiment, the real wave number estimation unit (wave number position estimation unit 110) stores the estimated real wave number as the previous estimated real wave number, the stored previous estimated real wave number, Based on the observation amount newly acquired by the observation amount acquisition unit 810, the real wave number is estimated, and the estimated state determination unit 130 determines that the real wave number is based on a first determination criterion among the plurality of determination criteria. If it is determined that it is not correct, the previously estimated real wave number stored is initialized.

  According to the estimation unit 100 (wave number estimation device) in this embodiment, a new real wave number is estimated using the estimated real wave number estimated by the wave number position estimation unit 110 in the past. In this case, it is possible to escape from the wrong estimation state by initializing the stored previous estimated real wave number. Thereby, the reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved.

  In the estimation unit 100 (wave number estimation device) in this embodiment, the estimation state determination unit 130 uses the real number estimation unit (wave number) continuously for a predetermined number of times or a predetermined time as the first determination criterion. When the difference between the number of real wave numbers estimated by the position estimation unit 110) and the number of integer wave numbers estimated by the integer wave number estimation unit (wave number position estimation unit 110) is larger than a predetermined threshold, the real wave number estimation is performed. It is determined that the real wave number estimated by the unit (wave number position estimating unit 110) is not correct.

  According to the estimation unit 100 (wave number estimation device) in this embodiment, it can be easily determined with a small amount of calculation that the wave number position estimation unit 110 is stable in the wrong estimation state. 110 can be removed from the wrong estimated state. Thereby, the reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved.

The positioning apparatus 800 described above determines the validity of the estimated value of the integer wave number and the position when the above-described several types of determinations occur continuously a predetermined number of times or more.
The positioning apparatus 800 includes several kinds of initialization methods (coping methods) of the estimation unit (wave number position estimation unit 110) that estimates the integer wave number and position, and applies these in combination when initializing the estimation unit.
The positioning device 800 applies a combination of appropriate initialization methods (coping methods) according to the validity determination result.

In the positioning apparatus 800 described above, the condition determination unit 131 generates an output by comparing the following three types of satellites at each epoch. (A) Number of observation satellites (number of visible satellites) indicating the number of satellites included in the pre-processed observations. (B) Estimated real wave number satellite number indicating the number of satellites included in the estimated real wave number. (C) An estimated integer wave number satellite number indicating the number of satellites included in the estimated integer wave number.
Here, it is defined that the satellites included in the estimated integer wave number satellite number are also included in the estimated real wave number satellite number. That is, a satellite with an estimated integer wave number also has an estimated real wave number.

  The condition determination unit 131 maintains a sufficient number (for example, five or more) of (estimated real wave number satellite number−estimated integer wave number satellite number) to enable accurate position calculation without being able to determine the estimated integer wave number. It is determined whether or not. When the condition determination unit 131 determines that a sufficient number of (estimated real wave number satellites−estimated integer wave number satellites) is maintained, the detailed determination generation unit 133 determines that the state is a predetermined number of times or a predetermined time or more. It is determined whether or not it has occurred continuously. When the detailed determination generation unit 133 determines that the state has occurred continuously a predetermined number of times or for a predetermined time or more, the detailed determination generation unit 133 determines that the accuracy of the baseline vector serving as a reference for integer wave number estimation is low, and the estimated integer wave number and baseline vector Is determined to be incorrect.

  When the estimation state determination unit 130 determines that the current solution cannot be trusted at all, the wave number position estimation unit 110 initializes all the Kalman filter average estimation values and covariance estimation values and restarts the estimation.

  Thereby, when error estimation of some measurement distances is not successful, it is possible to avoid convergence to an inappropriate estimated position and hindering convergence to an appropriate estimated position.

Embodiment 3 FIG.
A third embodiment will be described.
The hardware resources and overall configuration of the positioning device 800 in this embodiment, the internal configuration of the estimation unit 100, and the detailed configuration of the estimation state determination unit 130 are the same as those described in the first embodiment, and thus description thereof is omitted here. To do.

  In this embodiment, the determination criterion determined by the estimation state determination unit 130 and the coping method of the wave number position estimation unit 110 corresponding thereto will be described with another specific example.

  As one of a plurality of determination criteria determined by the estimated state determination unit 130, here, a state where the number of integer wave number satellites is smaller than a predetermined threshold (for example, 3) is a predetermined number of times (for example, 50 times) or a predetermined time. A criterion for determining whether or not (for example, 20 seconds) has continued is used.

  The condition determination unit 131 uses the CPU 911 to determine whether or not the calculated integer wave number satellite number is smaller than a predetermined threshold value. The condition determination unit 131 uses the CPU 911 to output the determination result. The determination accumulation unit 132 uses the CPU 911 to input the determination result output from the condition determination unit 131. The determination accumulation unit 132 uses the RAM 914 to store the input determination result.

The detailed determination generation unit 133 uses the CPU 911 to input the determination result history stored in the determination storage unit 132. The detailed determination generation unit 133 uses the CPU 911 to determine how many times the state where the number of integer wave number satellites is smaller than a predetermined threshold is continued based on the input determination history.
The detailed determination generation unit 133 uses the CPU 911 to determine whether the determined number of consecutive times is greater than a predetermined threshold (for example, 50).

  If it is determined that the determined number of consecutive times is greater than the predetermined threshold, the detailed determination generation unit 133 uses the CPU 911 to determine that the estimated real wave number estimated by the wave number position estimation unit 110 is not correct. The detailed determination generation unit 133 uses the CPU 911 to output the determined result as one of a plurality of estimated state determination results.

  When the number of integer wave number satellites is 3 or less, the position of the positioning device 800 cannot be estimated accurately, and therefore the reliability of the estimated real wave number and the estimated integer wave number estimated by the wave number position estimating unit 110 is not so high. When the estimation method in the wave number position estimation unit 110 is an estimation method that stores past estimation values and uses them for the next estimation, the wave number position estimation unit 110 indicates that the new estimation value is inconsistent with the past estimation value. If not, there is a possibility that it is determined that the estimated real wave number or the estimated integer wave number is correct.

If the estimated real wave number and the estimated integer wave number are estimated only for a short time without accurately estimating the position of the positioning device 800, the estimated estimated real wave number and the estimated integer wave number can be trusted to some extent. Good, but if the condition continues for a long time, the reliability gradually decreases. As a result, there is a possibility that the estimated value will soon become an incorrect value and be stabilized as it is.
In this case, assuming that the estimation error of the past estimated value is large, the wave number position estimating unit 110 makes the estimation with the new observation amount more weighted than the past estimated value, thereby stabilizing the wrong estimated value. Can be prevented.

Using the CPU 911, the wave number position estimation unit 110 inputs a plurality of estimation state determination results output from the detailed determination generation unit 133.
When the estimation state determination unit 130 determines that the state in which the number of integer wavenumber satellites is smaller than a predetermined threshold has continued for a predetermined number of times or a predetermined time, the wavenumber position estimation unit 110 uses the CPU 911 to input the estimated state Based on the determination result, the determination result is obtained, and the weight of the past estimated value in the estimation is reduced.

For example, when the wave number position estimation unit 110 is configured to store the previous estimated real wave number using the RAM 914 and use it for the next estimation, the wave number position estimation unit 110 uses the CPU 911 to perform the previous estimation in the next estimation. Reduce the weight of the estimated real wave number.
For example, if the wave number position estimation unit 110 estimates the estimated real wave number using a Kalman filter, the wave number position estimation unit 110 increases the value of the error covariance matrix stored using the RAM 914. For example, the wave number position estimation unit 110 uses the CPU 911 to multiply the stored error covariance matrix value by 100, and uses the RAM 914 to store the value as a new error covariance matrix value.

The determination criterion described in this embodiment is an example of a determination criterion for determining whether or not the reliability of the estimated value gradually decreases and the wave number position estimation unit 110 may be stabilized in an incorrect estimation state. Therefore, it may be determined whether there is a possibility that the wave number position estimation unit 110 may be stabilized in a wrong estimation state using another determination criterion.
The determination criterion described in this embodiment is preferable because it requires a small amount of calculation and can be easily determined.

The coping method described in this embodiment is an example of a coping method that prevents the wave number position estimation unit 110 from being stabilized in a wrong estimation state, and the wave number position estimation unit 110 performs erroneous estimation using another target method. It is good also as a structure which prevents stabilizing in a state.
The coping method described in this embodiment is preferable because it can prevent the wave number position estimation unit 110 from being stabilized in a wrong estimation state in a simple manner.

  In addition, when the estimation state determination unit 130 determines that the wave number position estimation unit 110 may be stabilized in the wrong estimation state, the integer wave number rejection unit 140 calculates the estimated integer wave number estimated by the wave number position estimation unit 110. It is good also as a structure to reject.

  In the estimation unit 100 (wave number estimation device) in this embodiment, the real wave number estimation unit (wave number position estimation unit 110) stores the estimated real wave number as the previous estimated real wave number, the stored previous estimated real wave number, Based on the observation amount newly acquired by the observation amount acquisition unit 810, the real wave number is estimated, and the estimated state determination unit 130 determines that the real wave number is determined by the second determination criterion among the plurality of determination criteria. If it is determined to be incorrect, the weight of the previous estimated real wave number in the estimation of the real wave number is decreased.

  According to the estimation unit 100 (wave number estimation device) in this embodiment, the wave number position estimation unit 110 uses the previously estimated real wave number with low reliability estimated in the past to estimate a new real wave number. When there is a possibility of stabilization in the estimated state, it is possible to prevent stabilization in the wrong estimated state by reducing the weight of the previous estimated real wave number in the next estimation. Thereby, the reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved.

  In the estimation unit 100 (wave number estimation device) in this embodiment, the real wave number estimation unit (wave number position estimation unit 110) estimates the real wave number using a Kalman filter, and an error covariance matrix used in the Kalman filter. When the estimated state determination unit 130 determines that the real wavenumber is not correct according to the second determination criterion among the plurality of determination criteria, the value of the stored error covariance matrix is increased. To do.

  According to the estimation unit 100 (wave number estimation device) in this embodiment, the estimation is performed with an emphasis on the observation amount newer than the past estimation value by increasing the value of the error covariance matrix used in the Kalman filter. Can be prevented from stabilizing in the wrong estimation state. Thereby, the reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved.

  In the estimation unit 100 (wave number estimation device) in this embodiment, the estimation state determination unit 130 uses the integer wave number estimation unit (wave number) continuously for a predetermined number of times or a predetermined time as the second determination criterion. When the number of integer wave numbers (number of integer wave number satellites) estimated by the position estimation unit 110) is smaller than a predetermined threshold, the real wave number estimated by the real wave number estimation unit (wave number position estimation unit 110) is determined to be incorrect. To do.

  According to the estimation unit 100 (wave number estimation device) in this embodiment, it can be easily determined with a small amount of calculation that the wave number position estimation unit 110 may be stabilized in a wrong estimation state. It is possible to prevent the wave number position estimation unit 110 from being stabilized in an incorrect estimation state. Thereby, the reliability of the estimated real wave number and the estimated integer wave number estimated by the estimation unit 100 can be improved.

  In the positioning apparatus 800 described above, the condition determination unit 131 maintains whether the number of estimated integer wave number satellites is not necessarily sufficient (for example, 3 or 2 or less) to enable precise position calculation. Determine whether. If the condition determination unit 131 determines that an insufficient number of estimated integer wave number satellites is maintained, the detailed determination generation unit 133 causes the estimated number of integer wave number satellites to fall below the minimum number that enables precise position calculation. It is determined whether or not the state has occurred continuously for a predetermined number of times or for a predetermined time. The detailed determination generation unit 133 estimates the integer wave number when it is determined that the state in which the estimated integer wave number satellite number is below the minimum number that enables precise position calculation has occurred continuously a predetermined number of times or for a predetermined time or more. It is determined that the accuracy of the base line vector serving as a reference for is low, and the estimated integer wave number is determined to be incorrect.

  When the estimation state determination unit 130 determines that the estimated integer wave number has low reliability and the baseline vector has low reliability, the wave number position estimation unit 110 obtains the Kalman filter covariance estimation value (value of the error covariance matrix). To increase. For example, the value is reset to 100 times.

  Thereby, when error estimation of some measurement distances is not successful, it is possible to avoid convergence to an inappropriate estimated position and hindering convergence to an appropriate estimated position.

Embodiment 4 FIG.
A fourth embodiment will be described.
The hardware resources and overall configuration of the positioning device 800 in this embodiment, the internal configuration of the estimation unit 100, and the detailed configuration of the estimation state determination unit 130 are the same as those described in the first embodiment, and thus description thereof is omitted here. To do.

  In this embodiment, the determination criterion determined by the estimation state determination unit 130 and the coping method of the wave number position estimation unit 110 corresponding thereto will be described with another specific example.

  As one of a plurality of determination criteria determined by the estimated state determination unit 130, here, the estimated integer wave number satellite number is larger than a predetermined threshold (for example, 4), and the estimated real wave number satellite number and the estimated integer wave number satellite are as follows. A criterion for determining whether or not a state in which the difference from the number is greater than a predetermined threshold (for example, 1) has continued for a predetermined number of times (for example, 50 times) or a predetermined time (for example, 20 seconds) is used.

The condition determination unit 131 uses the CPU 911 to determine whether or not the calculated integer wave number satellite number is greater than a predetermined threshold (for example, 4). The condition determination unit 131 uses the CPU 911 to output the determination result. The determination accumulation unit 132 uses the CPU 911 to input the determination result output from the condition determination unit 131. The determination accumulation unit 132 uses the RAM 914 to store the input determination result.
The condition determination unit 131 uses the CPU 911 to calculate the difference between the calculated real wave number satellite number and the calculated integer wave number satellite number. The condition determination unit 131 uses the CPU 911 to determine whether or not the difference between the calculated real wave number satellite number and the integer wave number satellite number is greater than a predetermined threshold (for example, 1). The condition determination unit 131 uses the CPU 911 to output the determination result. The determination accumulation unit 132 uses the CPU 911 and the condition determination unit 131 inputs the output determination result. The determination accumulation unit 132 uses the RAM 914 to store the input determination result.

The detailed determination generation unit 133 uses the CPU 911 to input the determination result history stored in the determination storage unit 132. The detailed determination generation unit 133 uses the CPU 911 to determine that the integer wave number satellite number is greater than a predetermined threshold value based on the input determination history, and that the difference between the real wave number satellite number and the integer wave number satellite number is greater than the predetermined threshold value. Determine how many times a large state continues.
The detailed determination generation unit 133 uses the CPU 911 to determine whether the determined number of consecutive times is greater than a predetermined threshold (for example, 50).

  If the number of integer wave number satellites is 4 or more, the position of the positioning device 800 can be accurately estimated, and the estimated integer wave number can be verified. If many estimated integer wave numbers have been successfully verified, the estimated position and estimated integer wave number may be considered to be roughly correct, but if there is an estimated integer wave number that has failed verification, something may be wrong. There is. If such a state continues for a long time, the possibility that the estimated integer wave number is incorrect is high.

  If it is determined that the determined number of consecutive times is greater than the predetermined threshold, the detailed determination generation unit 133 uses the CPU 911 to determine that the estimated integer wave number estimated by the wave number position estimation unit 110 is not correct. The detailed determination generation unit 133 uses the CPU 911 to output the determined result as an integer wave number determination result.

Using the CPU 911, the integer wave number rejection unit 140 inputs the integer wave number determination result output from the detailed determination generation unit 133.
The estimated state determination unit 130 has a state in which the number of integer wave number satellites is greater than a predetermined threshold and the difference between the number of real wave number satellites and the number of integer wave number satellites is greater than a predetermined threshold for a predetermined number of times or a predetermined time If it is determined that the integer wave number rejection unit 140 uses the CPU 911, the integer wave number rejection unit 140 acquires the determination result based on the input integer wave number determination result, and rejects the estimated integer wave number estimated by the wave number position estimation unit 110.
Thereby, since the estimation part 100 does not output the estimated integer wave number which is highly likely to be wrong, it is possible to prevent adverse effects on the processing of the subsequent stage (position calculation part 830).

The criterion described in this embodiment is an example of a criterion for determining whether or not the estimated integer wave number estimated by the wave number position estimating unit 110 is likely to be wrong. It may be used to determine whether or not the estimated integer wave number estimated by the wave number position estimation unit 110 is likely to be incorrect.
The determination criterion described in this embodiment is preferable because it requires a small amount of calculation and can be easily determined.

The coping method described in this embodiment is an example of a coping method that prevents the influence from propagating to the subsequent stage when there is a high possibility that the estimated integer wave number estimated by the wave number position estimating unit 110 is incorrect. It is good also as a structure which prevents the influence of the wrong estimated integer wave number from propagating using another coping method.
The coping method described in this embodiment is preferable because it can prevent the influence of a wrong estimated integer wave number from propagating in a simple manner.

  When the estimated state determination unit 130 determines that the state where the number of integer wave number satellites is larger than a predetermined threshold and the difference between the number of real wave number satellites and the number of integer wave number satellites is larger than the predetermined threshold value, the estimated integer number In addition to rejecting the wave number, the wave number position estimation unit 110 may be configured to deal with some coping method.

If the state where the number of integer wavenumber satellites is greater than a predetermined threshold and the difference between the number of real wavenumber satellites and the number of integer wavenumber satellites is greater than the predetermined threshold continues for a longer time, the wavenumber position estimating unit 110 The possibility of being stable in the wrong estimation state increases.
Therefore, the estimation state determination unit 130 determines the determination criterion for determining this, outputs the estimation state determination result, and the wave number position estimation unit 110 deals with the coping method described in the second embodiment or the third embodiment. It is also possible to adopt a configuration in which countermeasures are taken using other countermeasure methods.

  In the estimation unit 100 (wave number estimation device) in this embodiment, the estimation state determination unit 130 is estimated by the integer wave number estimation unit (wave number position estimation unit 110) continuously for a predetermined number of times or for a predetermined time. The number of integer wave numbers (number of integer wave number satellites) is larger than a predetermined threshold, and the number of real wave numbers (number of real wave number satellites) estimated by the real wave number estimation unit (wave number position estimation unit 110) and the integer wave number estimation Integer estimated by the integer wave number estimating unit (wave number position estimating unit 110) when the difference from the number of integer wave numbers (number of integer wave number satellites) estimated by the unit (wave number position estimating unit 110) is larger than a predetermined threshold It is determined that the wave number is not correct.

  According to the estimation unit 100 (wave number estimation device) in this embodiment, it is possible to easily determine with a small amount of calculation that there is a high possibility that the estimated integer wave number estimated by the wave number position estimation unit 110 is incorrect. Therefore, it is possible to prevent the influence of the wrong estimated integer wave number from propagating, and to improve the reliability.

  In the positioning apparatus 800 described above, the condition determination unit 131 determines whether or not a sufficient number (for example, four or more) of estimated integer wave number satellites is maintained to enable precise position calculation. If it is determined that a sufficient number of estimated integer wave number swaying integers are maintained, the condition determining unit 131 determines whether (estimated real wave number satellite number−estimated integer wave number satellite number) is 1 or more. When it is determined that (the estimated number of real wavenumber satellites−the number of estimated integer wavenumber satellites) is 1 or more, the detailed determination generation unit 133 determines whether or not the state has continuously occurred a predetermined number of times (or a predetermined time). judge. When the detailed determination generation unit 133 determines that the state has continuously occurred a predetermined number of times (or a predetermined time), the accuracy of the baseline vector (position of the positioning device 800) serving as a reference for integer wave number estimation is low. It is determined that the integer wave numbers of other satellites cannot be estimated, and it is determined that the estimated integer wave numbers are incorrect.

  When the estimated state determination unit 130 determines that the reliability of the estimated integer wave number is low and the reliability of the baseline vector is high, the integer wave number rejection unit 140 rejects the estimated integer wave number estimated by the wave number position estimation unit 110.

  As described above, there are various levels even if the estimation of the wave number position estimation unit 110 is wrong, and it is determined based on a plurality of determination criteria, and the reliability of the estimation is improved by changing the coping method. Can do.

In the position calculation by the satellite positioning method, radio waves from individual satellites are received and the distance between the satellite-mounted transmitter and the receiver is measured. Then, the receiver position is calculated based on the obtained satellite positions corresponding to the plurality of measurement distances. In order to calculate the position in consideration of the error included in each measurement distance, it is necessary to calculate the most probable receiver position by estimating the observation error.
When error estimation of some measurement distances is not successful, the error may converge to an inappropriate estimated position, and convergence to an appropriate estimated position may be hindered. In order to avoid this, for example, an inappropriate convergence state is detected based on the determination criterion described above.

  The above-described determination criteria are based on empirical rules obtained from past test results. In particular, by using the number of satellites as a parameter, it is easy to realize the estimated state determination unit 130 (detection means) and the reliability is high. Moreover, since the estimation state determination unit 130 and the control means of the wave number position estimation unit 110 are separated, the versatility is high.

  By configuring the positioning device 800 in this manner, the validity determination of the integer wave number and the position estimation value can be performed by a simple and effective method, and appropriate reinitialization can be performed. As a result, the validity of the integer wave number and the position estimated value can be accurately grasped, and the corresponding appropriate re-initialization can be performed, and the highly reliable integer wave number and position estimated value can be obtained.

  In addition, since the determination criterion of the state determination output unit 120 can be performed using only information that does not depend on the internal configuration of the wave number position estimation unit 110, the versatility is high.

FIG. 3 is a diagram illustrating an example of 800 hardware resources according to the first embodiment. FIG. 3 is a block configuration diagram showing an example of the overall configuration of a positioning apparatus 800 in the first embodiment. FIG. 3 is a block configuration diagram illustrating an example of a functional block configuration of an estimation unit 100 according to the first embodiment. FIG. 3 is a block configuration diagram showing an example of a detailed block of an estimated state determination unit 130 in the first embodiment. The flowchart figure which shows an example of the flow of the positioning process in which the positioning apparatus 800 in Embodiment 1 measures a position.

Explanation of symbols

  100 estimation unit, 110 wave number position estimation unit, 120 state determination output unit, 130 estimation state determination unit, 131 condition determination unit, 132 determination accumulation unit, 133 detailed determination generation unit, 140 integer wave number rejection unit, 800 positioning device, 810 observation Quantity acquisition unit, 820 preprocessing unit, 830 position calculation unit, 901 display device, 902 keyboard, 903 mouse, 904 FDD, 905 CDD, 906 printer device, 907 scanner device, 910 system unit, 911 CPU, 912 bus, 913 ROM , 914 RAM, 915 communication device, 920 magnetic disk device, 921 OS, 922 window system, 923 program group, 924 file group.

Claims (9)

In the wave number estimating device for estimating the wave number of the radio wave for each of the plurality of positioning satellites based on the observation amount observed for each of the plurality of positioning satellites,
An observation amount acquisition unit, a real wave number estimation unit, an integer wave number estimation unit, and an estimated state determination unit;
The observation amount acquisition unit repeatedly acquires observation amounts for each of the plurality of positioning satellites,
The real wave number estimation unit estimates a real wave number for each of the plurality of positioning satellites based on the observation amount acquired by the observation amount acquisition unit, and estimates the real wave number of the plurality of positioning satellites. Output real wave number for successful positioning satellite,
The integer wave number estimating unit estimates an integer wave number for each of the plurality of positioning satellites based on the real number wave number output from the real number wave number estimating unit, and estimates the integer wave number of the plurality of positioning satellites. Output integer wave numbers for successful positioning satellites,
The estimated state determination unit is based on the number of observations acquired by the observation amount acquisition unit, the number of real wave numbers output by the real wave number estimation unit, and the number of integer wave numbers output by the integer wave number estimation unit. Then, based on a plurality of criteria, it is determined whether the real wave number estimated by the real wave number estimation unit is correct,
In the next estimation, the real wave number estimation unit further estimates the real wave number based on the result determined by the estimation state determination unit.   The real wave number estimation unit stores the estimated real wave number as the previous estimated real wave number, and estimates the real wave number based on the stored previous estimated real wave number and the observation amount newly acquired by the observation amount acquisition unit. When the estimated state determination unit determines that the real wave number is not correct according to the first determination criterion among the plurality of determination criteria, the stored previous estimated real wave number is initialized, and the estimated state determination unit The weight of the previous estimated real wave number in the estimation of the real wave number is reduced when the real wave number is determined to be incorrect by a second determination standard among the plurality of determination standards. 1. The wave number estimation apparatus according to 1.   The real wave number estimation unit estimates the real wave number using a Kalman filter, stores a value of an error covariance matrix used in the Kalman filter, and the estimation state determination unit selects a second of the plurality of determination criteria. 3. The wave number estimation apparatus according to claim 1, wherein the value of the stored error covariance matrix is increased when it is determined that the real wave number is not correct according to the determination criterion.   The estimated state determination unit, as the first determination criterion, the number of real wave numbers estimated by the real wave number estimation unit and the integer estimated by the integer wave number estimation unit for a predetermined number of times or for a predetermined time or more. 4. The wave number estimation device according to claim 2, wherein when the difference from the number of wave numbers is larger than a predetermined threshold, the real wave number estimated by the real wave number estimation unit is determined to be incorrect. .   When the number of integer wave numbers estimated by the integer wave number estimating unit is smaller than a predetermined threshold, the estimated state determining unit is the predetermined number of times or continuously for a predetermined time or more as the second determination criterion. 5. The wave number estimation apparatus according to claim 2, wherein the real wave number estimation unit determines that the real wave number is not correct. The wave number estimation device further includes an integer wave number rejection unit,
The estimation state determination unit further includes the number of observations acquired by the observation amount acquisition unit, the number of real wave numbers output by the real wave number estimation unit, and the number of integer wave numbers output by the integer wave number estimation unit. On the basis of whether the integer wave number estimated by the integer wave number estimation unit is correct,
The integer wave number rejection unit rejects the integer wave number output from the integer wave number estimation unit when the estimation state determination unit determines that the integer wave number is not correct. 5. The wave number estimating apparatus according to any one of 5 above.   The estimation state determination unit is a predetermined number of times or continuously for a predetermined time or more, and the number of integer waves estimated by the integer wave number estimation unit is larger than a predetermined threshold, and the real number wave number estimated by the real number wave number estimation unit And the integer wave number estimated by the integer wave number estimating unit is determined to be incorrect when the difference between the number of the integer wave number estimated by the integer wave number estimating unit is larger than a predetermined threshold value. The wave number estimation apparatus according to claim 6. A radio wave receiver, an observation amount calculator, the wave number estimation device according to any one of claims 1 to 7, and a position calculator.
The radio wave reception unit receives radio waves transmitted from each of a plurality of positioning satellites,
The observation amount calculation unit calculates an observation amount for each of the plurality of positioning satellites based on the radio wave received by the radio wave reception unit,
The wave number estimation device estimates the real wave number and the integer wave number based on the observation amount calculated by the observation amount calculation unit,
The position calculation unit calculates a position based on an observation amount calculated by the observation amount calculation unit and a real wave number and an integer wave number estimated by the wave number estimation device. A wave number estimation device having an observation amount acquisition unit, a real wave number estimation unit, an integer wave number estimation unit, and an estimation state determination unit, based on the observation amounts observed for each of the plurality of positioning satellites, the plurality of positioning satellites In the wave number estimation method for estimating the wave number for each of
The observation amount acquisition unit repeatedly acquires observation amounts for each of the plurality of positioning satellites,
The real wave number estimation unit estimates a real wave number for each of the plurality of positioning satellites based on the observation amount acquired by the observation amount acquisition unit, and estimates the real wave number of the plurality of positioning satellites. Output real wave number for successful positioning satellite,
The integer wave number estimation unit estimates an integer wave number for each of the plurality of positioning satellites based on the real number wave number output from the real number wave number estimation unit, and estimates the integer wave number of the plurality of positioning satellites. Output integer wave numbers for successful positioning satellites,
The estimation state determination unit is based on the number of observations acquired by the observation amount acquisition unit, the number of real wave numbers output by the real wave number estimation unit, and the number of integer wave numbers output by the integer wave number estimation unit. Then, based on a plurality of criteria, it is determined whether the real wave number estimated by the real wave number estimation unit is correct,
A wave number estimation method, wherein the real wave number estimation unit further estimates a real wave number based on a result determined by the estimation state determination unit in a next estimation.

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