JP5775449B2 - 最良のwlan−ps導出解を選択することによるハイブリッド衛星/wlan測位システムを使用した位置を決定する方法及びシステム - Google Patents
最良のwlan−ps導出解を選択することによるハイブリッド衛星/wlan測位システムを使用した位置を決定する方法及びシステム Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/31—Acquisition or tracking of other signals for positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/34—Power consumption
Description
同時出願の米国特許出願第(未定)号「ハイブリッド測位システムで環境情報を使用するシステム及び方法」、
同時出願の米国特許出願第(未定)号「ハイブリッド測位システムでクロックバイアス精度を維持するシステム及び方法」、
同時出願の米国特許出願第(未定)号「ハイブリッド測位システムで衛星測定値を使用してWLAN‐PS推定位置を改善するシステム及び方法」、
同時出願の米国特許出願第(未定)号「ハイブリッド測位システムで初期位置としてWLAN−PS推定位置を使用して位置を決定する方法及びシステム」、
同時出願の米国特許出願第(未定)号「ハイブリッド測位システムで予測誤差推定の精度を高める方法及びシステム」、
同時出願の米国特許出願第(未定)号「ハイブリッド測位システムで静止したユーザーの検出のための方法及びシステム」及び
同時出願の米国特許出願第(未定)号「ハイブリッド測位システムでWLANアクセスポイントにフィルターをかけるために衛星測位システムを使用するシステム及び方法」である。
少なくとも4つの異なる衛星から衛星情報を取得するための衛星測位モジュールであって、衛星測位モジュールは、最終位置推定のために初期位置としてWLAN位置推定を使用している、衛星測位モジュールと、を含んでいてもよい測位モジュールを含んでいてもよい。
F(x、y、z)=0
Ciの標準偏差又はCi推定の平均平方誤差などの異なる数学的な手法で測定することができる。
Ciの標準偏差又はCi推定の平均平方誤差などの異なる数学的な手法で測定することができる。
Fi(x,y,z,b)=0
と書ける。
Claims (21)
- 衛星測位情報を使用した無線LAN(WLAN)及び衛星を使用することができる装置のための位置推定であるWLAN位置導出解の精度を高める方法において、
1つ又はそれ以上のWLANアクセスポイントに基づいてWLANと衛星を使用することができる装置に対して一組の有力なWLAN位置導出解を決定することと、
少なくとも2つの取得された異なる衛星から、WLANと衛星を使用することができる装置のために衛星情報を取得することと、
有力なWLAN導出解のそれぞれのために、前記取得された衛星のそれぞれのための値の計算に基づき測位される、前記有力なWLAN導出解のそれぞれと前記衛星情報との間の一致性に基づき、有力なWLAN位置導出解の組から最良のWLAN位置導出解を決定するために少なくとも2つの異なる衛星からの衛星情報を使用することを備えている方法。 - 有力なWLAN位置導出解の前記組から前記最良のWLAN位置導出解を決定するために前記少なくとも2つの異なる衛星からの前記衛星情報を使用することは、
前記衛星情報に対する前記有力なWLAN位置導出解のそれぞれを検証することと、
前記衛星情報を満足する前記有力なWLAN位置導出解のどれかに基づいて前記最良のWLAN位置導出解を選択することを備えている、請求項1に記載の方法。 - 有力なWLAN位置導出解の前記組から前記最良のWLAN位置導出解を決定するために前記少なくとも2つの異なる前記衛星からの衛星情報を使用する段階は、
前記衛星情報と一致しない有力なWLAN位置導出解を削除することを備えている、請求項1に記載の方法。 - 前記値は内部衛星測位システム(SPS)受信機クロックバイアスであって、前記衛星情報はSPS位置導出解を計算するのに使用される、未処理のSPS測位を含み、
前記WLAN位置導出解の前記衛星情報との一致性は、前記有力なWLAN位置導出解のそれぞれと前記衛星情報を、内部SPS受信機クロックバイアスを計算するための公式に利用すること、及びそれぞれの有力なWLAN位置導出解に対して、取得された衛星のそれぞれの前記内部SPS受信機クロックバイアスを、前記公式を使って計算し、前記有力なWLAN位置導出解のそれぞれのための、前記取得された衛星における、前記内部SPS受信機クロックバイアスの一致性を決定するために、
前記有力なWLAN位置のそれぞれのための、前記取得された衛星における、前記内部SPS受信機クロックバイアスを比較すること、によって測定される、請求項3に記載の方法。 - 前記有力なWLAN位置導出解のそれぞれに対する前記内部SPS受信機クロックバイアスの前記一致性は、前記取得された衛星における、前記内部SPS受信機クロックバイアスの比較に基づき決定され、及び、前記WLAN位置導出解及び前記WLANの実際の、推定されていない位置と衛星を使用することができる装置との間の距離を示すものとして使用される、請求項4に記載の方法。
- 前記有力なWLAN位置導出解のそれぞれに対する、取得された衛星のそれぞれのための前記内部SPS受信機クロックバイアスの前記一致性は、前記有力なWLAN位置のそれぞれに対する前記取得された衛星における、前記内部SPS受信機クロックバイアスの比較に基づき決定され、及び、前記WLAN位置導出解及び前記衛星情報の間の一致性を示すものとして使用され、
所与のWLAN位置導出解に対して前記取得した衛星に亘って実質的に同じ前記内部SPS受信機クロックバイアスは、良好な位置推定であることを示し、
さらに、所与のWLAN位置導出解に対して前記取得した衛星に亘る内部SPS受信機クロックバイアスの不均一値は、不良な位置推定であることを示す、請求項4に記載の方法。 - 前記衛星情報は、衛星位置データ、衛星速度データ、疑似距離測定、ドップラー周波数測定、信号伝送時間、衛星の状態情報、及び地上での衛星信号の測定を備えている、請求項1に記載の方法。
- 衛星測位情報を使用した無線LAN(WLAN)及び衛星を使用することができる装置のための位置推定であるWLAN位置導出解の精度を高めるシステムにおいて、
測位モジュールであって、
1つ又はそれ以上のWLANアクセスポイントから情報を受信するためのWLANモジュールと、
少なくとも2つの取得された異なる衛星から衛星情報を取得するための衛星測位モジュールと、を備えている測位モジュールと、
1つ又はそれ以上のWLANアクセスポイントに基づいて一組の有力なWLAN位置導出解を決定するために、前記WLANモジュールの中に組み込まれる論理と、
有力なWLAN導出解のそれぞれのために、前記取得された衛星のそれぞれのための値の計算に基づき測位される、前記有力なWLAN導出解のそれぞれと前記衛星情報との間の一致性に基づき、有力なWLAN位置導出解の前記組から最良のWLAN位置導出解を決定するために前記少なくとも2つの異なる衛星からの前記衛星情報を使用するために、前記測位モジュールの中に組み込まれる論理と、を備えているシステム。 - 有力なWLAN位置導出解の前記組から前記最良のWLAN位置導出解を決定するために前記少なくとも2つの異なる衛星からの前記衛星情報を使用するために前記測位モジュールの中に位置している前記論理は、前記衛星情報に対する前記有力なWLAN位置導出解のそれぞれを検証するため及び前記衛星情報を満足する前記有力なWLAN位置導出解のどれかに基づいて最良のWLAN位置導出解を選択するため、の論理を更に備えている、請求項8に記載のシステム。
- 前記値は内部衛星測位システム(SPS)受信機クロックバイアスであって、前記衛星情報はSPS位置導出解を計算するのに使用される、未処理のSPS測位を含み、
前記WLAN位置導出解の前記衛星情報との一致性は、前記有力なWLAN位置導出解のそれぞれと前記衛星情報を、内部SPS受信機クロックバイアスを計算するための公式に利用すること、及びそれぞれの有力なWLAN位置導出解に対して、取得された衛星のそれぞれの前記内部SPS受信機クロックバイアスを、前記公式を使って計算し、前記有力なWLAN位置導出解のそれぞれのための、前記取得された衛星における、前記内部SPS受信機クロックバイアスの一致性を決定するために、
前記有力なWLAN位置のそれぞれのための、前記取得された衛星における、前記内部SPS受信機クロックバイアスを比較すること、によって測定される、請求項9に記載のシステム。 - 前記有力なWLAN位置導出解のそれぞれに対する取得された衛星のそれぞれに対する前記内部SPS受信機クロックバイアスの前記一致性は、前記取得された衛星における前記内部SPS受信機クロックバイアスの比較に基づき決定され、及び、前記WLAN位置導出解及び前記WLANの実際の、推定されていない位置と衛星を使用することができる装置の間の距離を示すものとして使用される、請求項10に記載のシステム。
- 取得された衛星のそれぞれの前記有力なWLAN位置導出解のそれぞれに対する前記内部SPS受信機クロックバイアスの前記一致性は、前記有力なWLAN位置のそれぞれに対する前記取得された衛星における、前記内部SPS受信機クロックバイアスの比較に基づき決定され、及び、前記WLAN位置導出解及び前記衛星情報の間の一致性を示すものとして使用される、請求項10に記載のシステム。
- 所与のWLAN位置導出解に対して前記取得した衛星に亘って実質的に同じ前記内部SPS受信機クロックバイアスは、良好な位置推定であることを示す、請求項10に記載のシステム。
- 所与のWLAN位置導出解に対して前記取得した衛星に亘る内部SPS受信機クロックの不均一値は、不良な位置推定であることを示す、請求項10に記載のシステム
- 前記衛星情報は、衛星位置データ、衛星速度データ、疑似距離測定、ドップラー周波数測定、信号伝送時間、衛星の状態情報、及び地上での衛星信号の測定を備えている、請求項8に記載のシステム。
- 有力なWLAN位置導出解の前記組を決定することは、
前記WLAN位置導出解の予測誤差に基づいてWLAN位置導出解の周囲の不確定区域を決定することを含み、前記不確定区域は、複数の有力なWLAN位置導出解を有しており、
さらに、有力なWLAN位置導出解の前記組から最良のWLAN位置導出解を決定することは、
前記衛星情報を最もよく満足する前記WLAN位置の不確定区域の内側で前記WLAN位置導出解を決定することを含んでいることと特徴とする、請求項1に記載の方法。 - 前記不確定区域をグリッドに分割し、当該グリッドの各点の前記衛星情報を使用して前記WLAN位置導出解を評価することを備えている、請求項16に記載の方法。
- 前記値は内部衛星測位システム(SPS)受信機クロックバイアスであって、各グリッド点の前記衛星情報を利用して取得されたそれぞれの衛星の前記内部SPS受信機クロックバイアスを決定することを更に備えている、請求項16に記載の方法。
- 前記一組の有力なWLAN位置導出解を決定する前記論理は、前記WLAN位置導出解の予測誤差に基づいてWLAN位置導出解の周囲の不確定区域を決定する論理を含み、前記区域は、複数の有力な位置導出解を有しており、
さらに、前記衛星情報を用いて、有力なWLAN位置導出解の前記組から最良のWLAN位置導出解を決定するための論理は、前記衛星情報を最もよく満足する前記WLAN位置導出解として、前記装置の位置を決定する論理を含んでいることを特徴とする、請求項8に記載のシステム。 - 前記不確定区域を決定する論理は、当該不確定区域をグリッドに分割し、
前記最良のWLAN位置導出解を決定するための論理は、前記グリッドの各点の前記衛星情報を使用して前記WLAN位置導出解を評価することを特徴とする請求項19に記載のシステム。 - 前記最良のWLAN位置導出解を決定するための論理は、各グリッド点の前記衛星情報の前記内部SPS受信機クロックバイアスを決定する、請求項20に記載のシステム。
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US5958008P | 2008-06-06 | 2008-06-06 | |
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PCT/US2009/046504 WO2009149417A1 (en) | 2008-06-06 | 2009-06-05 | Method and system for determining location using a hybrid satellite and wlan positioning system by selecting the best wlan-ps solution |
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US8089398B2 (en) | 2012-01-03 |
US20090303119A1 (en) | 2009-12-10 |
KR20110016473A (ko) | 2011-02-17 |
EP2283641A4 (en) | 2012-12-19 |
US8130148B2 (en) | 2012-03-06 |
US20090303120A1 (en) | 2009-12-10 |
US20100052983A1 (en) | 2010-03-04 |
EP2283641B1 (en) | 2020-08-12 |
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US20090303121A1 (en) | 2009-12-10 |
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