JP6339429B2 - 方位を決定するためのデバイス及びその方法 - Google Patents
方位を決定するためのデバイス及びその方法 Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
- G01C19/02—Rotary gyroscopes
- G01C19/34—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes
- G01C19/38—Rotary gyroscopes for indicating a direction in the horizontal plane, e.g. directional gyroscopes with north-seeking action by other than magnetic means, e.g. gyrocompasses using earth's rotation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
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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
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
-
- 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
- G01S19/53—Determining attitude
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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
- G01S19/53—Determining attitude
- G01S19/54—Determining attitude using carrier phase measurements; using long or short baseline interferometry
Description
Claims (15)
- 方位を決定するためのデバイスであって、
MEMS慣性測定ユニット(IMU)と、
GPSアンテナ及び受信器を備えるGPSシステムと、
前記IMU及び前記GPSシステムからデータを受信するように構成されるプロセッサと、
を備え、
前記プロセッサは、前記IMUデータ及び前記GPSデータに基づいて真北基準を導出するために、前記IMUデータ及び前記GPSデータを処理するように構成され、
前記GPSアンテナ及び前記IMUは、前記デバイスが動く場合に、前記GPSアンテナ及び前記IMUが同じ動きを感じるように、互いに堅く接続され、かつ、各々から5cm以下離れて配置され、
前記プロセッサは、前記真北基準を導出するために、前記IMUデータを前記GPSデータと比較するように構成される、デバイス。 - 前記デバイスはハンドヘルド型として構成される、請求項1に記載のデバイス。
- 前記デバイスは、前記デバイスの動きにより前記IMUデータ及び前記GPSデータを生成するように構成される、請求項1に記載のデバイス。
- 前記動きは、前記デバイスの振動性並進運動を含む、請求項3に記載のデバイス。
- 前記動きは、前記デバイスの反転及び前記デバイスの振動性並進運動を含む、請求項3に記載のデバイス。
- 前記IMUデータ及び前記GPSデータは、前記デバイスの前記同じ動きの第1及び第2の独立した測定に対応する、請求項3に記載のデバイス。
- 前記IMUは3つのMEMS加速度計を備え、前記IMUから受け取られた前記データは慣性加速度計データを含む、請求項1に記載のデバイス。
- 前記IMUは3つのMEMSジャイロスコープを備え、前記IMUから受け取られた前記データは角速度データを含む、請求項1に記載のデバイス。
- 方位を決定するための方法であって、
MEMS慣性測定ユニット(IMU)、GPSシステム、及びプロセッサを備えるデバイスを提供することを含み、
前記GPSシステムは、GPSアンテナ及び受信器を備え、
前記GPSアンテナ及び前記IMUは、前記デバイスが動く場合に、前記GPSアンテナ及び前記IMUが同じ動きを感じるように、互いに堅く接続され、かつ、各々から5cm以下離れて配置され、
前記方法は、前記デバイスを動かすステップと、
前記プロセッサにIMUデータ及びGPSデータを送信するステップと、
をさらに含み、
前記プロセッサは、前記IMUデータ及び前記GPSデータを処理し、前記IMU及び前記GPSデータに基づいて真北基準を導出することを特徴とする方法。 - 前記デバイスを動かすステップは、前記デバイスの振動性並進運動を発生させることを含む、請求項9に記載の方法。
- 前記デバイスを動かすステップは、前記デバイスを反転させることと、及び前記デバイスの振動性並進運動を発生させることと、を含む、請求項10に記載の方法。
- 前記GPSデータは、GPS位相搬送波測定を含む、請求項9に記載の方法。
- 前記GPSデータは、衛星コードデータをさらに含む、請求項12に記載の方法。
- 前記真北基準を導出するために、前記IMUデータを前記GPSデータと比較するステップを含む、請求項9に記載の方法。
- 前記真北基準を導出するために、前記IMUデータを積分し、前記積分したIMUデータを前記GPSデータと比較するステップを含む、請求項9に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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GB1312368.2A GB2516066B (en) | 2013-07-10 | 2013-07-10 | Portable device for determining azimuth |
GB1312368.2 | 2013-07-12 |
Publications (2)
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JP2015017984A JP2015017984A (ja) | 2015-01-29 |
JP6339429B2 true JP6339429B2 (ja) | 2018-06-06 |
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US (1) | US9395187B2 (ja) |
JP (1) | JP6339429B2 (ja) |
DE (1) | DE102014109592A1 (ja) |
GB (1) | GB2516066B (ja) |
Families Citing this family (9)
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JP2016213958A (ja) * | 2015-05-08 | 2016-12-15 | 多摩川精機株式会社 | 振動検出装置及び方法 |
ITUB20151063A1 (it) * | 2015-05-28 | 2016-11-28 | Area Prefabbricati S P A | Sensore accelerometrico per il monitoraggio sismico di strutture |
DE102017110205A1 (de) * | 2017-05-11 | 2018-11-15 | Northrop Grumman Litef Gmbh | Inertiales messgerät |
US20210215831A1 (en) * | 2018-08-28 | 2021-07-15 | Sony Corporation | Positioning apparatus and positioning method |
US11156419B1 (en) * | 2018-10-02 | 2021-10-26 | Inpixon | Geolocation-reporting weapon-tracking device |
GB2584463B (en) * | 2019-06-04 | 2023-06-28 | Atlantic Inertial Systems Ltd | Direction finder |
WO2020264528A1 (en) * | 2019-06-27 | 2020-12-30 | DeepMap Inc. | Calibration of inertial measurement units of vehicles using localization |
CN113404984B (zh) * | 2021-06-04 | 2022-01-07 | 温州中纬测绘有限公司 | 一种改进的工程测绘用测绘仪定位装置 |
WO2024048264A1 (ja) * | 2022-08-29 | 2024-03-07 | ソニーグループ株式会社 | 情報処理装置、および情報処理方法、並びにプログラム |
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- 2013-07-10 GB GB1312368.2A patent/GB2516066B/en active Active
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2014
- 2014-07-09 DE DE201410109592 patent/DE102014109592A1/de active Pending
- 2014-07-10 JP JP2014141846A patent/JP6339429B2/ja active Active
- 2014-07-10 US US14/327,679 patent/US9395187B2/en active Active
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GB201312368D0 (en) | 2013-08-21 |
GB2516066A8 (en) | 2015-03-11 |
GB2516066B (en) | 2020-07-01 |
US9395187B2 (en) | 2016-07-19 |
GB2516066A (en) | 2015-01-14 |
DE102014109592A1 (de) | 2015-01-15 |
JP2015017984A (ja) | 2015-01-29 |
US20150019129A1 (en) | 2015-01-15 |
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