JP6439437B2 - GNSS Positioning Device - Google Patents

GNSS Positioning Device Download PDF

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JP6439437B2
JP6439437B2 JP2014259017A JP2014259017A JP6439437B2 JP 6439437 B2 JP6439437 B2 JP 6439437B2 JP 2014259017 A JP2014259017 A JP 2014259017A JP 2014259017 A JP2014259017 A JP 2014259017A JP 6439437 B2 JP6439437 B2 JP 6439437B2
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reception quality
positioning
information
reception
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JP2016118493A (en
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河合 茂樹
茂樹 河合
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株式会社デンソー
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  The present invention relates to a GNSS positioning apparatus, and more particularly to a technique for improving positioning accuracy.

  In GNSS (Global Navigation Satellite System) positioning, if a positioning signal is affected by multipath, a positioning error increases. Therefore, in Patent Document 1, the fixed reference station transmits the carrier power-to-noise power density ratio (hereinafter referred to as C / N) for each satellite in the fixed reference station to the mobile station in addition to the position correction data. The mobile station calculates C / N based on the positioning signal for each satellite received by itself, and compares it with C / N received from the fixed reference station.

  If the positioning signal received by the mobile station is affected by multipath, C / N deteriorates. Therefore, the mobile station compares the C / N calculated by itself with the C / N received from the fixed reference station, and excludes a positioning signal whose C / N has deteriorated more than a threshold from the positioning calculation.

International Publication No. 2006/132003

  In order to implement the technique disclosed in Patent Document 1, it is necessary that a fixed reference station be located relatively close to the mobile station. As the distance between the mobile station and the fixed reference station increases, the satellite reception environment is different, so that there is a high possibility that the influence of multipath cannot be determined correctly. In addition, there is a problem that it cannot be applied to a method of correcting the position using a virtual fixed reference station, such as the network type RTK method.

  The present invention has been made based on this situation, and the purpose of the present invention is to provide a GNSS positioning that can suppress a decrease in positioning accuracy in an environment where the positioning signal may be affected by multipath. To provide an apparatus.

  The above object is achieved by a combination of the features described in the independent claims, and the subclaims define further advantageous embodiments of the invention. Reference numerals in parentheses described in the claims indicate a correspondence relationship with specific means described in the embodiments described later as one aspect, and do not limit the technical scope of the present invention. .

According to a first aspect of the present invention for achieving the above object, a vehicle reception information including reception quality information including reception quality information indicating reception quality of a positioning signal received from a positioning satellite by a surrounding vehicle existing around the vehicle is received from the surrounding vehicle. A communication device (101), a receiver (102) that receives a positioning signal from a positioning satellite, a reception quality acquisition unit (S1) that acquires reception quality information of a positioning signal received by the receiver, and a reception quality acquisition unit Based on a comparison between the acquired reception quality information and the reception quality information included in the vehicle reception information received by the inter-vehicle communication device, a positioning signal corresponding to the reception quality information acquired by the reception quality acquisition unit is A determination unit (S3) that determines whether or not it is affected by a path, and a positioning signal that the determination unit determines to be influenced by a multipath is excluded from the positioning signals received by the receiver. Measurement that performs computation And an arithmetic section (S5, S6), the vehicle receives information, together with the reception quality information, the peripheral vehicle is also included excluded satellite ID of the positioning signal is an ID of the transmitted positioning satellites excluded in the positioning operation, In the determination unit, the excluded satellite ID included in the vehicle reception information is the same as the ID of the positioning satellite that transmitted the positioning signal received by the receiver, and the reception quality information received by the inter-vehicle communication device is When the reception quality to be represented is equal to or higher than the reception quality represented by the reception quality information acquired by the reception quality acquisition unit, the positioning signal corresponding to the reception quality information acquired by the reception quality acquisition unit is affected by multipath. It is a GNSS positioning device characterized by determining .
A second invention for achieving the above object is a vehicle for receiving vehicle reception information including reception quality information indicating reception quality of a positioning signal received from a positioning satellite by a surrounding vehicle existing around the host vehicle from the surrounding vehicle. Inter-vehicle communication device (101), a receiver (102) that receives a positioning signal from a positioning satellite, a reception quality acquisition unit (S1) that acquires reception quality information of a positioning signal received by the receiver, and a reception quality acquisition unit The positioning signal corresponding to the reception quality information acquired by the reception quality acquisition unit based on the comparison of the reception quality information acquired by the reception quality information included in the vehicle reception information received by the inter-vehicle communication device, A determination unit (S3) that determines whether or not the multipath is affected, and a positioning signal that the determination unit determines to be affected by the multipath is excluded from the positioning signals received by the receiver; Perform positioning calculation A position calculation unit (S5, S6), the vehicle reception information includes an information generation time that is a time when the vehicle reception information is generated, and the determination unit includes information included in the vehicle reception information. When the generation time is within the expiration date, the reception quality information acquired by the reception quality acquisition unit is compared with the reception quality information included in the vehicle reception information received by the inter-vehicle communication device. If reception quality information of positioning signals received from the same positioning satellite is received from a plurality of surrounding vehicles within the validity period, reception quality information indicating the best reception quality among the plurality of reception quality information and reception quality acquisition It is a GNSS positioning apparatus characterized by comparing the received quality information acquired by the unit.

  The GNSS positioning device of the present invention compares the reception quality information included in the vehicle reception information received from the surrounding vehicle with the reception quality information of the positioning signal received by itself. Since the surrounding vehicle is a vehicle existing around the own vehicle, the own vehicle and the satellite reception environment are similar. Therefore, by comparing the reception quality information included in the vehicle reception information received from the surrounding vehicle with the reception quality information of the positioning signal received by the receiver of the own vehicle, the positioning signal received by the receiver of the own vehicle. It is possible to accurately determine whether or not is affected by multipath. When it is determined that the positioning signal received by the receiver of the host vehicle is affected by the multipath, the positioning signal is excluded and the positioning calculation is performed. Therefore, it is possible to suppress a decrease in positioning accuracy even in an environment where the positioning signal may be affected by multipath.

  Moreover, it is judged whether the positioning signal received by the receiver is affected by the multipath using the vehicle reception information received from the surrounding vehicles, and the reception quality at the virtual reference station is not required. Therefore, the present invention can also be applied to a method of correcting the position using a virtual fixed reference station, such as the network type RTK method.

It is a figure which illustrates the condition where the vehicle equipment 100 of embodiment is used. It is a block diagram of the vehicle-mounted apparatus 100 of FIG. 3 is a flowchart illustrating processing executed when a positioning processing unit 105 in FIG. 2 receives a positioning signal 11; It is a figure explaining the structure of satellite management DB. It is a flowchart which shows the detailed process of step S3 of FIG. It is a figure for demonstrating the reason for performing judgment of step S34 of FIG. It is a flowchart which shows the specific process of step S4 of FIG. It is a figure which shows the format of the vehicle reception information produced | generated by step S41 of FIG. It is a flowchart which shows the process performed when the positioning process part 105 of FIG. 2 receives the vehicle reception information 14. FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In FIG. 1, in-vehicle devices 100a, 100b, and 100c each having a function as a GNSS positioning device of the present invention are mounted on a host vehicle C0 and other vehicles C1 and C2, respectively. These on-vehicle devices 100a, 100b, and 100c have the same configuration. Hereinafter, when the vehicle-mounted devices 100a, 100b, and 100c are not distinguished, they are referred to as the vehicle-mounted device 100. In FIG. 1, the number of other vehicles C1 and C2 is two, but the two are examples.

The in-vehicle device 100 receives a positioning signal 11 periodically transmitted by a GNSS positioning satellite (hereinafter simply referred to as positioning satellite) G n (n = 1, 2,...), And sequentially determines the current position based on the positioning signal 11. calculate. The positioning satellite Gn is a positioning satellite provided in at least one of the satellite positioning systems of GPS, GLONASS, Galileo, IRNSS, QZSS, and Beidou.

  The positioning signal 11a is directly received by the in-vehicle device 100, whereas the positioning signal 11b is reflected by the building 13 and received by the in-vehicle device 100a mounted on the host vehicle C0. That is, the positioning signal 11b is a positioning signal affected by multipath.

The in-vehicle devices 100 transmit and receive vehicle reception information 14 to each other through inter-vehicle communication. The vehicle reception information 14 is information including C / N (dB) of the positioning signal 11 received from the positioning satellite Gn by the in-vehicle device 100 that transmits the vehicle reception information 14. C / N corresponds to the reception quality information in the claims. The in-vehicle device 100 determines the positioning signal 11b using the vehicle reception information 14 received from the surrounding vehicle, and performs the positioning calculation by excluding the positioning signal 11b.

(Configuration of in-vehicle device 100)
As illustrated in FIG. 2, the in-vehicle device 100 includes a wireless communication device 101, a GNSS receiver 102, a gyro sensor 103, a vehicle speed sensor 104, a positioning processing unit 105, and an application unit 106.

  The wireless communication device 101 corresponds to the inter-vehicle communication device in the claims, and is a communication device that communicates with surrounding vehicles. The communication method may be narrow area communication or wide area communication. For example, narrowband communication is performed according to the standard defined in ARIB STD-T109.

The GNSS receiver 102 receives the positioning signal 11 and determines a code pseudorange, a carrier wave phase, a Doppler shift, and the like necessary for the positioning calculation based on the positioning signal 11. Also, C / N is determined for each positioning satellite G n that has received the positioning signal 11. Then, the code pseudorange, carrier phase, Doppler shift, and C / N are transmitted to the positioning processing unit 105 together with the satellite ID that specifies the positioning satellite Gn . The satellite ID is a satellite number included in the positioning signal or a spreading code.

  The gyro sensor 103 detects a change in the posture of the vehicle C. The vehicle speed sensor 104 detects the speed of the vehicle C on which the in-vehicle device 100 is mounted. The gyro sensor 103 and the vehicle speed sensor 104 are sensors for performing inertial dead reckoning navigation when satellite positioning is not possible under the ground or under the overhead. Detection values of the gyro sensor 103 and the vehicle speed sensor 104 are transmitted to the positioning processing unit 105.

  The positioning processing unit 105 is a computer including a CPU, a ROM, a RAM, and the like, and sequentially expresses coordinates representing the current position using information obtained from the wireless communication device 101, the GNSS receiver 102, the gyro sensor 103, and the vehicle speed sensor 104. calculate. Then, the calculated coordinates are transmitted to the application unit 106. Note that some or all of the functions executed by the positioning processing unit 105 may be configured by hardware using one or a plurality of ICs.

  The application unit 106 provides a service to the driver using the coordinates calculated by the positioning processing unit 105. Examples of services include route guidance, curve departure prevention control, parking assistance, inter-vehicle collision prevention assistance, and automatic travel control.

(Processing when positioning signal 11 is received)
FIG. 3 shows processing executed when the GNSS receiver 102 receives the positioning signal 11 among the functions executed by the positioning processing unit 105. In the following description, the in-vehicle device 100a mounted on the host vehicle C0 will be described as an example.

  When the GNSS receiver 102 transmits the code pseudorange, carrier phase, Doppler shift, C / N, satellite ID, and the like to the positioning processing unit 105, the positioning processing unit 105 receives them (step S1). With this as a trigger, step S2 and subsequent steps are executed. The process of step S1 corresponds to the reception quality acquisition unit in the claims.

  The cycle in which the GNSS receiver 102 transmits the code pseudo distance and the like to the positioning processing unit 105 is 100 msec. Therefore, the process of FIG. 3 is executed at a cycle of 100 msec. However, this period can be changed, and even if it is the same vehicle-mounted device 100, the vehicle-mounted device 100 mounted on another vehicle Cm (m is 1, 2,...) Executes the processing of FIG. The period may be different.

In step S2, the satellite ID received in step S1 is registered in the received satellite list, and the satellite ID and the C / N received in step S1 are registered in a satellite management database (hereinafter referred to as satellite management DB). The received satellite list is a list that lists the satellite IDs of the positioning satellites Gn for which the GNSS receiver 102 is receiving the positioning signal 11 in the current epoch. Epoch means data acquisition time.

  As illustrated in FIG. 4, the satellite management DB receives the C / N of the positioning signal 11 received by the GNSS receiver 102 of the host vehicle C0 and the GNSS receiver 102 of the other vehicle Cm for each satellite ID. C / N of positioning signal 11 and exclusion information of other vehicle Cm are stored. The exclusion information of the other vehicle Cm is expressed by 1 and 0 as to whether or not the other vehicle Cm has received the positioning signal 11 but decided not to use (that is, exclude) the positioning signal 11 for the positioning calculation. ing. Exclusion information = 1 means that it is decided to exclude, and 0 means that it is decided not to exclude.

  This satellite management DB is created for each epoch. Further, as will be described in detail with reference to FIG. 9, the satellite management DB is updated based on the reception of the vehicle reception information 14 from surrounding vehicles that are other vehicles existing around the host vehicle C0.

In step S3, it is determined whether or not all positioning satellites Gn included in the satellite management DB are to be excluded, and an exclusion that is a list of satellite IDs of the positioning satellites Gn that are excluded satellites. Create a satellite list.

The excluded satellite means a positioning satellite Gn that has received the positioning signal 11 but has transmitted the positioning signal 11 to be excluded in the positioning calculation (S6) described later. The reason for exclusion is that it is determined that the positioning signal 11 is affected by multipath. This step S3 corresponds to a determination unit in the claims. The detailed process of step S3 is shown in FIG.

In step S31, the largest C / N is extracted from the other vehicles C / N in the satellite management DB for the positioning satellite Gn to be determined. When C / N is the maximum, it means that the reception quality is the best. Positioning satellites G n which is the object of judgment is carried out during the initial FIG. 5 is a positioning satellite G n which is the smallest satellite ID. For example, in satellite management DB is illustrated in FIG. 4, the positioning satellites G n be the first object of judgment is the satellite G 1, the maximum C / N among other vehicles C / N at 65 (dB) is there.

  In step S32, the own vehicle C / N is smaller than the maximum value of the other vehicle C / N extracted in step S31, and the difference between the maximum value of the other vehicle C / N and the own vehicle C / N is a threshold value T1. It is determined whether this is the case. The threshold value T1 is 4 dB, for example. This threshold value T1 corresponds to a predetermined value in the claims.

  The reason for not only comparing the maximum values of the host vehicle C / N and the other vehicle C / N but also determining whether the difference is equal to or greater than the threshold value T1 is as follows. That is, if all positioning signals having a smaller own vehicle C / N than the maximum value of the other vehicle C / N are excluded, the number of positioning signals 11 used for the positioning calculation is likely to decrease, and as a result, the positioning accuracy is improved. This is because there is a risk of lowering.

If the determination in step S32 is YES, the process proceeds to step S33, and the satellite ID of the positioning satellite Gn to be determined is added to the excluded satellite list. As described above, the satellite management DB is updated based on the reception of the vehicle reception information 14 from surrounding vehicles. Since the own vehicle C0 and the surrounding vehicles have similar reception environments, C / N tends to be similar to each other. Nevertheless, when the host vehicle C / N is lower than the maximum value of the other vehicle C / N by the threshold T1 or more, the positioning signal 11 received by the host vehicle C0 is affected by multipath, There is a high possibility that N is decreasing. Therefore, in step S33, the satellite ID of the positioning satellite Gn to be determined is added to the excluded satellite list.

In the example of FIG. 4, the satellite G 1, since the determination of step S32 is to YES, the process of step S33, are added to the exclusion satellite list. On the other hand, for the satellite G2, the determination in step S32 is NO.

If the determination in step S32 is no, the process proceeds to step S34. In step S34, it is determined whether or not the C / N whose other vehicle exclusion information is 1 is equal to or greater than the own vehicle C / N. Even when this determination is YES, it is determined that the positioning signal 11 received by the host vehicle C0 is affected by the multipath and the C / N is lowered, and the positioning satellite G that is the determination target The satellite ID of n is added to the excluded satellite list (step S35). The reason for this will be explained.

  The in-vehicle device 100 mounted on another vehicle Cm (here, C2) also executes the process of FIG. The reason why the other vehicle C2 excludes the positioning signal 11 is that, in the other vehicle C2, the determination in step S32 or the determination in step S34 in FIG. 5 is YES.

  The determination in step S32 is YES because the C / N of the positioning signal 11 received by the other vehicle C2 is higher than the C / N of the positioning signal 11 received by the other vehicle (here, C3) for the other vehicle C2. This is a case where N is low and the difference is not less than the threshold value T1.

  And since satellite management DB is updated based on the vehicle reception information 14 received from the surrounding vehicle, the other vehicles C2 and C3 exist in the mutually close position. In addition, information from the other vehicle C2 is stored in the satellite management DB shown in FIG. That is, the host vehicle C0 and the other vehicle C2 are present at positions close to each other. Therefore, it can be said that the host vehicle C0 and the other vehicle C3 are also close to each other.

If the determination in step S34 is YES, the C / N of the positioning signal 11 received by the host vehicle C0 is lower than the C / N of the positioning signal 11 received by the other vehicle C3 from the same positioning satellite Gn , and The difference is equal to or greater than the threshold value T1. Therefore, even when the determination in step S34 is YES, the satellite ID of the positioning satellite Gn that is the determination target is added to the excluded satellite list.

In the example of FIG. 4, the satellite G 2 is, the determination in step S34 is made to YES. For example, in the situation shown in FIG. 6, the determination in step S34 is YES. In FIG. 6, although the distance between the host vehicle C0 and the other vehicle C3 is relatively short, the radio wave is shielded by the building 15, so the vehicle transmitted by the other vehicle C3 from the wireless communication device 101 (not shown in FIG. 6). The host vehicle C0 cannot receive the reception information 14.

However, communication with the other vehicles C2 and C3 and communication between the host vehicle C0 and the other vehicle C2 are not shielded by the building 15. Further, as shown in FIG., C / N of the positioning signal 11 received from a certain same positioning satellites G n (the G 2) are vehicle C0, the other vehicle C2 is both affected by multipath Therefore, it is assumed that C / N = 45 and the other vehicle C3 has C / N = 60.

If it is circumstances illustrated in FIG. 6, the vehicle-mounted device 100c mounted on the other vehicle C2, as is illustrated in the column of the satellite G 2 in FIG. 4, the satellites G 2, C / N = 45 The vehicle reception information 14 including the exclusion information = 1 is transmitted. When vehicle device 100a the vehicle reception information 14 is the vehicle C0 provided to receive, for satellite G 2, step S34 of FIG. 5 becomes YES, the additional satellite G 2 to exclude the satellite list.

  If step S33 or S35 of FIG. 5 is executed, or if the determination in step S34 is NO, the process proceeds to step S36. In step S36, it is determined whether or not it has been determined whether or not to add all the satellites included in the satellite management DB to the excluded satellite list.

If judgment of this step S36 is NO, it will progress to step S37. At step S37, it sets the positioning satellite G n to be determined in the following positioning satellite G n. Then, it returns to step S31. When steps S31 to S37 are repeatedly executed and the determination in step S36 is YES, the processing in FIG. 5 is terminated. In this case, the process proceeds to step S4 in FIG.

Step S4 is processing as a transmission control unit in the claims, and includes the own vehicle C / N indicating the reception quality for each positioning satellite Gn included in the satellite management DB, the excluded satellite list created in step S3, and the like. Vehicle reception information 14 is created and transmitted wirelessly.

The specific process of step S4 is shown in FIG. In step S41, vehicle reception information 14 is generated according to the radio signal format. FIG. 8 shows the radio signal format. As shown in FIG. 8, the radio signal format includes vehicle ID, information generation time, vehicle position information, satellite ID of the positioning satellite Gn that has received the positioning signal 11, the C / N of the positioning signal 11, and the positioning signal. Exclusion information indicating whether or not 11 is excluded from the positioning calculation is included. As described above, the exclusion information is 0 or 1, where 0 means that it is decided not to exclude, and 1 means that it is decided to exclude. A satellite ID with exclusion information of 1 corresponds to an exclusion satellite ID in the claims.

In FIG. 8, the vehicle ID is an ID assigned to the vehicle C on which the in-vehicle device 100 is mounted or the wireless communication device 101. The vehicle position information is the current position of the vehicle C on which the in-vehicle device 100 is mounted. This current position is the latest current position calculated in step S6 described later. As described above, the satellite ID is a satellite number or a spreading code included in the positioning signal. The satellite ID, C / N, and exclusion information included in the vehicle reception information 14 are limited to the positioning satellite Gn that has received the positioning signal 11. Therefore, the radio signal format is a variable length field as a whole.

  In step S42, the vehicle reception information 14 generated in step S41 is transmitted to the wireless communication device 101, so that the vehicle reception information 14 is transmitted from the wireless communication device 101 to the outside of the host vehicle C0. The transmission method may be a method for designating a receiving party or a broadcasting method without designating a receiving party.

(Process when vehicle reception information 14 is received)
When the vehicle reception information 14 is transmitted from the other vehicle Cm and the own vehicle C0 is located within the communication range of the wireless communication device 101 of the other vehicle Cm, the vehicle reception information 14 transmitted from the other vehicle Cm is changed to the own vehicle C0. The wireless communication device 101 receives. The wireless communication device 101 sends the vehicle reception information 14 to the positioning processing unit 105. In this case, the positioning processing unit 105 executes the process shown in FIG.

  In step S <b> 11, the vehicle reception information 14 is received from the wireless communication device 101. With this as a trigger, the process proceeds to step S12. In step S12, it is determined whether the information generation time included in the vehicle reception information 14 is within the expiration date of the satellite management DB. Here, the expiration date is 1 second after the satellite management DB is newly created.

  If judgment of Step S12 is YES, it will progress to Step S13. In step S13, the vehicle position information included in the vehicle reception information 14 received in step S11 is compared with the current position of the host vehicle C0, and the other vehicle Cm that has transmitted the vehicle reception information 14 determines the own vehicle C0. To determine whether it is within the threshold T2 (m). The threshold T2 is set to 200 m, for example. Therefore, in the present embodiment, the surrounding vehicle is the other vehicle Cm existing around 200 m around the host vehicle C0. This threshold value T2 corresponds to a predetermined distance in the claims.

If judgment of step S13 is YES, it will progress to step S14. In step S14, the satellite management DB is updated using the vehicle reception information 14 received in step S11. Therefore, if the vehicle reception information 14 including C / N for the same positioning satellite Gn is received a plurality of times from the same other vehicle Cm during the execution cycle of FIG. 3, the latest C / N is the satellite. Reflected in the management DB.

  If the determination in step S12 is NO and if the determination in step S13 is NO, the process proceeds to step S15, and the vehicle reception information 14 received in step S11 is discarded.

Returning to FIG. In step S5, the positioning satellite Gn included in the excluded satellite list created in step S3 is excluded from the received satellite list.

In step S6, a known positioning calculation is performed using the positioning signal 11 received from the positioning satellite Gn remaining in the received satellite list, and the current position of the host vehicle C0 is updated. Steps S5 and S6 correspond to the positioning calculation unit in the claims.

  In step S7, the positioning calculation result obtained in step S6 is transmitted to the application unit 106. In addition to the latitude, longitude, and altitude indicating the current position, the positioning calculation result includes information that can estimate the positioning error such as HDOP (horizontal dilution of precision) and positioning status that indicates the positioning method.

  In step S8, the satellite management DB is updated. As described above, the satellite management DB sets the expiration date to 1 second. When the expiration date has expired, the entire satellite management DB is discarded and newly created in the next step S2.

  When the satellite management DB itself is within the expiration date, the record whose lifetime has expired is discarded among the records stored in the satellite management DB. In the present embodiment, this lifetime is the execution cycle of FIG. Therefore, the satellite management DB stores only the C / N and exclusion information included in the other vehicle reception information received during the execution cycle of FIG.

  Therefore, when the cycle in which the other vehicle Cm transmits the vehicle reception information 14 is longer than the cycle in which the host vehicle C0 executes FIG. 3, the other vehicle Cm first transmits the vehicle reception information 14 and then the host vehicle first. When C0 executes FIG. 3, C / N and exclusion information included in the vehicle reception information 14 transmitted by the other vehicle Cm is stored in the satellite management DB. However, next, when the host vehicle C0 executes FIG. 3, the C / N and exclusion information included in the vehicle reception information 14 transmitted by the other vehicle Cm is discarded from the satellite management DB.

  Further, as described in step S14 in FIG. 9, when the cycle in which the other vehicle Cm transmits the vehicle reception information 14 is shorter than the cycle in which the host vehicle C0 executes FIG. 3, the other vehicle Cm transmits. The C / N and exclusion information included in the latest vehicle reception information 14 is stored in the satellite management DB.

Each vehicle C executes the process of FIG. 3 in synchronization with the time included in the positioning signal 11 received from the positioning satellite Gn . As a result, there is a difference in communication delay time from when one vehicle C transmits the vehicle reception information 14 at step S4 until another vehicle C executes the process of FIG. Therefore, the time when the C / N of the other vehicle Cm included in the satellite management DB is determined is a time one epoch before the time when the host vehicle C0 determines C / N.

(Effect of embodiment)
In the present embodiment described above, for the same positioning satellite Gn , C / N included in the vehicle reception information received from the surrounding vehicle and C of the positioning signal 11 received by the GNSS receiver 102 of the host vehicle C0. / N is compared (S32, S34). Since the surrounding vehicle is a vehicle existing around the own vehicle C0, the satellite receiving environment is similar to the own vehicle C0.

Therefore, for the positioning signal 11 received from the same positioning satellite Gn, the C / N included in the vehicle reception information received from the surrounding vehicle and the C / N of the positioning signal 11 received by the GNSS receiver 102 of the host vehicle C0 are displayed. By comparing N, it is possible to accurately determine whether or not the positioning signal 11 received by the GNSS receiver 102 of the host vehicle C0 is affected by the multipath.

  When it is determined that the positioning signal 11 received by the GNSS receiver 102 of the host vehicle C0 is affected by the multipath (S32: YES, S34: YES), the positioning signal 11 is excluded and the positioning calculation is performed. Perform (S5, S6). Therefore, even in an environment where the positioning signal 11 may be affected by multipath, a decrease in positioning accuracy can be suppressed.

There are two types of comparison between the C / N included in the vehicle reception information received from the surrounding vehicle and the C / N of the positioning signal 11 received by the GNSS receiver 102 of the host vehicle C0. First, when the C / N of the positioning signal 11 received by the GNSS receiver 102 of the host vehicle C0 is lower than the threshold value T1 or more than the C / N included in the vehicle reception information received from the surrounding vehicle In this case, the positioning signal 11 received from the positioning satellite Gn to be determined is excluded from the positioning calculation.

  In addition, as a second comparison, the positioning signal 11 is excluded from the positioning calculation also when the C / N where the exclusion information = 1 of the other vehicle Cm is equal to or greater than the own vehicle C / N (S34: YES). (S35). Accordingly, as described with reference to FIG. 6, even if the positioning signal 11 received by the other vehicle C2 is also affected by the multipath, the own vehicle C0 is based on the vehicle reception information received from the other vehicle C2. It can be determined that the positioning signal 11 received by is affected by multipath.

  Further, since it is determined whether or not the positioning signal 11 received by the GNSS receiver 102 is affected by multipath using the vehicle reception information received from the surrounding vehicles, the reception quality at the virtual reference station is required. do not do. Therefore, the present invention can also be applied to a method of correcting the position using a virtual fixed reference station, such as the network type RTK method.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, In the range which does not deviate from a summary, it can implement variously.

11: positioning signal, 13: building, 14: vehicle reception information, 15: building, 100: in-vehicle device, 101: wireless communication device, 102: GNSS receiver, 103: gyro sensor, 104: vehicle speed sensor, 105: positioning processing Part, 106: application part, C0: own vehicle, Cm: other vehicle, Gn: positioning satellite

Claims (7)

  1. A vehicle-to-vehicle communication device (101) for receiving vehicle reception information including reception quality information indicating reception quality of positioning signals received from positioning satellites by surrounding vehicles existing around the own vehicle;
    A receiver (102) for receiving the positioning signal from the positioning satellite;
    A reception quality acquisition unit (S1) for acquiring the reception quality information of the positioning signal received by the receiver;
    Based on a comparison between the reception quality information acquired by the reception quality acquisition unit and the reception quality information included in the vehicle reception information received by the inter-vehicle communication device, the reception quality acquisition unit acquires A determination unit (S3) for determining whether or not the positioning signal corresponding to the reception quality information is affected by multipath;
    A positioning calculation unit (S5, S6) that performs a positioning calculation by excluding the positioning signal determined by the determination unit as being affected by multipath from the positioning signal received by the receiver ;
    The vehicle reception information includes, together with the reception quality information, an excluded satellite ID that is an ID of the positioning satellite that has transmitted a positioning signal excluded by the surrounding vehicle in the positioning calculation,
    The determination unit includes the exclusion satellite ID included in the vehicle reception information and the ID of the positioning satellite that has transmitted the positioning signal received by the receiver, and the inter-vehicle communication device. Corresponding to the reception quality information acquired by the reception quality acquisition unit when the reception quality represented by the reception quality information received is equal to or higher than the reception quality represented by the reception quality information acquired by the reception quality acquisition unit A GNSS positioning apparatus that determines that the positioning signal is affected by multipath .
  2. In claim 1,
    The vehicle reception information includes an information generation time that is a time when the vehicle reception information is generated,
    The determination unit includes the reception quality information acquired by the reception quality acquisition unit and the vehicle-to-vehicle communication device received when the information generation time included in the vehicle reception information is within an expiration date. A GNSS positioning apparatus that compares the reception quality information included in the vehicle reception information.
  3. In claim 2,
    The determination unit, when the receiver receives the reception quality information of the positioning signals received from the same positioning satellite within the expiration date from a plurality of the surrounding vehicles, a plurality of the reception quality information Among them, the GNSS positioning apparatus characterized by comparing the reception quality information representing the best reception quality with the reception quality information acquired by the reception quality acquisition unit.
  4. A vehicle-to-vehicle communication device (101) for receiving vehicle reception information including reception quality information indicating reception quality of positioning signals received from positioning satellites by surrounding vehicles existing around the own vehicle;
    A receiver (102) for receiving the positioning signal from the positioning satellite;
    A reception quality acquisition unit (S1) for acquiring the reception quality information of the positioning signal received by the receiver;
    Based on a comparison between the reception quality information acquired by the reception quality acquisition unit and the reception quality information included in the vehicle reception information received by the inter-vehicle communication device, the reception quality acquisition unit acquires A determination unit (S3) for determining whether or not the positioning signal corresponding to the reception quality information is affected by multipath;
    A positioning calculation unit (S5, S6) that performs a positioning calculation by excluding the positioning signal determined by the determination unit as being affected by multipath from the positioning signal received by the receiver;
    The vehicle reception information includes an information generation time that is a time when the vehicle reception information is generated,
    The determination unit includes the reception quality information acquired by the reception quality acquisition unit and the vehicle-to-vehicle communication device received when the information generation time included in the vehicle reception information is within an expiration date. The reception quality information included in the vehicle reception information is compared, and the reception quality information of the positioning signals received from the same positioning satellite by the receiver within the validity period is a plurality of the surrounding vehicles. GNSS positioning apparatus, which compares the reception quality information representing the best reception quality among the plurality of reception quality information with the reception quality information acquired by the reception quality acquisition unit .
  5. In any one of Claims 1-4 ,
    The reception quality information represents the reception quality by a numerical value;
    The determination unit receives the reception quality information about the positioning signal received by the receiver at a predetermined value or more than the reception quality information included in the vehicle reception information received by the inter-vehicle communication device. A GNSS positioning apparatus, wherein the positioning signal received by the receiver is determined to be affected by multipath based on a value indicating that the quality is poor.
  6. In any one of Claims 1-5 ,
    The vehicle reception information includes the position of the surrounding vehicle,
    The determination unit receives the reception quality acquired by the reception quality acquisition unit when a distance between the position of the host vehicle and the position of the surrounding vehicle included in the vehicle reception information is equal to or less than a predetermined distance. A GNSS positioning apparatus that compares information with the reception quality information included in the vehicle reception information received by the inter-vehicle communication device.
  7. In any one of Claims 1-6,
    The vehicle reception information including the reception quality information and an excluded satellite ID, which is an ID of the positioning satellite that has transmitted the positioning signal excluded by the positioning calculation unit, is obtained using the inter-vehicle communication device. A GNSS positioning apparatus comprising a transmission control unit (S4) that transmits to the periphery of a vehicle.
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JP2953510B2 (en) * 1997-03-19 1999-09-27 日本電気株式会社 Satellite monitoring device
JP2001264076A (en) * 2000-03-21 2001-09-26 Clarion Co Ltd Car navigation system
JP2001311768A (en) * 2000-04-28 2001-11-09 Clarion Co Ltd Gps receiver with multi-path judging function
JP3748805B2 (en) * 2001-11-06 2006-02-22 クラリオン株式会社 GPS receiver
JP2003194912A (en) * 2001-12-26 2003-07-09 Matsushita Electric Ind Co Ltd Positioning apparatus
US7110882B2 (en) * 2003-07-07 2006-09-19 Robert Bosch Gmbh Method for improving GPS integrity and detecting multipath interference using inertial navigation sensors and a network of mobile receivers
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JP5012347B2 (en) * 2007-09-12 2012-08-29 日本電気株式会社 Orbit information error detection device, navigation system, and orbit information error detection method used therefor
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