JP6923434B2 - 測位装置 - Google Patents

測位装置 Download PDF

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Publication number
JP6923434B2
JP6923434B2 JP2017251381A JP2017251381A JP6923434B2 JP 6923434 B2 JP6923434 B2 JP 6923434B2 JP 2017251381 A JP2017251381 A JP 2017251381A JP 2017251381 A JP2017251381 A JP 2017251381A JP 6923434 B2 JP6923434 B2 JP 6923434B2
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JP
Japan
Prior art keywords
positioning
vehicle
information
accuracy
positioning method
Prior art date
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Active
Application number
JP2017251381A
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English (en)
Japanese (ja)
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JP2019117124A5 (enExample
JP2019117124A (ja
Inventor
宮尾　将徳
将徳 宮尾
浅井　健太郎
健太郎 浅井
陽介 森内
陽介 森内
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Toyota Motor Corp
Original Assignee
Denso Corp
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp, Toyota Motor Corp filed Critical Denso Corp
Priority to JP2017251381A priority Critical patent/JP6923434B2/ja
Priority to CN201880083404.8A priority patent/CN111542767B/zh
Priority to DE112018006667.3T priority patent/DE112018006667T5/de
Priority to PCT/JP2018/043010 priority patent/WO2019130917A1/ja
Publication of JP2019117124A publication Critical patent/JP2019117124A/ja
Publication of JP2019117124A5 publication Critical patent/JP2019117124A5/ja
Priority to US16/909,130 priority patent/US11513236B2/en
Application granted granted Critical
Publication of JP6923434B2 publication Critical patent/JP6923434B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • 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
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • 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
    • G01S19/49—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 whereby the further system is an inertial position system, e.g. loosely-coupled
    • 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
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • 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
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/16—Anti-theft; Abduction
    • 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
    • G01S19/42—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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
JP2017251381A 2017-12-27 2017-12-27 測位装置 Active JP6923434B2 (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP2017251381A JP6923434B2 (ja) 2017-12-27 2017-12-27 測位装置
CN201880083404.8A CN111542767B (zh) 2017-12-27 2018-11-21 定位装置
DE112018006667.3T DE112018006667T5 (de) 2017-12-27 2018-11-21 Positionsbestimmungsvorrichtung
PCT/JP2018/043010 WO2019130917A1 (ja) 2017-12-27 2018-11-21 測位装置
US16/909,130 US11513236B2 (en) 2017-12-27 2020-06-23 Positioning device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2017251381A JP6923434B2 (ja) 2017-12-27 2017-12-27 測位装置

Publications (3)

Publication Number Publication Date
JP2019117124A JP2019117124A (ja) 2019-07-18
JP2019117124A5 JP2019117124A5 (enExample) 2020-03-26
JP6923434B2 true JP6923434B2 (ja) 2021-08-18

Family

ID=67063424

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2017251381A Active JP6923434B2 (ja) 2017-12-27 2017-12-27 測位装置

Country Status (5)

Country Link
US (1) US11513236B2 (enExample)
JP (1) JP6923434B2 (enExample)
CN (1) CN111542767B (enExample)
DE (1) DE112018006667T5 (enExample)
WO (1) WO2019130917A1 (enExample)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11408739B2 (en) * 2019-05-16 2022-08-09 International Business Machines Corporation Location correction utilizing vehicle communication networks
KR102936568B1 (ko) * 2019-12-17 2026-03-09 현대자동차주식회사 차량 내 무선 통신 연결 제어 장치 및 그의 무선 통신 연결 제어 방법
JP7492469B2 (ja) * 2021-02-16 2024-05-29 ヤンマーホールディングス株式会社 自動走行方法、自動走行システム、及び自動走行プログラム
US11894919B2 (en) 2021-08-25 2024-02-06 Qualcomm Incorporated Radio frequency receive chain control for receiving satellite positioning signals
CN114179825B (zh) 2021-12-08 2022-11-18 北京百度网讯科技有限公司 多传感器融合获取量测值置信度方法及自动驾驶车辆
CN114019888B (zh) * 2022-01-07 2022-07-12 智道网联科技(北京)有限公司 用于车载设备的通信控制电路、方法、车载设备以及车辆
CN115535044A (zh) * 2022-11-09 2022-12-30 株洲中车时代电气股份有限公司 一种列车距离的实时获取方法和系统
CN115793005B (zh) * 2022-11-25 2025-06-03 东风柳州汽车有限公司 定位模式切换方法、装置、设备及存储介质

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3589786B2 (ja) * 1996-04-23 2004-11-17 三菱電機株式会社 ロケータ装置
JP2004205261A (ja) 2002-12-24 2004-07-22 Denso Corp ナビゲーション装置
JP4557819B2 (ja) * 2005-06-21 2010-10-06 アルパイン株式会社 車両周辺情報提供装置
JP4630327B2 (ja) 2007-05-03 2011-02-09 日本ビクター株式会社 ナビゲーション装置
JP2009025012A (ja) * 2007-07-17 2009-02-05 Alpine Electronics Inc 加速度センサオフセット補正装置および方法
JP5319102B2 (ja) * 2007-11-19 2013-10-16 富士通テン株式会社 測位システムおよび車載装置
US8996291B2 (en) * 2007-11-13 2015-03-31 Fujitsu Ten Limited Positioning system and in-vehicle device
US20130176169A1 (en) * 2010-03-21 2013-07-11 Trimble Navigation Ltd. Method and apparatus for mobile navigation using smart phone
JP5013385B1 (ja) * 2011-10-06 2012-08-29 独立行政法人電子航法研究所 Ｒｔｋ測位計算に利用する衛星の選択方法及びその装置
JP6334875B2 (ja) 2013-09-20 2018-05-30 株式会社Ｎｔｔドコモ 携帯端末及び測位方式選択方法
KR101535873B1 (ko) * 2013-11-29 2015-07-24 현대모비스 주식회사 위성측위시스템과 추측 항법을 융합한 차량 위치 추정 시스템 및 방법
JP6598722B2 (ja) * 2016-04-05 2019-10-30 三菱電機株式会社 高精度測位装置及び高精度測位システム
JP6393292B2 (ja) * 2016-06-08 2018-09-19 本田技研工業株式会社 車両用走行制御装置およびその制御方法
JP6845129B2 (ja) 2017-12-27 2021-03-17 株式会社デンソー 測位装置

Also Published As

Publication number Publication date
CN111542767A (zh) 2020-08-14
US11513236B2 (en) 2022-11-29
JP2019117124A (ja) 2019-07-18
DE112018006667T5 (de) 2020-09-17
WO2019130917A1 (ja) 2019-07-04
US20200319351A1 (en) 2020-10-08
CN111542767B (zh) 2023-08-25

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