JPH05297104A - Gps signal receiving device - Google Patents

Abstract

PURPOSE:To provide a GPS signal reception device, which involves less error, can calculate the place of position measuring accurately, and prevents deterioration of the accuracy due to the altitude at the time of two-dimensional position measurement. CONSTITUTION:A GPS signal reception device includes a calculating means 2a for satellite available for position measurement which calculates a GPS satellite available for position measurement, a determining means 7 to determine the combination of satellites available for the calculation of position measuring using the DOP value, and a position measurement calculating means 8 which performs the calculation of position measuring in the case where three or more GPS satellites exist. The device is further equipped with a calculating means 5a which computes the emergence distribution of the place of position measuring to be calculated by a position measuring means and a determining means 6a which determines the place of position measuring on the basis of the place emergence distributions to be calculated by the distribution calculating means 5a.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS (Global) which receives radio waves from a plurality of GPS satellites and calculates a positioning position.
Positioning System) Receiving device.

[0002]

2. Description of the Related Art Some conventional GPS receivers determine a positioning position based on a dispersion ratio of positioning calculation results, as proposed in Japanese Patent Laid-Open No. 3-108681.

[0003]

The above GPS receiver is designed to determine the satellite used for positioning, and basically leaves a positioning error of the GPS receiver. There was a point.

The present invention has been made in order to solve such a problem, and an object thereof is to obtain a GPS receiving apparatus capable of reducing positioning error.

Another object is to reduce positioning error due to altitude in two-dimensional positioning.

[0006]

The GPS receiving apparatus of the present invention is a GPS receiving apparatus that receives radio waves from a plurality of GPS satellites to calculate a positioning position, and can use positioning for calculating a satellite that can be used for positioning calculation. Satellite operation means and DOP (Diliusio) showing the geometrical accuracy divergence of the GPS satellites.
n of Precision) GPS used for positioning calculation
Positioning using satellite determining means for determining a combination of satellites,
Positioning calculation means for performing positioning calculation when there are three or more GPS satellites, positioning position appearance distribution calculation means for calculating appearance distribution of positioning positions calculated by each positioning means, and positioning position appearance distribution calculation The positioning position determining means for determining the positioning position based on each positioning position appearance distribution calculated by the means is provided.

Further, in a GPS receiving device which receives radio waves from a plurality of GPS satellites and calculates a positioning position, a positioning-enabled satellite calculating means for calculating satellites that can be used for positioning calculation, and four or more GPS satellites. The three-dimensional positioning calculation means for performing positioning calculation when existing and the GPS satellite
By the two-dimensional positioning calculation means for performing positioning calculation when there are more than one, the positioning position appearance distribution calculation means for calculating the appearance distribution of the positioning positions calculated by each of the positioning means, and the positioning position appearance distribution calculation means. A positioning position determining means for determining the positioning position based on the calculated distribution of the positioning position appearance is provided.

[0008]

In the GPS receiving apparatus according to the present invention, four satellites having the smallest DOP value are selected from the satellites obtained by the positioning available satellite calculating means, from the satellite combinations which can be used for two-dimensional positioning. A positioning position is determined by performing a two-dimensional positioning calculation and calculating the appearance distribution of each positioning position.

Further, from the satellites obtained by the positioning-available satellite calculating means, a portion of the PDOP (Position Diluton of Precision) showing the spatial coordinates of the geometric position accuracy deterioration rate is selected from the combination of satellites that can be used for three-dimensional positioning. )
Select the satellite combination with the smallest value, perform three-dimensional positioning calculation, change the satellite combination using the satellites used in three-dimensional positioning, perform two-dimensional positioning calculation, and calculate the appearance distribution of each positioning position. By doing so, the positioning position is determined.

[0010]

【Example】

Example 1. FIG. 1 is a block diagram of an embodiment of a GPS receiver according to the present invention. In FIG. 1, 1 is a GPS satellite,
Reference numeral 2a is a positioning-enabled satellite calculating means for calculating a satellite that can be used for positioning calculation based on a received position signal from the GPS satellite 1, and 7 is a DOP value (for details of the DOP value, see Japanese Patent Laid-Open No. 61-1).
It is described in Japanese Patent Publication No. 98074. ) Is a positioning-use satellite determining means for determining a combination of satellites used for positioning calculation.

A reference numeral 8 denotes a positioning calculation means for performing a positioning calculation when there are three or more GPS satellites 1, and a reference numeral 5a denotes a positioning position appearance distribution calculation means for calculating an appearance distribution of the positioning positions calculated by each of the above positioning calculation means. , 6a are positioning position determining means for determining the positioning position according to each positioning position appearance distribution calculated by the positioning position appearance distribution calculating means 5a.

FIG. 2 shows the component structure of the first embodiment of the present invention. 9 is a GPS antenna for receiving the radio waves of the GPS satellite 1, 10 is a reception processing unit that receives the radio waves of the GPS satellite 1, and performs positioning calculation processing, 11 is a memory for the reception processing unit of the storage device used in the reception processing unit 10. Is. Reference numeral 12 is a GPS receiving device including a reception processing unit 10 and a reception processing unit memory 11.

FIG. 3 is a flow chart of the program of the present invention. The operation will be described below with reference to this flowchart.

When the power is turned on, the program starts (t1), the satellite numbers that can be used for positioning at the present time are calculated (t2), and it is determined whether there are more than three positioning-enabled satellites (t3). If not many (NO), the process returns to t2.

On the other hand, if it is determined that there is a large number at t3 (YES), the satellite combination is selected in the order of increasing HDOP value (horizontal component DOP value) to be Se (i) (i = 0 to 3) ( t4), two-dimensional positioning calculation by Se (i) is performed and the calculation result is AL (i) (however, the altitude is calculated as a constant a) (t5), and the appearance distribution of the positioning positions of AL (i) is calculated. To ALP (i) (t6), A
The set sum (intersection) of LP (i) is calculated to be AS (t
7) It is determined whether AS is significant (t8), and if significant (YES), the central value of AS is set as the positioning position (t9).

On the other hand, if it is determined that the difference is not significant at t8 (NO), the altitude constant a is changed (t10), and after this change, the process returns to t5.

FIG. 4 shows the appearance of the positioning position appearance of the GPS receiving device when the altitude error is large, and ALP (0),
There is no intersection of ALP (1), ALP (2), and ALP (3).

FIG. 5 shows the distribution of positioning position appearances of the GPS receiving device when the altitude error is small, and ALP (0),
ALP (1), ALP (2), ALP (3), ALP
The common part AS of (4) exists.

Example 2. FIG. 6 is a block diagram of an embodiment of the GPS receiver according to the present invention. In FIG. 6, 1 is a GPS satellite, 2b is a positioning-enabled satellite calculating means for calculating a satellite that can be used for positioning calculation based on a reception position signal from the GPS satellite 1, and 3 is positioning when there are four or more GPS satellites 1. A three-dimensional positioning calculation means for performing a calculation, 4 is a two-dimensional positioning calculation means for performing a positioning calculation when three or more GPS satellites 1 are present, and 5b is a positioning position calculated by each of the above positioning calculation means 3, 4. Positioned position appearance distribution calculation means for calculating the appearance distribution, and reference numeral 6b is a positioned position determination means for deciding the positioned position according to each measured position appearance distribution calculated by the measured position appearance distribution calculation means 5b.

7 and 8 are flow charts of the program according to the first embodiment of the present invention. The operation will be described below with reference to this flowchart.

When the power is turned on, the program starts (S1), the satellite number that can be used for positioning at the present time is calculated (S2), and it is determined whether or not three-dimensional positioning is possible (S).
3). If three-dimensional positioning cannot be performed (NO), the process returns to S2.

On the other hand, when the three-dimensional positioning is possible in S3 (YES), the PDOP value that can be estimated to be the most accurate from the combination of satellites that can perform the three-dimensional positioning (for details of the PDOP value, refer to the document: GPS ( (Precision Positioning System Using Artificial Satellites), issued on November 10, 1986, described in Issuer Association of Japan Surveyors, pp. 138-140.) The smallest satellite combination is selected (S4) and selected. SV (i) is numbered in ascending order of satellite numbers of the used satellites (i = 0 to 3) (S5), 3
The dimensional positioning calculation is performed, and the position of the calculation result is set as AL (0) altitude and Tl is stored in the memory (S6).

SV (0) / SV (1) / SV (2) and T
Performs two-dimensional positioning calculation with l and calculates the position of the calculation result as AL
It is stored in the memory as (1) (S7) and SV (0) · SV
(1) Two-dimensional positioning calculation by SV (3) and Tl is performed and the position of the calculation result is set as AL (2) and stored in the memory (S
8).

SV (0) / SV (2) / SV (3) and T
Performs two-dimensional positioning calculation with l and calculates the position of the calculation result as AL
It is stored in the memory as (3) (S9), and SV (1) · SV
(2) Two-dimensional positioning calculation is performed using SV (3) and Tl, and the position of the calculation result is set to AL (4) and stored in the memory (S
10).

The appearance distribution of the positioning positions of AL (i) is calculated and stored as ALP (i) (S11), the set sum (intersection) of ALP (i) is calculated as AS (S12), and AS is significant. It is determined whether or not there is (S13), and if it is significant (YES), the central value of AS is calculated and set as the positioning position (S14), and the process returns to A between S1 and S2 in FIG.

On the other hand, if it is not significant in S13 (N
O) sets AL (0) as the positioning position (S15), and returns to A.

FIG. 9 illustrates a state of each positioning position appearance distribution ALP (i) and a state of a set sum AS of ALP (i).

[0028]

As described above, according to the present invention, since the set sum of the positioning position appearance distribution is configured to be calculated,
It can be more accurate than the positioning position obtained by combining one satellite.

Further, it is possible to prevent accuracy deterioration due to altitude in two-dimensional positioning.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a GPS receiver according to a first embodiment of the present invention.

FIG. 2 is a diagram showing a component structure according to an embodiment of the present invention.

FIG. 3 is a flowchart showing the operation of the first embodiment.

FIG. 4 is a diagram showing a distribution of positioning position appearances of the GPS receiving device when the altitude error of the first embodiment is large.

FIG. 5 is a diagram showing a distribution of positioning position appearances of the GPS receiving device when the altitude error in Embodiment 1 is small.

FIG. 6 is a configuration diagram of a GPS receiver according to a second embodiment of the present invention.

FIG. 7 is a flowchart showing the operation of the second embodiment.

FIG. 8 is a flowchart showing the operation of the second embodiment.

FIG. 9 is a diagram showing a state of each positioning position appearance distribution ALP (i) and a state of a set sum AS of ALP (i) according to the second embodiment.

[Explanation of symbols]

 1 GPS satellites 2a, 2b Positioning usable satellite calculation means 3 Three-dimensional positioning calculation means 4 Two-dimensional positioning calculation means 5a, 5b Positioning position appearance distribution calculation means 6a, 6b Positioning position determination means 7 Positioning satellite determination means 8 Positioning calculation means 9 GPS antenna 10 Reception processing unit 11 Memory for reception processing unit 12 GPS receiver

Claims (2)

[Claims] 1. In a GPS receiving device for receiving radio waves from a plurality of GPS satellites to calculate a positioning position, a positioning available satellite calculating means for calculating a satellite that can be used for positioning calculation, and a geometric shape of the GPS satellite. Positioning satellite determining means for determining the combination of GPS satellites used for positioning calculation based on the DOP value indicating the precision divergence, and the GPS satellites are 3
Positioning calculation means for performing positioning calculation when there are more than one,
Positioning position appearance distribution calculating means for calculating the appearance distribution of the positioning positions calculated by each of the positioning means, and positioning position determining means for determining the positioning position by each of the positioning position appearance distributions calculated by the positioning position appearance distribution calculating means A GPS receiver comprising: 2. In a GPS receiving device that receives radio waves from a plurality of GPS satellites and calculates a positioning position, a positioning available satellite calculating means for calculating a satellite that can be used for positioning calculation, and four or more GPS satellites. Appearance of three-dimensional positioning calculation means for performing positioning calculation when existing, two-dimensional positioning calculation means for performing positioning calculation when there are three or more GPS satellites, and appearance of positioning position calculated by each of the above positioning means A GPS receiving apparatus comprising: a positioning position appearance distribution calculating means for calculating a distribution; and a positioning position determining means for determining a positioning position according to each positioning position appearance distribution calculated by the positioning position appearance distribution calculating means.