JPH0666916A - Gps receiver - Google Patents
Gps receiverInfo
- Publication number
- JPH0666916A JPH0666916A JP4216152A JP21615292A JPH0666916A JP H0666916 A JPH0666916 A JP H0666916A JP 4216152 A JP4216152 A JP 4216152A JP 21615292 A JP21615292 A JP 21615292A JP H0666916 A JPH0666916 A JP H0666916A
- Authority
- JP
- Japan
- Prior art keywords
- speed
- moving body
- acceleration
- computation
- satellite
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 25
- 230000005856 abnormality Effects 0.000 claims abstract description 21
- 230000002159 abnormal effect Effects 0.000 claims abstract description 18
- 238000004364 calculation method Methods 0.000 claims description 22
- 230000000694 effects Effects 0.000 abstract description 2
- 238000001228 spectrum Methods 0.000 description 8
- 239000005433 ionosphere Substances 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000010363 phase shift Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000009795 derivation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Landscapes
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は全地球上を覆域とする衛
星を利用するＧＰＳ(Global Positioning System) に関
し、特に本発明では周波数のドップラーシフトから得ら
れる速度の異常を検知してマルチパスによる影響を除去
して移動体の測位を得るＧＰＳ受信機に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS (Global Positioning System) which uses satellites covering the entire globe, and in particular, the present invention detects multipath by detecting an abnormality in speed obtained from frequency Doppler shift. The present invention relates to a GPS receiver that removes the influence of the above and obtains positioning of a mobile body.
【０００２】[0002]
【従来の技術】従来このような分野の技術として以下に
説明するものがあった。ＧＰＳはアメリカ国防省によっ
て計画実施されつつある人工衛星を利用した全世界的な
電波測定システムである。最終的には、予備衛星３個を
含む２４個の衛星が六つの軌道面にそれぞれ４個ずつ打
ち上げられことになっている。これらの衛星のうち、４
個の衛星からの電波をシーケンシャルあるいはマルチに
受信することによって受信点の三次元測位（経度、緯
度、高度）が可能である。３個の衛星からの電波受信で
は受信点の二次元測位が可能である。また車両、船舶等
の移動体が衛星に対して移動するから衛星との相対速度
が変化するため、衛星信号の周波数は周波数シフトであ
るドップラー効果が生じる。したがって移動体に搭載さ
れる受信機で受信される周波数のドップラーシフトを測
定して移動体の走行する方位、速度、加速度を得ること
ができる。2. Description of the Related Art Conventionally, there have been techniques described below as techniques in such a field. GPS is a worldwide radio wave measurement system using artificial satellites, which is being planned and implemented by the US Department of Defense. Eventually, 24 satellites, including 3 spare satellites, will be launched into each of the 6 orbital planes, 4 each. 4 of these satellites
Three-dimensional positioning (longitude, latitude, altitude) of the receiving point is possible by receiving radio waves from each satellite sequentially or in multiple. Two-dimensional positioning of the receiving point is possible by receiving radio waves from three satellites. Further, since a moving body such as a vehicle or a ship moves with respect to the satellite, the relative speed with respect to the satellite changes, so that the frequency of the satellite signal has a Doppler effect which is a frequency shift. Therefore, by measuring the Doppler shift of the frequency received by the receiver mounted on the mobile body, the traveling direction, speed, and acceleration of the mobile body can be obtained.
【０００３】[0003]
【発明が解決しようとする課題】ところで、従来のＧＰ
Ｓ受信機では受信信号のドップラーシフトから得られた
速度等を表示していたが、移動体の周辺にある反射物
等、電離層等の反射等によるマルチパスの影響により、
受信する周波数のドップラーシフトが変化する。しかし
ながら、元来の移動体の速度によるドップラーシフト量
は非常に小さいから、マルチパスによるドップラーシフ
ト量の変化が大きくなり、結果的に移動体の速度は、マ
ルチパスの影響によりしばしば車両、船舶の最大速度を
越える無意味な表示がなされるという問題がある。この
場合には測位データにも悪影響を与えている虞があるの
で、測位データの表示を阻止する必要がある。By the way, the conventional GP
In the S receiver, the speed and the like obtained from the Doppler shift of the received signal were displayed, but due to the influence of multipath due to the reflection of the reflector around the moving body, the ionosphere, etc.,
The Doppler shift of the received frequency changes. However, since the Doppler shift amount due to the speed of the original moving body is very small, the change in the Doppler shift amount due to the multipath becomes large, and as a result, the moving object speed often changes due to the influence of the multipath. There is a problem that a meaningless display exceeding the maximum speed is displayed. In this case, the positioning data may be adversely affected, so it is necessary to prevent the positioning data from being displayed.
【０００４】したがって、本発明は上記問題点に鑑み移
動体の最大速度を越えるような速度異常を検出した場合
に位置、速度、方位、加速度の表示を阻止できるＧＰＳ
受信機を提供する。Therefore, in view of the above problems, the present invention can prevent the display of the position, velocity, azimuth and acceleration when a velocity abnormality exceeding the maximum velocity of the moving body is detected.
Provide a receiver.
【０００５】[0005]
【課題を解決するための手段】本発明は前記問題点を解
決するために、複数の衛星からの信号を受信し受信デー
タから計算して移動体の少なくとも位置、速度、方位、
加速度を表示するＧＰＳ受信機に、速度異常判断手段及
び前回計算結果記憶手段１４を設ける。前記速度異常判
断手段は前記計算して得られた移動体の速度が移動体の
限界値を越える場合に計算して得られた速度を異常と判
断する。In order to solve the above-mentioned problems, the present invention receives signals from a plurality of satellites and calculates from received data to calculate at least the position, speed, direction,
The GPS receiver for displaying the acceleration is provided with a speed abnormality determination means and a previous calculation result storage means 14. The speed abnormality determining means determines that the calculated speed is abnormal when the calculated speed of the moving body exceeds the limit value of the moving body.
【０００６】前記前回計算結果記憶手段は前回計算して
得た移動体の少なくとも位置、速度、方位、加速度を記
憶し、前記速度異常判断手段によって移動体の計算して
得られた速度が異常と判断された場合に、前回計算して
得られた移動体の少なくとも位置、速度、方位、加速度
を表示する。The previous calculation result storage means stores at least the position, speed, azimuth, and acceleration of the moving body obtained by the previous calculation, and the speed obtained by calculating the moving body by the speed abnormality judging means is abnormal. If it is determined, at least the position, velocity, azimuth, and acceleration of the moving body obtained by the previous calculation are displayed.
【０００７】[0007]
【作用】本発明のＧＰＳ受信機によれば、前記速度異常
判断手段によって前記計算して得られた移動体の速度、
加速度が移動体の限界値を越える場合に計算して得られ
た速度が異常と判断される。これにより反射物、電離層
等によるマルチパスの影響を検知できる。前記前回計算
結果記憶手段によって前回計算して得た移動体の少なく
とも位置、速度、方位、加速度が記憶され、前記速度異
常判断手段で移動体の速度、加速度が異常と判断された
場合に、前回計算して得られた移動体の少なくとも位
置、速度、方位、加速度が表示される。したがって、移
動体の位置、速度、方位、加速度等の真の値だけを表示
し、反射物、電離層等によるマルチパスの影響を受けた
異常な値を表示しないことが可能になる。According to the GPS receiver of the present invention, the speed of the moving body obtained by the calculation by the speed abnormality judging means,
When the acceleration exceeds the limit value of the moving body, the speed obtained by calculation is judged to be abnormal. As a result, it is possible to detect the influence of multipath due to the reflector, the ionosphere, and the like. At least the position, speed, azimuth, and acceleration of the moving body previously calculated by the previous calculation result storage unit are stored, and if the speed abnormality determining unit determines that the speed and acceleration of the moving body are abnormal, At least the position, velocity, azimuth, and acceleration of the moving body obtained by the calculation are displayed. Therefore, it is possible to display only the true values such as the position, velocity, azimuth, and acceleration of the moving body, and not display the abnormal values affected by multipath due to the reflector, the ionosphere, and the like.
【０００８】[0008]
【実施例】以下本発明の実施例について図面を参照して
説明する。図１は本発明の実施例に係るＧＰＳ受信機を
示す図である。本図に示すＧＰＳ受信機は、先ずアンテ
ナ１を具備する。該アンテナ１は複数の人工衛星からＣ
／Ａコードで変調された送信信号をシーケンシャルに受
信する。尚、マルチに受信する方法もある。この送信信
号では１５７５．４２ＭＨｚの搬送波がＣ／Ａコードと
呼ばれるディジタルコードで位相変調される。このＣ／
Ａコードは疑似雑音符号（ＰＮ）と呼ばれるもので、３
６種のパターンがあり、各衛星に異なるＣ／Ａコードが
割り当てられており、ユーザには知られているものであ
る。上記位相変調はスペクトラム拡散というものであ
り、同一周波数でも各衛星の識別を可能としている。ま
た上記Ｃ／Ａコードには、「航法メッセージ」と呼ばれ
る測位に必要なデータが重ねて乗せてある。この航法メ
ッセージには、各衛星の軌道情報、衛星に搭載されてい
る原子時計の補正値、電離層による伝播遅延補正計数、
全衛星の概略情報等が含まれている。なお衛星の地上局
では、衛星の正確な軌道要素の測定系をもち、正確な軌
道を保つための運行管理のほかに、ＧＰＳ機能維持のた
め、。時間基準、軌道要素、位置補正パラメータ等の日
例修正を行い、精度管理を行っている。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram showing a GPS receiver according to an embodiment of the present invention. The GPS receiver shown in this figure is first equipped with an antenna 1. The antenna 1 is C from a plurality of satellites.
The transmission signals modulated with the / A code are sequentially received. There is also a method of receiving in multiple. In this transmission signal, a carrier of 1575.42 MHz is phase-modulated by a digital code called C / A code. This C /
The A code is called a pseudo noise code (PN) and is 3
There are 6 types of patterns, and different C / A codes are assigned to each satellite, which is known to the user. The above-mentioned phase modulation is called spread spectrum, and it is possible to identify each satellite even at the same frequency. Further, data required for positioning called "navigation message" is superimposed on the C / A code. This navigation message contains the orbital information of each satellite, the correction value of the atomic clock mounted on the satellite, the propagation delay correction count by the ionosphere,
It contains general information about all satellites. In addition, the satellite ground station has a measurement system for accurate orbital elements of the satellite, and in addition to operation management to maintain an accurate orbit, to maintain the GPS function. The daily reference such as time base, orbital element, position correction parameter, etc. is corrected to control the quality.
【０００９】図１に戻り、前記アンテナ１に接続される
ＲＦ増幅器２は前記アンテナ１により受信したＲＦ信号
を増幅する。局発用発振器４は前記ＲＦ増幅器２からの
信号の周波数１．５７５．４２ＭＨｚを中間周波数４．
０９２ＭＨｚの信号（ＩＦ信号）に変換するために局発
用の信号を形成する。前記ＲＦ増幅器２に接続されるミ
クサ３はＲＦ増幅器２からのＲＦ信号を前記局発用発振
器４からの信号で混合してＲＦ信号を中間周波数信号に
変換する。前記ミクサ３に接続される中間周波フィルタ
増幅器５はミクサ３で変換された信号を約１１０ｄＢ増
幅する。前記中間周波フィルタ増幅器５に接続されるＡ
／Ｄ変換器６（Analog to Digital Converter)は中間周
波フィルタ増幅器６で増幅されたアナログ信号を１ビッ
トのディジタル信号に変換する。前記Ａ／Ｄ変換器６の
ディジタル信号を入力するスペクトラム逆拡散復調手段
７は、衛星電波に周波数を合わせると同時に各衛星に対
応するＣ／Ａコードを発生してＣ／Ａコードに位相を合
わせることによりスペクトルの逆拡散を行いデータを復
調する。このスペクトラム逆拡散復調手段７はＤＳＰ
（Digital Signal Processor) で形成される。Returning to FIG. 1, the RF amplifier 2 connected to the antenna 1 amplifies the RF signal received by the antenna 1. The local oscillator 4 converts the frequency of the signal from the RF amplifier 2 from 1.575.42 MHz to an intermediate frequency of 4.75.
A signal for local oscillation is formed in order to convert it to a 092 MHz signal (IF signal). The mixer 3 connected to the RF amplifier 2 mixes the RF signal from the RF amplifier 2 with the signal from the local oscillator 4 and converts the RF signal into an intermediate frequency signal. The intermediate frequency filter amplifier 5 connected to the mixer 3 amplifies the signal converted by the mixer 3 by about 110 dB. A connected to the intermediate frequency filter amplifier 5
A / D converter 6 (Analog to Digital Converter) converts the analog signal amplified by the intermediate frequency filter amplifier 6 into a 1-bit digital signal. The spectrum despread demodulation means 7 for inputting the digital signal of the A / D converter 6 adjusts the frequency to the satellite radio wave and at the same time generates the C / A code corresponding to each satellite and adjusts the phase to the C / A code. As a result, the spectrum is despread and the data is demodulated. This spectrum despread demodulation means 7 is a DSP
(Digital Signal Processor).
【００１０】次にスペクトラム逆拡散復調手段７で復調
されたデータを入力する航法メッセージ解読手段２０
は、衛星と受信点の真の距離に対して誤差を含んでいる
疑似距離ＲP を求める疑似距離導出手段８を具備する。
該疑似距離導出手段８では疑似距Ｒp は、各衛星に搭載
されている原子時計に正確に同期したタイミングでＣ／
Ａコードが送られてきているので、Ｃ／Ａコードの位相
シフト量から算出される。前記疑似距離導出手段８から
各衛星の疑似距離を得た位置計算手段９は、以下のよう
にして受信機の三次元測位を行う。すなわち、各衛星の
軌道情報、衛星に搭載されている原子時計の補正値、電
離層による伝播遅延の補正計数、全衛星概略の軌道情報
等から、衛星と受信位置を三次元座標で表す。ここで、
ｘ、ｙ、ｚを受信点の座標、ｕ、ｖ、ｗを衛星の座標と
し、各４個の衛星について、疑似距離Ｒpi，座標ｕi 、
ｖi 、ｗi (i=1,2,3,4) とすると、下記式が成立する。Next, the navigation message decoding means 20 for inputting the data demodulated by the spectrum despread demodulation means 7
Comprises a pseudorange deriving means 8 for obtaining a pseudorange RP containing an error with respect to the true distance between the satellite and the receiving point.
In the pseudo distance deriving means 8, the pseudo distance Rp is C / at a timing accurately synchronized with an atomic clock mounted on each satellite.
Since the A code is sent, it is calculated from the phase shift amount of the C / A code. The position calculating means 9, which has obtained the pseudo distance of each satellite from the pseudo distance deriving means 8, performs the three-dimensional positioning of the receiver as follows. That is, the satellite and the receiving position are represented by three-dimensional coordinates from the orbit information of each satellite, the correction value of the atomic clock mounted on the satellite, the correction count of the propagation delay due to the ionosphere, the orbit information of all the satellites. here,
Let x, y, z be the coordinates of the receiving point, u, v, w be the coordinates of the satellite, and pseudo-distance Rpi, coordinates ui, for each of the four satellites.
Assuming vi and wi (i = 1,2,3,4), the following equation holds.
【００１１】[0011]
【数１】 [Equation 1]
【００１２】ここで、衛星の位置ｕi 、ｖi 、ｗi (i=
1,2,3,4) は航法メッセージの中の軌道パラメータから
ケプラーの方程式を解いて求めれることができる。Ｃは
高速を、Δｔr はＧＰＳ基準時間と受信器時計のずれを
表す。したがって上記式を解くことにより受信点の三次
元測位（経度、緯度、高度）が可能になる。次にスペク
トラム逆拡散復調手段７からの周波数データを入力する
ドップラー測定手段１０は、前述の衛星送信周波数１５
７５．４２ＭＨｚからのドップラーシフト量を各衛星に
ついて求める。衛星及び移動体との移動速度に伴って周
波数は最大±５ＫＨｚ程度のドップラーシフトを受ける
が、移動体のみの速度によるものは数Ｈｚである。前記
ドップラー測定手段１０で得られた各衛星のドップラー
シフト量を得た移動速度方位計算手段１１はドップラー
シフト量を速度ベクトルに変換し、移動体の速度ベクト
ルＶを各衛星と移動体と速度ベクトルＶi (i=1,2,3,4)
を、以下のようにして、求める。Here, the satellite positions ui, vi, wi (i =
1,2,3,4) can be obtained by solving the Kepler equation from the orbital parameters in the navigation message. C represents high speed, and Δtr represents a deviation between the GPS reference time and the receiver clock. Therefore, by solving the above equation, three-dimensional positioning (longitude, latitude, altitude) of the receiving point becomes possible. Next, the Doppler measuring means 10 for inputting the frequency data from the spectrum despreading demodulation means 7 receives the satellite transmission frequency 15 described above.
The Doppler shift amount from 75.42 MHz is calculated for each satellite. The frequency undergoes a Doppler shift of about ± 5 KHz at the maximum according to the moving speed of the satellite and the moving body, but the frequency depends on the speed of only the moving body is several Hz. The moving velocity azimuth calculating unit 11 which has obtained the Doppler shift amount of each satellite obtained by the Doppler measuring unit 10 converts the Doppler shift amount into a velocity vector, and converts the velocity vector V of the moving body to each satellite, the moving body and the velocity vector. Vi (i = 1,2,3,4)
Is calculated as follows.
【００１３】ベクトルＶ＝ベクトルＶ1 ＋ベクトルＶ2
＋ベクトルＶ3 ＋ベクトルＶ4 このベクトルＶの方向から移動体の方位が得られ、絶対
値｜ベクトルＶ｜から移動体の速度が得られる。前記移
動速度方位計算手段１１から移動体の速度を得た速度異
常判断手段１２は移動体の計算された速度が異常か否か
を判断する。速度が異常か否かの目安は車両、船舶の通
常の速度の最大値に余裕を考慮した値とする。なお、加
速度は前記速度ベクトルを微分して得られる。Vector V = vector V1 + vector V2
+ Vector V3 + Vector V4 The direction of the moving body is obtained from the direction of the vector V, and the velocity of the moving body is obtained from the absolute value | vectorV |. The speed abnormality determining means 12, which has obtained the speed of the moving body from the moving speed direction calculating means 11, judges whether or not the calculated speed of the moving body is abnormal. A guideline for whether or not the speed is abnormal is a value that considers the margin in the maximum value of the normal speed of the vehicle or ship. The acceleration is obtained by differentiating the velocity vector.
【００１４】前記速度異常判断手段１２によってオン・
オフを制御されるスイッチ１３は速度異常判断手段１２
によって移動体の速度が正常と判断された場合に前記移
動速度方位計算手段１１の移動体の速度、方位、加速度
のデータ及び位置計算手段９の移動体の位置データを通
過させる。逆に前記速度異常判断手段１２により移動体
の速度が異常と判断されると該スイッチ１３は前記デー
タの通過を阻止する。前記スイッチ１３に接続される前
回計算結果記憶手段１４は速度異常判断手段１２で速度
が正常と判断された位置、速度、方位、加速度等のデー
タを記憶し、高速シーケンシャルにより新たなデータが
得られる毎にデータの記憶を更新する。前記速度異常判
断手段１２によりオン・オフを制御されるスイッチ１５
は、速度異常判断手段１２により速度が正常と判断され
た場合には前記位置計算手段９及び移動速度方位計算手
段１１からの位置、速度、方位、加速度データを通過さ
せ、速度異常判断手段１２により速度が異常と判断され
た場合には前回計算結果記憶手段１４からの位置、速
度、方位、加速度データを通過させる。前記スイッチ１
５に接続される位置、速度等の表示器１６は、スイッチ
１５により択一的に選択された位置計算手段９及び移動
速度方位計算手段１１のデータ又は前回計算結果記憶手
段１４のデータを表示する。なお、前記無線機２０出手
段８からスイッチ１５からなる航法メッセージ解読手段
２０はマイクロコンピュータで形成され、該マイクロコ
ンピュータは前記ＤＳＰの制御、測位計算を行う中央演
算装置、外部との通信を行うインタフェース、ＲＯＭ(R
ead Only Memory)、ＲＡＭ(Random Access Memory)等で
構成される。ON by the speed abnormality judging means 12
The switch 13 controlled to be turned off is the speed abnormality determination means 12
When it is determined that the speed of the moving body is normal, the moving speed, direction, and acceleration data of the moving speed direction calculating means 11 and the position data of the moving body of the position calculating means 9 are passed. On the contrary, when the speed abnormality judging means 12 judges that the speed of the moving body is abnormal, the switch 13 blocks the passage of the data. The previous calculation result storage means 14 connected to the switch 13 stores the data such as position, speed, azimuth, acceleration, etc., where the speed is judged to be normal by the speed abnormality judgment means 12, and new data can be obtained by high speed sequential operation. The data storage is updated every time. A switch 15 whose on / off is controlled by the speed abnormality judging means 12.
When the speed abnormality judging means 12 judges that the speed is normal, the speed abnormality judging means 12 allows the position, speed, azimuth and acceleration data from the position calculating means 9 and the moving speed direction calculating means 11 to pass through. When it is determined that the speed is abnormal, the position, speed, azimuth and acceleration data from the previous calculation result storage means 14 is passed. Switch 1
A display device 16 for position, speed, etc. connected to 5 displays the data of the position calculation means 9 and the moving speed azimuth calculation means 11 or the data of the previous calculation result storage means 14 which are alternatively selected by the switch 15. . The navigation message decoding means 20 including the radio 20 output means 8 to the switch 15 is formed by a microcomputer, and the microcomputer controls the DSP, a central processing unit that performs positioning calculation, and an interface that communicates with the outside. , ROM (R
It is configured by an ead only memory), a RAM (Random Access Memory), and the like.
【００１５】図２は本実施例の一連の動作を説明するフ
ローチャートである。本図に示すように、ステップ１に
おいて、スペクトラム逆拡散復調手段７でのＣ／Ａコー
ドの位相シフト量に基づいて疑似距離を計算し、ステッ
プ２においてドップラーシフト量を求め、ステップ３に
おいて前記ステップ１で各衛星に位置と移動体に対する
に対する疑似距離とから移動体の位置を導出する。ステ
ップ４において、各衛星のドップラーシフト量から移動
体の速度ベクトルを求めこれを合成して移動体の速度を
求める。ステップ５において移動体の速度が車両、船舶
等の速度として上限値（例えば３００ｋｍ／ｈ）を越え
る場合には計算した速度が異常と判断する。このように
大きな速度では通常の車両等は走行しないからである。
ステップ６において、測定された速度が正常ならば、そ
の位置、速度、方位、加速度データを記憶する。ステッ
プ７において、その正常な位置、速度、方位データが表
示される。ステップ８において、前記ステップ５で、速
度が異常と判断されたら、ステップ６で記憶した正常な
位置、速度、方位、加速度データを読み出して表示す
る。測定されたドップラーシフトがマルチパスの影響を
受けて、異常な速度が算出される場合には電波到来の経
路の急峻な変化として判定し、その異常速度等は表示さ
れず前回の速度等が表示される。したがって移動体の速
度を関係のないマルチパスの影響を除去でき、無意味な
データの表示がなくなり安定した表示を行うことができ
る。FIG. 2 is a flow chart for explaining a series of operations of this embodiment. As shown in the figure, in step 1, the pseudo distance is calculated based on the phase shift amount of the C / A code in the spectrum despread demodulation means 7, the Doppler shift amount is obtained in step 2, and the step is performed in step 3 In step 1, the position of the moving body is derived from the position of each satellite and the pseudo distance to the moving body. In step 4, the velocity vector of the moving body is obtained from the Doppler shift amount of each satellite, and these are combined to obtain the velocity of the moving body. In step 5, if the speed of the moving body exceeds the upper limit value (for example, 300 km / h) as the speed of the vehicle, the ship, etc., the calculated speed is judged to be abnormal. This is because a normal vehicle or the like does not travel at such a high speed.
In step 6, if the measured speed is normal, the position, speed, azimuth, and acceleration data are stored. In step 7, the normal position, speed and bearing data are displayed. If it is determined in step 5 that the speed is abnormal in step 8, the normal position, speed, azimuth and acceleration data stored in step 6 is read out and displayed. If the measured Doppler shift is affected by multipath and an abnormal speed is calculated, it is judged as a sharp change in the path of the radio wave arrival and the abnormal speed is not displayed, but the previous speed is displayed. To be done. Therefore, the influence of multipath unrelated to the speed of the moving body can be removed, meaningless display of data is eliminated, and stable display can be performed.
【００１６】[0016]
【発明の効果】以上説明したように本発明によれば、計
算して得られた移動体の速度が移動体の限界値を越える
場合に計算して得られた速度の異常を判断し、前回計算
して得た移動体の少なくとも位置、速度、方位、加速度
を記憶し、移動体の速度が異常と判断された場合に、前
回計算して得られた移動体の少なくとも位置、速度、方
位を表示するので、移動体の位置、速度、方位、加速度
の実際の値だけを表示し、反射物、電離層等によるマル
チパスの影響を受けた異常な値を表示しないことが可能
になる。As described above, according to the present invention, when the calculated velocity of the moving body exceeds the limit value of the moving body, the abnormality of the calculated velocity is judged, If at least the position, speed, direction and acceleration of the moving body obtained by calculation are stored and the speed of the moving body is judged to be abnormal, at least the position, speed and direction of the moving body obtained by the previous calculation are stored. Since it is displayed, it is possible to display only the actual values of the position, velocity, azimuth, and acceleration of the moving body, and not the abnormal values affected by multipath due to reflectors, ionosphere, and the like.
【図１】本発明の実施例に係るＧＰＳ受信機を示す図で
ある。FIG. 1 is a diagram showing a GPS receiver according to an embodiment of the present invention.
【図２】本実施例の一連の動作を説明するフローチャー
トである。FIG. 2 is a flowchart illustrating a series of operations according to the present exemplary embodiment.
１…アンテナ ７…スペクトラム逆拡散復調手段 ８…疑似距離導出手段 ９…位置計算手段 １０…ドップラー測定手段 １１…移動速度方位計算手段 １２…速度異常判断手段 １３、１５…スイッチ １４…前回計算結果記憶手段 DESCRIPTION OF SYMBOLS 1 ... Antenna 7 ... Spectrum despreading demodulation means 8 ... Pseudo distance derivation means 9 ... Position calculation means 10 ... Doppler measurement means 11 ... Moving speed direction calculation means 12 ... Speed abnormality determination means 13, 15 ... Switch 14 ... Storage of previous calculation result means
Claims (1)
タから計算して移動体の少なくとも位置、速度、方位、
加速度を表示するＧＰＳ受信機であって、 前記計算して得られた移動体の速度が移動体の限界値を
越える場合に計算して得られた速度を異常と判断する速
度異常判断手段（１２）と、 前回計算して得た移動体の少なくとも位置、速度、方
位、加速度を記憶し、前記速度異常判断手段（１２）に
よって移動体の計算されて得た速度が異常と判断された
場合に、前回計算して得られた移動体の少なくとも位
置、速度、方位、加速度を表示する前回計算結果記憶手
段（１４）とを備えるＧＰＳ受信機。1. At least the position, velocity, and azimuth of a moving body, which is obtained by receiving signals from a plurality of satellites and calculating from received data.
A GPS receiver for displaying acceleration, the speed abnormality determining means (12) for determining that the calculated speed is abnormal when the calculated speed of the moving body exceeds a limit value of the moving body. ) And at least the position, velocity, azimuth and acceleration of the moving body obtained by the previous calculation are stored, and when the calculated velocity of the moving body is judged to be abnormal by the speed abnormality judging means (12). A GPS receiver including a previous calculation result storage means (14) for displaying at least the position, speed, azimuth, and acceleration of the moving body obtained by the previous calculation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4216152A JPH0666916A (en) | 1992-08-13 | 1992-08-13 | Gps receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4216152A JPH0666916A (en) | 1992-08-13 | 1992-08-13 | Gps receiver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0666916A true JPH0666916A (en) | 1994-03-11 |
Family
ID=16684103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4216152A Pending JPH0666916A (en) | 1992-08-13 | 1992-08-13 | Gps receiver |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0666916A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0690314A1 (en) * | 1994-06-30 | 1996-01-03 | Matsushita Electric Industrial Co., Ltd. | System for obtaining a velocity of a moving object from a speed sensor with adjustment of a speed conversion coefficient |
| JPH0843515A (en) * | 1994-08-02 | 1996-02-16 | Nippondenso Co Ltd | Gps receiving apparatus |
| JPH0894733A (en) * | 1994-09-26 | 1996-04-12 | Japan Radio Co Ltd | Gps receiver |
| JPH09230024A (en) * | 1996-02-21 | 1997-09-05 | Aisin Seiki Co Ltd | Positioning device using gps satellite |
| JP2001051040A (en) * | 1999-08-09 | 2001-02-23 | Nippon Telegr & Teleph Corp <Ntt> | Position detector |
| JP2006126018A (en) * | 2004-10-29 | 2006-05-18 | Alpine Electronics Inc | Device and method for calculating position of moving body |
| US7136015B2 (en) | 2004-04-06 | 2006-11-14 | Alpine Electronics, Inc. | Method and apparatus for satellite positioning |
| JP2008247246A (en) * | 2007-03-30 | 2008-10-16 | Kyosan Electric Mfg Co Ltd | Train position abnormality detection system |
| JP2011053166A (en) * | 2009-09-04 | 2011-03-17 | Clarion Co Ltd | Positioning method and device |
| JP2012127899A (en) * | 2010-12-17 | 2012-07-05 | Isuzu Motors Ltd | Positioning accuracy determining device |
| JP2013035350A (en) * | 2011-08-04 | 2013-02-21 | Honda Motor Co Ltd | Outboard motor control apparatus |
| JP2013035349A (en) * | 2011-08-04 | 2013-02-21 | Honda Motor Co Ltd | Outboard motor control apparatus |
| KR101388112B1 (en) * | 2012-10-15 | 2014-05-27 | 충남대학교산학협력단 | System and method for Lane Number Recognition |
| JP2015004678A (en) * | 2013-06-20 | 2015-01-08 | インテル アイピー コーポレイション | Vehicle positioning in high-reflection environment |
| JP2015014473A (en) * | 2013-07-03 | 2015-01-22 | 三菱重工業株式会社 | On-vehicle device and spoofing detection method |
| CN111538043A (en) * | 2020-05-29 | 2020-08-14 | 国网浙江省电力有限公司检修分公司 | Method and device for eliminating non-through-view satellite in complex environment and electronic equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63223585A (en) * | 1987-03-13 | 1988-09-19 | Mitsubishi Electric Corp | Vehicle on-board type navigator device |
| JPH0429079A (en) * | 1990-05-25 | 1992-01-31 | Pioneer Electron Corp | Position measuring system for on-vehicle gps receiver |
-
1992
- 1992-08-13 JP JP4216152A patent/JPH0666916A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63223585A (en) * | 1987-03-13 | 1988-09-19 | Mitsubishi Electric Corp | Vehicle on-board type navigator device |
| JPH0429079A (en) * | 1990-05-25 | 1992-01-31 | Pioneer Electron Corp | Position measuring system for on-vehicle gps receiver |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0690314A1 (en) * | 1994-06-30 | 1996-01-03 | Matsushita Electric Industrial Co., Ltd. | System for obtaining a velocity of a moving object from a speed sensor with adjustment of a speed conversion coefficient |
| US5686925A (en) * | 1994-06-30 | 1997-11-11 | Matsushita Electric Industrial Co., Ltd. | System for obtaining a velocity of a moving object from a speed sensor with an improved adjustment of a speed conversion coefficient |
| JPH0843515A (en) * | 1994-08-02 | 1996-02-16 | Nippondenso Co Ltd | Gps receiving apparatus |
| JPH0894733A (en) * | 1994-09-26 | 1996-04-12 | Japan Radio Co Ltd | Gps receiver |
| JPH09230024A (en) * | 1996-02-21 | 1997-09-05 | Aisin Seiki Co Ltd | Positioning device using gps satellite |
| JP2001051040A (en) * | 1999-08-09 | 2001-02-23 | Nippon Telegr & Teleph Corp <Ntt> | Position detector |
| US7136015B2 (en) | 2004-04-06 | 2006-11-14 | Alpine Electronics, Inc. | Method and apparatus for satellite positioning |
| JP2006126018A (en) * | 2004-10-29 | 2006-05-18 | Alpine Electronics Inc | Device and method for calculating position of moving body |
| JP2008247246A (en) * | 2007-03-30 | 2008-10-16 | Kyosan Electric Mfg Co Ltd | Train position abnormality detection system |
| JP2011053166A (en) * | 2009-09-04 | 2011-03-17 | Clarion Co Ltd | Positioning method and device |
| JP2012127899A (en) * | 2010-12-17 | 2012-07-05 | Isuzu Motors Ltd | Positioning accuracy determining device |
| JP2013035350A (en) * | 2011-08-04 | 2013-02-21 | Honda Motor Co Ltd | Outboard motor control apparatus |
| JP2013035349A (en) * | 2011-08-04 | 2013-02-21 | Honda Motor Co Ltd | Outboard motor control apparatus |
| KR101388112B1 (en) * | 2012-10-15 | 2014-05-27 | 충남대학교산학협력단 | System and method for Lane Number Recognition |
| JP2015004678A (en) * | 2013-06-20 | 2015-01-08 | インテル アイピー コーポレイション | Vehicle positioning in high-reflection environment |
| JP2015014473A (en) * | 2013-07-03 | 2015-01-22 | 三菱重工業株式会社 | On-vehicle device and spoofing detection method |
| CN111538043A (en) * | 2020-05-29 | 2020-08-14 | 国网浙江省电力有限公司检修分公司 | Method and device for eliminating non-through-view satellite in complex environment and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3408593B2 (en) | Method and apparatus for estimating satellite position in satellite based navigation system | |
| JP3361863B2 (en) | Method and apparatus for improving position estimation accuracy in satellite-based navigation systems | |
| JP3390794B2 (en) | Vehicle tracking system using Global Positioning System (GPS) satellites | |
| JP3361864B2 (en) | Method and apparatus for determining the position of a vehicle using a satellite-based navigation system | |
| US5606506A (en) | Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system using velocity data from an inertial reference unit | |
| KR101037059B1 (en) | Global navigation satellite system | |
| JP3062301B2 (en) | GPS navigation device | |
| JPH0666916A (en) | Gps receiver | |
| US6476762B2 (en) | Method for performing positioning and an electronic device | |
| US6417800B1 (en) | Method for determining reference time error and an electronic device | |
| JPH09178508A (en) | Unit being used with two antennas on movable platform, method for determining orientation of head of mobile and method for executing determination | |
| JPH0777570A (en) | Method and apparatus for detecting cycle slip in satellite-base-station navigation system | |
| KR101638210B1 (en) | Method for optimising an acquisition of a spread-spectrum signal from a satellite by a mobile receiver | |
| EP1506430A1 (en) | Determining the position of a receiver and/ or the system time of a positioning system | |
| JP2001272451A (en) | Device and method for gps reception, recording medium with recorded software for gps reception, and navigation system | |
| JP2013127470A (en) | Method of positioning receiver, positioning system, and electronic apparatus | |
| US20030058162A1 (en) | Method for performing positioning and an electronic device | |
| EP1512028B1 (en) | Aiding in a satellite positioning system | |
| JP3557024B2 (en) | Positioning device | |
| US7046193B2 (en) | Software GPS based integrated navigation | |
| JP3609099B2 (en) | GPS receiver | |
| JP2006126005A (en) | Global positioning system receiving system and position measuring method | |
| JP3708689B2 (en) | DGPS receiver | |
| JP4334104B2 (en) | Car navigation system | |
| JPH0735839A (en) | Navigation apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20010612 |