JPH07294623A - Position-measuring device and moving body equipped with position-measuring device - Google Patents

Abstract

PURPOSE:To surely correct data with a simple apparatus by providing a receiving means for receiving waves from N satellites and outputting corresponding receiving data, a position data-calculating means, a correction data-calculating means and a correcting means. CONSTITUTION:A GPS receiver 101 for receiving waves from GPS satellites 400a-400h up in the sky and calculating coordinates of a position of a vehicle 100, and a GPS antenna 102 are set, in the vehicle 100 having a GPS navigation system loaded thereon. Moreover, a map database memory part 108, e.g. a CD-ROM or the like, a controller 110 for receiving positional data sent from the devices and outputting display data, and a display monitor 111 are arranged in the vehicle. The vehicle 100 receives waves from the satellites 400a-400h at the antenna 102 and calculates a reference position and a correction value at the receiver 101. The correction data are stored together with the valid time thereof in a memory set in the receiver 101, and used afterwards as a correction value for GPS measuring data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device provided in a vehicle or the like or a moving body with a positioning device such as a vehicle.

[0002]

2. Description of the Related Art Generally, the position of a vehicle is detected based on a detection signal from a sensor or a receiver mounted on the vehicle, and based on the detected position, the position of the vehicle is displayed on a map displayed on a display. There is a known vehicle navigation device (Japanese Unexamined Patent Publication No. 2-257013).
In such a vehicular navigation device, as a position detecting device for detecting the position of the vehicle, a receiver provided in the vehicle receives radio waves from a plurality of satellites and detects the position of the vehicle based on the received radio waves. Positioning S
A system using a ystem (hereinafter abbreviated as GPS) is known. This vehicle-mounted navigation device using GPS measures the distances from a plurality of satellites whose positions are clear to the receiving point at the same time, and sets the intersection of a sphere centering on each satellite as the vehicle position. Accuracy can be obtained. However, even in the case of a vehicle-mounted navigation device using such a GPS, there is a difference between the orbit information transmitted from the GPS satellite and the actual orbit of the GPS satellite, the delay of radio waves in the ionosphere or the atmosphere, etc. A position error will occur. Various methods have been used to correct this measurement position error.

FIG. 22 is an explanatory diagram of a conventional GPS positioning device disclosed in, for example, Japanese Patent Laid-Open No. 5-66260. In this figure, 10 is a vehicle equipped with a GPS positioning device,
Reference numeral 30 is a transmitter installed on the road used for the road-vehicle information system. Vehicle 10 has GPS satellites 4 in the sky
A GPS receiver 11 and a GPS antenna 12 for receiving radio waves from 0a to 40h and calculating vehicle position coordinates are provided, and an azimuth sensor 13, a distance sensor 14, and an altitude sensor 15, which are used as sensors for self-contained navigation, further,
Receiver 16 and antenna 17 for receiving road-vehicle information data
And are provided. Also, a map database storage unit 18 such as a CD-ROM, an external input interface (external input I / F in the figure) 19 such as a keyboard, a controller 21 that collects position information sent from these devices and outputs display information, A display monitor 22 is installed in the vehicle 10.

Next, the operation will be described. GPS satellite 4
The GPS antenna 12 receives the radio waves of 0a to 40h,
The GPS receiver 11 calculates the GPS positioning position. Also,
In addition to the GPS positioning position, a position measured using the azimuth sensor 13, the distance sensor 14, and the altitude sensor 15,
Alternatively, the position calculated by the road-to-vehicle information receiver 16 from the radio wave from the road-to-vehicle information transmitter 30 received by the antenna 17, map matching by the map database storage unit 18, or an external input interface (external input I / F) The position of the moving body is obtained by using the input from 19. In the controller 21, this moving body position and GP
The difference from the S positioning position is calculated and stored in the memory as correction information at the time of GPS positioning, and the GPS positioning position data is corrected thereafter using this correction information and displayed together with the map information from the map database storage unit 18. The output is output to the monitor 22, and the display monitor 22 receives this output and displays it.

[0005]

The conventional G as described above is used.
In the PS positioning device, the position measured by the GPS positioning device is used as the azimuth sensor 13, the distance sensor 14, and the altitude sensor 1.
5, the position calculated by 5 and the position calculated by the road-to-vehicle information receiver 16, or the map database storage unit 18
The correction is performed based on the position calculated by the map matching by. Therefore, the direction sensor 13, the distance sensor 14, the altitude sensor 15, the road-vehicle information receiver 1
6 or a map database storage unit 18 for performing map matching is required, which causes an increase in the number of devices and makes the devices complicated.

The present invention has been made in order to solve the above problems, and an object thereof is to obtain a positioning device which can surely perform correction with a simple device.

[0007]

A positioning device according to the present invention includes receiving means for receiving radio waves from N satellites and outputting reception information corresponding to each of the N satellites, and N receiving means. Position information calculation means for extracting one satellite group composed of M satellites from the satellites and calculating one position information based on the received information corresponding to each satellite forming the extracted one satellite group. , A plurality of satellite groups composed of L satellites from N satellites are extracted, and the received information corresponding to the satellites forming each satellite group of the extracted plurality of satellite groups is used to identify the plurality of satellite groups. A correction information calculation unit that calculates position information corresponding to each satellite group and calculates correction information based on this position information, and a correction unit that corrects one position information by the correction information are provided.

[0008] Further, a receiving means for receiving radio waves from N satellites and outputting reception information corresponding to each of the N satellites, and N satellites to M satellites. First satellite extraction means for extracting one satellite information group, first position information calculation means for calculating one position information based on the reception information of each satellite forming one satellite group, and L number of satellites from N satellites. Second extraction means for extracting a plurality of satellite groups formed of satellites and positions corresponding to the respective satellite groups of the plurality of satellite groups based on the reception information of the respective satellites forming the respective satellite groups of the plurality of satellite groups. Second position information calculating means for calculating information;
The correction information calculation means for calculating the correction information based on the position information calculated by the position information calculation means and the correction means for correcting the one position information by the correction information are provided.

Further, the radio waves from the N satellites are received, the first reception information corresponding to each of the N satellites is output, and after a predetermined time, the radio waves from the R satellites are received. Receiving means for outputting the second received information and M from R satellites
First extraction means for extracting one satellite group composed of one satellite, and first position information calculation for calculating one position information based on second received information of each satellite forming one satellite group Means, a second extracting means for extracting a plurality of satellite groups composed of L satellites from the N satellites, and first reception information of each satellite forming each satellite group of the plurality of satellite groups. A second position information calculating means for calculating position information corresponding to each satellite group of the plurality of satellite groups, and a correction for calculating correction information based on the position information calculated by the second position information calculating means. The information calculation means and the correction means for correcting one position information by the correction information are provided.

Further, the reception information or the first reception information or the second reception information indicates coordinate information indicating coordinates of each satellite of N satellites or R satellites and a distance between each satellite and the reception position. It includes distance information.

Further, the reception information or the first reception information or the second reception information includes identification information for identifying each of N satellites or R satellites.

The correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means calculates one position information when one satellite group is included in the plurality of satellite groups. Is corrected by the correction information corresponding to one satellite group.

Further, the correction information calculating means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correcting means calculates one position when one satellite group is not included in the plurality of satellite groups. The information is corrected by the correction information corresponding to a predetermined satellite group of the plurality of satellite groups.

A reference position calculating means for calculating a reference position based on position information corresponding to each satellite group of the plurality of satellite groups, and position information and reference position corresponding to each satellite group of the plurality of satellite groups. Correction position calculation means for calculating correction information corresponding to each satellite group of the plurality of satellite groups based on
When one satellite group is included in a plurality of satellite groups, one position information is corrected by the correction information corresponding to one satellite group in the correction information.

Further, the reference position calculating means uses the average value of the position information corresponding to each satellite group of the plurality of satellite groups as the reference position.

The difference between the position information corresponding to each satellite group of the plurality of satellite groups and the reference position is used as correction information corresponding to each satellite group of the plurality of satellite groups.

Further, the position information includes at least altitude information indicating the altitude of the reception position, and L is at least P and P +.
1 includes satellites composed of P + 1 satellites of the plurality of satellite groups as altitude information of position information corresponding to each satellite group composed of the P satellites of the plurality of satellite groups. The average value of the altitude information of the position information corresponding to the group is used.

The position information includes at least altitude information indicating the altitude of the reception position, and L is at least P and P + 1.
, And an index indicating the positioning accuracy in the altitude direction obtained from the arrangement of P + 1 satellites in the satellite group composed of P + 1 satellites in the plurality of satellite groups, for example, V
The altitude of the position information corresponding to the satellite group having the best DOP or the like is used as the altitude of the position information corresponding to the satellite group constituted by P satellites of the plurality of satellite groups.

Further, the reference position calculating means uses the average value of the position information corresponding to each satellite group composed of Q satellites of the plurality of satellite groups as the reference position.

In addition, the position information corresponding to the satellite group having the best index, for example, HDOP, which indicates the positioning accuracy in the latitude direction and the longitude direction obtained from the arrangement of the satellites in the plurality of satellite groups is used as the reference position. To do.

Furthermore, an index indicating the positioning accuracy obtained from the arrangement of satellites of each satellite group of a plurality of satellite groups, for example, HD
OP, etc. are within a predetermined range.

Further, correction information storage means for storing the correction information is provided, and the correction means performs correction based on the correction information or the output of the correction information storage means.

Further, the position information calculation means, the first position information calculation means or the second position information calculation means repeatedly calculates the position information a predetermined number of times within a predetermined time.

The position information or correction information is only altitude information indicating the altitude of the reception position.

Further, if N or R is smaller than a predetermined value, the correction based on the correction information is not performed.

An index indicating the positioning accuracy obtained from the arrangement of the satellites of each satellite group of the plurality of satellite groups, for example, HDO
If P and the like are within a predetermined range, the correction is not performed based on the correction information.

Further, the reference position calculating means calculates a predetermined value as the reference position.

Further, N is set to be larger than R.

Further, M is N-1 or R-1.

Further, a correction information storage means for storing the correction information and a second correction means for correcting the position information based on the output of the correction information storage means are provided, and the position information corrected by the second correction means is provided. Is used in the correction information calculation means and the correction means.

The moving body with a positioning device according to the present invention does not perform correction based on the correction information if the speed of the moving body is higher than a predetermined value.

[0032]

In the positioning device according to the present invention, receiving means for receiving radio waves from N satellites and outputting reception information corresponding to each of the N satellites, and M receiving from the N satellites.
Position information calculating means for extracting one satellite group formed by individual satellites and calculating one position information by receiving information corresponding to each satellite forming the extracted one satellite group,
A plurality of satellite groups composed of L satellites are extracted from N satellites, and each of the plurality of satellite groups is identified by the reception information corresponding to the satellites forming each satellite group of the extracted plurality of satellite groups. Since the correction information calculating means for calculating the position information corresponding to the satellite group and the correction information based on the position information and the correcting means for correcting one position information by the correction information are provided, The position information calculated by the information calculation means based on the received information is corrected by the correction information calculation means by the correction information calculated based on the received information.

Further, a receiving means for receiving radio waves from N satellites and outputting reception information corresponding to each satellite of the N satellites, and a receiver constituted by N satellites to M satellites. First satellite extraction means for extracting one satellite information group, first position information calculation means for calculating one position information based on the reception information of each satellite forming one satellite group, and L number of satellites from N satellites. Second extraction means for extracting a plurality of satellite groups formed of satellites and positions corresponding to the respective satellite groups of the plurality of satellite groups based on the reception information of the respective satellites forming the respective satellite groups of the plurality of satellite groups. Second position information calculating means for calculating information;
Since the correction information calculation means for calculating the correction information based on the position information calculated by the position information calculation means and the correction means for correcting the one position information by the correction information are provided, the position information calculation means The one piece of position information calculated from the received information is corrected by the correction information calculating means using the correction information calculated from the received information.

Further, the radio waves from the N satellites are received, the first reception information corresponding to each of the N satellites is output, and after a predetermined time, the radio waves from the R satellites are received. Receiving means for outputting the second received information and M from R satellites
First extraction means for extracting one satellite group composed of one satellite, and first position information calculation for calculating one position information based on second received information of each satellite forming one satellite group Means, a second extracting means for extracting a plurality of satellite groups composed of L satellites from the N satellites, and first reception information of each satellite forming each satellite group of the plurality of satellite groups. A second position information calculating means for calculating position information corresponding to each satellite group of the plurality of satellite groups, and a correction for calculating correction information based on the position information calculated by the second position information calculating means. Since the information calculation means and the correction means for correcting one position information by the correction information are provided,
The one piece of position information calculated by the position information calculating means of the first received information is corrected by the correction information calculated by the correction information calculating means of the second received information.

Further, the reception information or the first reception information or the second reception information indicates coordinate information indicating the coordinates of each satellite of N satellites or R satellites and the distance between each satellite and the reception position. Since the distance information is included, the position information or the correction information is calculated using the coordinate information and the distance information.

Further, since the received information or the first received information or the second received information includes identification information for identifying each satellite of N satellites or R satellites, the satellite group is identified using the identification information. To extract.

Further, the correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means calculates one position information when one satellite group is included in the plurality of satellite groups. Is corrected by the correction information corresponding to one satellite group, and thus is corrected by the correction information corresponding to the one position information.

Further, the correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means calculates one position when one satellite group is not included in the plurality of satellite groups. Since the information is corrected by the correction information corresponding to the predetermined satellite group of the plurality of satellite groups, it is corrected by the correction information corresponding to the predetermined satellite group of the plurality of satellite groups.

Further, reference position calculating means for calculating a reference position based on position information corresponding to each satellite group of the plurality of satellite groups, and position information and reference position corresponding to each satellite group of the plurality of satellite groups. Correction position calculation means for calculating correction information corresponding to each satellite group of the plurality of satellite groups based on
When one satellite group is included in a plurality of satellite groups, the one position information is corrected by the correction information corresponding to one satellite group in the correction information, so it is calculated from the reference position and the position information. The position information is corrected based on the correction information thus obtained.

Further, since the reference position calculating means uses the average value of the position information corresponding to each satellite group of the plurality of satellite groups as the reference position, the average value of the plurality of position information by the plurality of satellite groups. The correction information corresponding to each satellite group of the plurality of satellite groups is obtained from the reference position and the position information corresponding to each satellite group of the plurality of satellite groups.

Further, since the difference between the position information corresponding to each satellite group of the plurality of satellite groups and the reference position is used as the correction information corresponding to each satellite group of the plurality of satellite groups, One position information is corrected by the correction information which is the difference from the reference position.

Further, the position information includes at least altitude information indicating the altitude of the reception position, and a plurality of altitude information of position information corresponding to each satellite group composed of P satellites of the plurality of satellite groups are provided. Since the average altitude of the position information corresponding to the satellite group composed of P + 1 satellites of the satellite group is used, the altitude of the position information corresponding to the satellite group composed of P + 1 satellites is used. The average value of the information is used as the altitude information of the position information corresponding to the satellite group composed of P satellites, and the position information other than the altitude information is calculated.

The position information includes at least altitude information indicating the altitude of the reception position, and P + 1 of the satellite group composed of P + 1 satellites of the plurality of satellite groups.
The altitude of the position information corresponding to the satellite group having the highest index indicating the positioning accuracy in the altitude direction obtained from the arrangement of the satellites corresponds to the satellite group composed of P satellites of the plurality of satellite groups. Since it is used as the altitude of the position information, P + in the satellite group consisting of P + 1 satellites
The altitude of the position information corresponding to the satellite group having the best index indicating the positioning accuracy in the altitude direction obtained from the arrangement of one satellite is defined as the altitude of the position information corresponding to the satellite group composed of P satellites. Position information other than is calculated.

Further, the reference position calculating means uses the average value of the position information corresponding to each satellite group constituted by Q satellites of the plurality of satellite groups as the reference position.
The correction information is calculated using the average value of the position information corresponding to the satellite group composed of Q satellites as the reference position.

Further, the position information corresponding to the satellite group having the best index showing the positioning accuracy in the latitude direction and the longitude direction obtained from the arrangement of the satellites constituting the plurality of satellite groups is used as the reference position. Therefore, the correction information is calculated with the position information corresponding to the satellite group having the best index indicating the positioning accuracy in the latitude direction and the longitude direction obtained from the arrangement of the constituent satellites as the reference position.

Further, since the index showing the positioning accuracy obtained from the arrangement of the satellites of each satellite group of the plurality of satellite groups is set within a predetermined range, the index showing the positioning accuracy obtained from the arrangement of the constituent satellites. The correction information is calculated from the position information corresponding to the satellite group within the predetermined range.

Further, since the correction information storage means for storing the correction information is provided and the correction means performs the correction based on the correction information or the output of the correction information storage means, the correction means is the correction information or the correction information storage means. The one position information is corrected based on the output.

Further, since the position information calculating means, the first position information calculating means or the second position information calculating means repeatedly calculates the position information a predetermined number of times within a predetermined time, a predetermined number of times within the predetermined time. One piece of position information or correction information is calculated from the repeatedly obtained position information.

Further, since the position information or the correction information is only the altitude information indicating the altitude of the receiving position, one position information only for the altitude information is corrected, or one position information is corrected only for the altitude information. It is corrected by information.

Further, if N or R is smaller than the predetermined value, the correction information is not corrected. Therefore, if N or R is smaller than the predetermined value, one position information is output without being corrected by the correction information. It is what is done.

Further, if the index indicating the positioning accuracy obtained from the arrangement of the satellites of each satellite group of the plurality of satellite groups is within the predetermined range, the correction is not performed based on the correction information. The information is output without being corrected by the correction information if the index indicating the positioning accuracy obtained from the arrangement of the satellites constituting each satellite group of the plurality of satellite groups is within the predetermined range.

Further, since the reference position calculating means calculates a predetermined value as the reference position, the correction information is calculated based on the reference position which is the predetermined value.

Further, since N is larger than R, the first received information has a larger amount of information than the second received information.

Further, since M is N-1 or R-1, one satellite group is composed of at least N-1 or R-1 or more satellites.

Further, a correction information storage means for storing the correction information and a second correction means for correcting the position information based on the output of the correction information storage means are provided, and the position information corrected by the second correction means is provided. Is used in the correction information calculation means and the correction means, the correction information calculation means calculates the correction information from the position information corrected by the second correction means, and the correction information is corrected by the second correction means. This is to correct the one position information that has been generated.

The moving body with a positioning device according to the present invention does not perform correction based on the correction information if the speed of the moving body is larger than a predetermined value. Therefore, when the speed of the moving body is larger than the predetermined value. The one piece of position information is output without being corrected based on the correction information.

[0057]

【Example】

Example 1. It is explanatory drawing which shows Example 1 of this invention in FIG. In this figure, reference numeral 100 denotes a vehicle as a moving body equipped with a GPS navigation system. This vehicle 100 is provided with a GPS receiver 101 and a GPS antenna 102 for receiving radio waves from GPS satellites 400a to 400h in the sky and calculating vehicle position coordinates, and further includes C
A map database storage unit 108 such as a D-ROM, a controller 110 that aggregates position information sent from these devices and outputs display information, and a display monitor 111 are installed.

Next, the operation will be described. In the vehicle 100, the radio waves of the GPS satellites 400a to 400h are received by the GPS antenna 102, and the GPS receiver 101 calculates the reference position and the correction value as described later. The correction information is stored in a memory provided in the GPS receiver 101 together with its effective time and used as a correction value for the subsequent GPS positioning data. The position information corrected by this correction value is transmitted from the controller 110 to the map database. It is input to the display monitor 111 together with the map information in the storage unit 108 and displayed on the map on the screen.

FIG. 2 shows a flowchart of the GPS positioning position calculation process and the reference position / correction value calculation process in the GPS receiver 101 of the first embodiment. In this flowchart, in step 1010, it is determined whether GPS positioning is possible from the number of GPS satellites that can be received. For example, if the number of receivable GPS satellites is n, it is determined that GPS positioning is possible when n ≧ 3, or PDOP (described later).
If the maximum value of is less than or equal to a predetermined value, it is determined that GPS positioning is possible. In step 1020, the GPS receiver 101 calculates the positioning point (X, Y, Z). Here, G
The PS receiver 101 has the lowest PDOP described later,
That is, PDOP (described later) performs positioning with the best combination, and X at the positioning point (X, Y, Z) is latitude and Y.
Is longitude and Z is altitude. If there is a previous correction value in steps 1030 and 1040 and it is within its valid time, it is corrected in step 1050 with the previous correction value (ΔX, ΔY, ΔZ) stored in the memory of the GPS receiver 101. The position (HX, HY, HZ) is output to the controller 110.

If there is no correction value in steps 1030 and 1040 or if the correction value is out of its valid time, arrow A
Then, the process advances to the reference position and correction value calculation process. In steps 2010 and 2020, the GPS antenna 10
I combinations of 3 or 4 GPS satellites out of n GPS satellites that can be received by 2 ( _n C ₃ + _n C ₄ = I)
GPS positioning point (Xi, Yi, Zi) (i =
1, ..., I) are all calculated. Here, a predetermined value is used as the value of Zi at the GPS positioning point obtained by combining the three GPS satellites. This is because, when trying to obtain the position in three dimensions by GPS positioning, one unknown number that is the difference between the receiver clock and the satellite clock (hereinafter referred to as offset time) is added to the three unknown numbers related to the three-dimensional position. Four unknowns have to be determined and a minimum of four GPS satellites have to be used. Therefore, in GPS positioning using three GPS satellites, only two-dimensional positioning can be performed, and by giving a predetermined value for altitude, the latitude, longitude, and offset time are calculated.

Here, for example, the number of receivable GPS satellites is 5
If there are three, three or four G out of these five GPS satellites
All combinations of PS satellites will ways _{5 C 3 + 5 C 4 =} 15.
Next, in step 2030, step 2010 and step 2
The average value of all GPS positioning points (Xa, Y
Let a, Za) be the reference position (Xo, Yo, Zo). Here, the average value (Xa, Ya, Za) is Xi (i = 1,
, N), Yi (i = 1, ..., N), Zi (i = 1,
, N), and then divided by n to obtain the arithmetic mean value. Here, an average value other than the arithmetic average, such as a weighted average, a geometric average, or a harmonic average, may be used.

Next, at step 2040, the GP which can be received
Offset amount (Xi-Xo, Yi-Yo, Zi-Z) which is the difference between all the positioning points and the reference position by all combinations of S satellites.
o) (i = 1, ..., N) are stored in the memory as respective correction values (ΔXi, ΔYi, ΔZi) for the combination of GPS satellites. Here, in step 2050, the process proceeds to step 1050, the correction value is updated, and the position corrected by the correction value corresponding to the combination of GPS satellites used to calculate the GPS positioning point in step 1020 is set as the GPS positioning position in the controller 110. Will be output to.

Example 2. As a second embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 3 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 of the second embodiment. In this flowchart, step 2030a includes step 20
Among all the positioning points calculated in 20, HDOP is selected as a positioning point having a predetermined value G or less given in advance.

Here, HDOP is a constant for associating the magnitude of the error with the actual distance included in the pseudo-range and the error of GPS positioning, and Position Dilution of Precision (hereinafter, P
DOP) in the horizontal direction. Therefore, the smaller the HDOP, the smaller the horizontal error. If there are J positioning points by the combination of GPS satellites whose HDOP is equal to or less than the specified value G, the average value (X) of these J positioning points (Xj, Yj, Zj) (j = 1, ..., J).
a, Ya, Za), and the reference position (Xo, Yo, Z
o). Here, if the specified value G is reduced, the accuracy of each of the J positioning points will be improved, and if the specified value G is increased, J will be increased. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 3. As a third embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 4 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 of the third embodiment. Step 20
21 at J positioning points (Xj, Yj, Z) calculated by combining four GPS satellites out of n receiving satellites.
j) (j = 1, ..., J) are all obtained. Here, the number J of positioning points calculated by combining four GPS satellites is
_{It is calculated by n} C ₄ . In step 2022, the positioning point (Xj,
Yj, Zj) (j = 1, ..., J) using the average altitude Z4, K positioning points (Xk, Yk, Zk) (K = 1, ..., K) calculated by combining three GPS satellites. J). Here, the number K of positioning points calculated by a combination of three GPS satellites is obtained by _n C ₃ . Also, Zk
The values of (K = 1, ..., J) are all the same as Z4.

At step 2030b, all the positioning points (Xi, Yi,
Zi) (i = 1, ..., I) (I = J + K) average value (X
a, Ya, Za) is the reference position (Xo, Yo, Zo). In the third embodiment, the average altitude Z4 of the altitude Zj calculated by the combination of the four GPS satellites is used when calculating the positioning point by the combination of the three GPS satellites to improve the accuracy. Other configurations and operations are in the first embodiment.
Since it is similar to the above, the same reference numerals are given and the description is omitted.

Example 4. As a fourth embodiment, an example in which the reference position and correction value calculation process is different from that of the first embodiment will be described. FIG. 5 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 according to the fourth embodiment. In this flowchart, step 2022a
Positioning point (Xj, Yj, Zj) located in 1 (j = 1,
, J), the altitude Zj of the positioning point by the combination of GPS satellites with the smallest VDOP is defined as the altitude Zv. Where V
DOP is a vertical component of PDOP. Therefore, the smaller the VDOP, the smaller the vertical error of the positioning point due to the combination of GPS satellites.
K positioning points (Xk, Yk, Zk) (k = calculated by combining three GPS satellites using this altitude Zv)
1, ..., K) are all obtained. Here, K is calculated by _n C ₃ and Zk is Zv. In this embodiment 4, four GPS
The altitude Zv calculated by the combination of the GPS satellites having the smallest VDOP value among the combinations of the satellites is used when calculating the positioning point by the combination of the three GPS satellites to improve the accuracy. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

Example 5. As a fifth embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 6 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 according to the fifth embodiment. In this flowchart, K positioning points (Xk, Y) calculated by a combination of three GPS satellites in step 2022b.
k, Zk) (k = 1, ..., K) are all obtained. here,
A predetermined value is used as the altitude Zk. As the predetermined value Zk, a value stored in the map database storage unit 108 or a fixed value is used. In step 2030, the average value of the three-dimensional positioning points (Xj, Yj, Zj) using the four GPS satellites calculated in step 2021 is set as the reference position,
The reference position is obtained from a highly accurate three-dimensional positioning point. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

Example 6. As Example 6, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 7 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 of the sixth embodiment. In this flowchart, step 2030d, step 202
The average value of the two-dimensional positioning points (Xk, Yk, Zk) using the three GPS satellites obtained in 2 is used as the reference position, and the reference position is obtained from the two-dimensional positioning points that can increase the number of samples. . Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

Example 7. As Example 7, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 8 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 of the seventh embodiment. In this flowchart, step 201a, step 201
Positioning points calculated by all combinations selected with 0 (X
io, Yio, Zio) (j = 1, ..., I) are all obtained. In step 2022c, the positioning point located in step 2020a is set to the previous correction value (ΔXio, ΔYio, ΔZi).
Positioning points (Xi, Yi, Zi) corrected by o) are obtained for all the combinations selected in step 2010. In step 2030, the average value of all corrected positioning points corrected by the previous correction value obtained in step 2022c is set as the reference position. In step 2040a, step 202
The offset amount, which is the difference between all the positioning points obtained by the combination of all receivable GPS satellites obtained in 0a and the reference position obtained in step 2030, is corrected for each combination of GPS satellites (ΔXi, ΔYi, ΔZi). ) In memory. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 8. As an eighth embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 9 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 according to the eighth embodiment. In this flowchart, step 20
Among the positioning points determined in 10, the positioning point (Xp, Yp, Zp) by the combination of GPS satellites having the best HDOP (that is, the HDOP with the smallest value) among the combinations of GPS satellites is the reference position (Xo, Yo). , Zo)
And The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 9. As a ninth embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. Figure 10
9 shows a flowchart for calculating a reference position and a correction value in the GPS receiver 101 according to the ninth embodiment. In this flowchart, step 20
4 GPS out of all the positioning points determined in 10
Three-dimensional positioning point (Xj, Yj, Z
In j), the HDOP best point is used as a reference position, and the accuracy of the reference position is increased by using a three-dimensional positioning point that is positioned using four GPS satellites with relatively high accuracy. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 10. As a tenth embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 11 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 according to the tenth embodiment. In this flowchart, in step 2030g, the best HDO among the two-dimensional positioning points (Xk, Yk, Zk) using the three GPS satellites positioned in step 2022.
Since the positioning point (Xp, Yp, Zp) using the combination of GPS satellites that is P (that is, the minimum HDOP) is set as the reference position (Xo, Yo, Zo), a reference position with excellent accuracy in the altitude direction is set. You can ask. Other configurations and operations are the same as those of the first and fourth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 11. As Example 11, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 12 shows a flow chart for calculating the reference position and the correction value in the GPS receiver 101 of the eleventh embodiment. In this flowchart, the positioning point (Xk, Yk, Zk) calculated by combining three GPS satellites using the altitude Zv of the positioning point having the best VDOP among the positioning points positioned in step 2021 in step 2022a. Ask for everything. In step g, the combination of the two-dimensional positioning points (Xp, Yp, Zp) that provides the best HDOP among the two-dimensional positioning points calculated in step 2022a is set to the reference position (Xo,
Since it is (Yo, Zo), it is possible to obtain a reference position with excellent accuracy particularly in the altitude direction. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

Example 12 As Example 12, Example 1
An example will be described in which the reference position and correction value calculation process in step 3 is replaced with the reference altitude and correction value calculation process. FIG. 13 shows a flowchart of the process of calculating the reference altitude and the correction value in the GPS receiver 101 of the twelfth embodiment. In this flowchart, in step 2110, the GPS satellite 400
a combination of I to select four GPS satellites from the receivable n GPS satellites of a to 400h (I =
_n C ₄ ) is selected for all combinations. Step two
At 120, all positioning point altitudes Zi (i = 1, ..., I) calculated by all the combinations selected at step 2110 are obtained. In step 2130, the average value Za of all the positioning point altitudes Zi is set as the reference altitude Zo. Then step 2140
Then, the offset amount between the positioning altitude and the reference altitude for all I combinations of GPS satellites is stored in the memory as a correction value ΔZi together with the combination of satellite numbers. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 13 As Example 13, an example in which the process of calculating the reference altitude and the correction value is different from that of Example 12 will be described.
FIG. 14 shows a flowchart of the process of calculating the reference altitude and the correction value in the GPS receiver 101 of the thirteenth embodiment. In this flowchart, step 2030a
Of the GPS positioning altitude Zi calculated in step 2120, the average value Za of the J positioning point altitudes Zj (j = 1, ..., J) whose VDOP due to the combination of the four satellites is equal to or less than the specified value G is used as a reference. Since the altitude is Zo, it is possible to obtain the reference position with excellent accuracy in the altitude direction. Other configurations and operations are the same as those of the first and twelfth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 14. As Example 14, an example in which the process of calculating the reference altitude and the correction value is different from that of Example 12 will be described.
FIG. 15 shows a flowchart of the process of calculating the reference altitude and the correction value in the GPS receiver 101 of the fourteenth embodiment. In this flowchart, in step 2010, all combinations of a combination of three GPS satellites with n receivable GPS satellites and a combination of four GPS satellites are selected. Here, there are I combinations ( _n C ₃ + _n C ₄ ). This step 2010 is the same as step 2010 in the first embodiment. In step 2120a, all the positioning altitudes Zio calculated by the combination of four GPS satellites among the combinations in step 2010 are obtained. In step 2121, the positioning altitude Zio calculated in step 2120a is set to the correction value Δ calculated in the previous reference altitude and correction value calculation process.
A positioning point altitude Zi corrected by Zio is obtained. Here, when the correction value ΔZio is not stored, the correction value Δ
Let Zio = 0. Step 21 in Step 2130b
The average value of the positioning point altitude Zi obtained in 21 is set as the reference altitude. In step 2140a, the offset amount, which is the difference between the GPS positioning altitude Zio obtained in step 2120a and the reference altitude Zo, is stored in the memory as a correction value ΔZi together with the combination of GPS satellite numbers. Other configurations and operations are similar to those of the first and twelfth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 15. As a fifteenth embodiment, an example in which the process of calculating the reference altitude and the correction value is different from that of the twelfth embodiment will be described.
FIG. 16 shows a flowchart of the process of calculating the reference altitude and the correction value in the GPS receiver 101 of the fifteenth embodiment. In this flowchart, since the VDOP is the best positioning point altitude Zv of the GPS positioning point altitudes calculated in step 2120 in step 2130, the reference position is particularly highly accurate in the altitude direction. Other configurations and operations are the same as those of the first and twelfth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 16. As Example 16, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 17 shows a flowchart for calculating the reference position and the corrected position in the GPS receiver 101 of the sixteenth embodiment. In this flowchart, in step 2005, the correction value calculation count j is reset. GPS in step 2010
All combinations of 3 or 4 GPS satellites out of n GPS satellites that can be received by the antenna 102 are selected. Positioning points (Xij, Yij, Zij) (i = 1, ..., I) (j calculated by all combinations in step 2020b)
= 1, ..., J) are all obtained. In step 2030h, the average value (Xaj, of all the positioning points obtained in step 2020b,
Yaj, Zaj) to the reference position (Xoj, Yoj, Zo)
j). Step 2040b Step 2020b
The offset amount, which is the difference between the positioning point and the reference position due to all the GPS satellite combinations obtained in step 1, is combined with the combination of GPS satellite numbers, and the j-th correction value (ΔXij, ΔYij, ΔZi
j) is stored in the memory. The above steps of calculating the reference position and the correction value are repeated J times in steps 2041 and 2042. In step 2043, the average value of J correction values for each GPS satellite combination is obtained, and these are stored in the memory as correction values (ΔXi, ΔYi, ΔZi). The correction values (ΔXi, ΔYi, ΔZ stored in the memory
The larger the number of repetitions J, the more accurate i) becomes. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 17 As Example 17, an example in which the process of calculating the reference altitude and the correction value is different from that of Example 12 will be described.
FIG. 18 shows a flowchart for calculating the reference altitude and the correction value in the GPS receiver 101 of the seventeenth embodiment. In this flowchart, the correction value calculation count j is reset in step 2105. GPS in step 2110
Selecting all combinations I Street four GPS satellites of the n GPS satellites received by the antenna 102 (I = _n C _4). At step 2120b, all positioning point altitudes Zij calculated by all the combinations are obtained. Step two
At 130d, the average value Zaj of all the positioning point altitudes Zij is set as the reference altitude Zoj. Step 211 in Step 2140b
The offset amount, which is the difference between the positioning altitude and the reference altitude for all I combinations of GPS satellites selected by 0, is stored in the memory as the j-th correction value ΔZij together with the combination of GPS satellite numbers. Steps 2141 and 21
42, the above-described correction value calculation process is repeated J times. In step 2143, the average value of the correction values for J times is calculated for each GPS satellite combination, and these are stored in the memory as the correction value ΔZi. Other configurations and operations are the same as those of the first and twelfth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 18 As Example 18, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 19 shows a flowchart of the reference position and correction value calculation in the GPS receiver 101 of the eighteenth embodiment. In this flowchart, if the number n of GPS satellites that can be received by the GPS antenna 102 in step 2000 is less than the specified value Ns, the process proceeds to step 2050, and if n is not less than the specified value Ns, the process proceeds to step 2010. The larger the specified value Ns, the more accurate the reference position and the correction value can be obtained, and the smaller the specified value Ns, the higher the possibility of calculating the reference position and the correction value. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 19 As Example 19, Example 1
An example in which the limitation due to the moving speed is added to 6 will be described. FIG. 20 shows a flowchart of the reference position and correction value calculation process in the GPS receiver 101 of the nineteenth embodiment. In this flowchart, if the moving speed V of the vehicle 100 as a moving body is greater than the specified value Vo in step 2000a, the process proceeds to step 2050, and if the moving speed is less than the specified value Vo, the process proceeds to step 2005. Here, the higher the moving speed of the moving body, the larger the moving distance within the valid time of the correction information of the moving body. Since the reference position and the correction information are calculated in a state where the moving speed is smaller as the specified value Vo is smaller, the reference position and the correction information with higher accuracy can be used. Other configurations and operations are the same as those of the first and sixteenth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 20. As Example 20, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 21 is a flow chart for calculating the reference position and the correction value in the GPS receiver 101 of the twentieth embodiment. In this flowchart, the altitude information Zm at the position not corrected in step 2022d is read from the map database storage unit 108 via the controller 110, and the positioning information calculated by the combination of three GPS satellites using the altitude information Zm. Find all (Xk, Yk, Zk). Here, Zk = Zm. This enables accurate positioning even when the number of GPS satellites is not sufficient. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

In each of the above embodiments, the offset amount between the positioning point and the reference position by the combination of all the satellites is used as the correction value, but the pseudo distance of each GPS satellite when the reference position is the true value. An error between the pseudo distance of each GPS satellite and the actually measured GPS satellite may be used as a correction value. Here, the pseudo distance is a distance between a positioning point in GPS positioning (here, the position of the vehicle) and the GPS satellite.

Further, in each of the above embodiments, the correction is made by the correction value corresponding to the combination of GPS satellites used when calculating the positioning point to be corrected.
It is also possible to use other correction values, such as by using correction values corresponding to combinations of GPS satellites having similar satellite arrangements.

In each of the above embodiments, the correction information for the offset time can be calculated by the same method.

Furthermore, in the above embodiment, the positioning using GPS satellites was described, but it goes without saying that positioning using other satellites may be used.

[0088]

In the positioning device according to the present invention, one piece of position information calculated by the position information calculating means from the received information is corrected by the correction information calculating means by the correction information calculated from the received information. Since only one piece of position information and correction information can be calculated from only the received information, accurate positioning can be performed with a simple device.

Further, since the one piece of position information calculated from the received information by the position information calculating means is corrected by the correction information calculated from the received information by the correction information calculating means, one piece of position information is obtained from the received information. Since the correction information can be calculated, accurate positioning can be performed with a simple device.

Further, the one piece of position information calculated by the first position information calculating means by the second received information is corrected by the correction information calculating means by the correction information calculated by the first received information. , It is possible to calculate the correction information from the first received information and use the correction information to correct one position information, so that accurate positioning can be performed with a simple device and the correction value before the predetermined time. Can be used, the processing becomes easy.

Further, since the position information or the correction information is calculated by using the coordinate information and the distance information, the position information or the correction information can be easily calculated, and more accurate positioning can be performed with a simple device. You can

Further, since the satellite group is extracted using the identification information, the satellite group can be easily extracted, and more accurate positioning can be performed with a simple device.

Further, since the correction information corresponding to the one position information is used for the correction, the correction information corresponding to the one position information can be used. Therefore, more accurate positioning can be performed with a simple device. it can.

Further, the position information calculated by one satellite group is corrected by the correction information calculated by a plurality of satellite groups including one satellite group, and the one position is calculated by more accurate correction information. Since the information can be corrected, more accurate positioning can be performed with a simple device.

Further, when one satellite group is included in a plurality of satellite groups, one position information is corrected by the correction information corresponding to one satellite group in the correction information. Since one position information is corrected by the correction information obtained from the position information, more accurate correction information can be obtained, and more accurate positioning can be performed with a simple device.

Further, each satellite group of the plurality of satellite groups is supported by the reference position which is the average value of the plurality of satellite group information of the plurality of satellite groups and the position information corresponding to each satellite group of the plurality of satellite groups. Since the correction information is obtained, the correction information can be obtained more accurately, and the positioning can be performed more accurately with a simple device.

Since one position information is corrected by the correction information which is the difference between the position information and the reference position,
Correction information can be obtained more accurately, and positioning can be performed more accurately with a simple device.

Further, the average altitude of the position information corresponding to the satellite group composed of P + 1 satellites is taken as the altitude of the position information corresponding to the satellite group composed of P satellites, and the position information other than the altitude is calculated. Therefore, more accurate altitude information can be used, and more accurate positioning can be performed with a simple device.

Further, in the satellite group composed of P + 1 satellites, the altitude of the position information corresponding to the satellite group having the highest index indicating the positioning accuracy in the altitude direction obtained from the arrangement of the P + 1 satellites is P altitudes. Since the position information other than the altitude is calculated as the altitude of the position information corresponding to the satellite group formed by the satellites of, the more accurate altitude information can be used and more accurate positioning can be performed with a simple device. You can

Further, since the correction information is calculated by using the average value of the position information corresponding to the satellite group composed of Q satellites as the reference position, the more accurate reference position is used and the more accurate correction is performed. Since the value can be calculated,
More accurate positioning can be performed with a simple device.

Further, the correction information is calculated by using the position information corresponding to the satellite group having the best index indicating the positioning accuracy in the latitude direction and the longitude direction obtained from the arrangement of the constituent satellites as the reference position. More accurate correction information can be obtained by using an accurate reference position, and more accurate positioning can be performed with a simple device.

Further, since the correction information is calculated from the position information corresponding to the satellite group within the predetermined range, the index indicating the positioning accuracy obtained from the arrangement of the constituent satellites improves the accuracy of the position information and simplifies. More accurate positioning can be performed with various devices.

Since the correction means corrects one position information based on the correction information or the output of the correction information storage means, when the correction information cannot be obtained, it is based on the output from the correction information storage means. Correction can be performed, and more accurate positioning can be performed with a simple device.

Furthermore, since one position information or correction information is calculated by the position information repeatedly obtained a predetermined number of times within a predetermined time, more accurate position information can be obtained and a simple device can be used. More accurate positioning can be performed.

Further, since only one piece of position information of the altitude information is corrected or one piece of position information is corrected by the correction information of only the altitude information, a simpler apparatus can be obtained.

Further, since one position information is output without being corrected by the correction information when N or R is smaller than the predetermined value, it is not corrected by the incorrect correction information and is simplified. It is possible to perform more accurate positioning with various devices.

Further, one position information is output without being corrected by the correction information if the positioning accuracy obtained from the arrangement of the satellites constituting each satellite group of the plurality of satellite groups is out of the predetermined range. Therefore, it is possible to perform more accurate positioning with a simple device without being corrected by incorrect correction information.

Further, since the correction information is calculated based on the reference position which is a predetermined value, there is no variation in the reference position, and more accurate positioning can be performed with a simple device.

Furthermore, since the first received information has a larger amount of information than the second received information, more accurate correction information can be calculated, and more accurate positioning can be performed with a simple device. You can

Furthermore, since one satellite group is composed of at least N-1 or R-1 or more satellites, a more accurate one satellite group can be calculated, and a simple apparatus can be used. Accurate positioning can be performed.

Further, the correction information is calculated by the correction information calculation means from the position information corrected by the second correction means,
With this correction information, the one position information corrected by the second correction means is corrected, so that the correction information can be effectively used and more accurate position information can be calculated. More accurate positioning can be performed with various devices.

The moving body with a positioning device according to the present invention is inaccurate because one position information is output without being corrected based on the correction information when the speed of the moving body is larger than a predetermined value. It is possible to perform more accurate positioning with a simple device without performing correction based on accurate correction information.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a first embodiment of the present invention.

FIG. 2 is a flowchart showing a GPS positioning position calculation process and a reference position / correction value calculation process according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing a reference position and a correction value calculation process in Embodiment 2 of the present invention.

FIG. 4 is a flowchart showing a reference position and a correction value calculation process in Embodiment 3 of the present invention.

FIG. 5 is a flowchart showing a reference position and a correction value calculation process in Embodiment 4 of the present invention.

FIG. 6 is a flowchart showing a reference position and a correction value calculation process in Embodiment 5 of the present invention.

FIG. 7 is a flowchart showing a reference position and a correction value calculation process in Embodiment 6 of the present invention.

FIG. 8 is a flowchart showing a reference position and a correction value calculation process in Embodiment 7 of the present invention.

FIG. 9 is a flowchart showing a reference position and a correction value calculation process in Embodiment 8 of the present invention.

FIG. 10 is a flow chart showing a reference position and correction value calculation process in embodiment 9 of the present invention.

FIG. 11 is a flowchart showing a reference position and a correction value calculation process in Embodiment 10 of the present invention.

FIG. 12 is a flow chart showing a reference position and correction value calculation process in embodiment 11 of the present invention.

FIG. 13 is a flowchart showing a process of calculating a reference altitude and a correction value according to Embodiment 12 of the present invention.

FIG. 14 is a flow chart showing a process of calculating a reference altitude and a correction value in Embodiment 13 of the present invention.

FIG. 15 is a flowchart showing a process of calculating a reference altitude and a correction value in Embodiment 14 of the present invention.

FIG. 16 is a flow chart showing a reference altitude and a correction value calculation process in embodiment 15 of the present invention.

FIG. 17 is a flow chart showing a reference position and correction value calculation process in embodiment 16 of the present invention.

FIG. 18 is a flow chart showing a reference altitude and correction value calculation process in Embodiment 17 of the present invention.

FIG. 19 is a flow chart showing a reference position and correction value calculation process in embodiment 18 of the present invention.

FIG. 20 is a flow chart showing a reference position and correction value calculation process in Embodiment 19 of the present invention.

FIG. 21 is a flow chart showing a reference position and correction value calculation process in Embodiment 20 of the present invention.

FIG. 22 is an explanatory diagram showing a conventional GPS positioning device.

[Explanation of symbols]

 100 vehicle 101 GPS receiver 108 map database storage unit 110 controller 111 display monitor

Claims (25)

[Claims] 1. Receiving means for receiving radio waves from N (N is a natural number of 4 or more) satellites and outputting reception information corresponding to each satellite of the N satellites. M from the N satellites. A satellite group composed of (M is 3 or more and a natural number smaller than N) satellites is extracted, and one position information is obtained by the reception information corresponding to each satellite constituting the extracted one satellite group. Position information calculating means for calculating, extracting from the N satellites, a plurality of satellite groups composed of L (L is 3 or more and a natural number smaller than N) satellites,
The position information corresponding to each satellite group of the plurality of satellite groups is calculated from the received information corresponding to the satellites forming each satellite group of the extracted plurality of satellite groups, and the correction information is calculated based on the position information. A positioning device comprising: a correction information calculating unit for calculating and a correction unit for correcting the one position information by the correction information. 2. Receiving means for receiving radio waves from N (N is a natural number of 4 or more) satellites and outputting reception information corresponding to each satellite of the N satellites, and M from the N satellites. First extracting means for extracting one satellite group composed of M satellites (N is a natural number greater than or equal to 3 and smaller than N), and one position information is obtained by receiving information of each satellite forming the one satellite group. First position information calculating means for calculating; second extracting means for extracting a plurality of satellite groups each composed of L (L is 3 or more and a natural number smaller than N) satellites from the N satellites; Second position information calculation means for calculating position information corresponding to each satellite group of the plurality of satellite groups based on the reception information of each satellite constituting each satellite group of the individual satellite groups, and this second position information calculation Calculate the correction information based on the position information calculated by the means Positioning device characterized by the position information of the correction information calculation means and the one with a correction means for correcting by the correction information. 3. Radio waves from N (N is a natural number of 4 or more) satellites are received, first reception information corresponding to each of the N satellites is output, and R (R Is a natural number greater than or equal to 4) receiving means for receiving radio waves from the satellites and outputting the second received information. The R satellites are composed of M (M is 3 or more and a natural number smaller than R) satellites. Extracting means for extracting one satellite group, first position information calculating means for calculating one position information based on second received information of each satellite constituting the one satellite group, and the above N pieces Second extracting means for extracting a plurality of satellite groups each consisting of L (L is 3 or more and a natural number smaller than N) satellites from the satellites, and each satellite forming each satellite group of the plurality of satellite groups. First of
Second position information calculating means for calculating position information corresponding to each satellite group of the plurality of satellite groups based on the received information of the correction information based on the position information calculated by the second position information calculating means. A positioning device comprising: a correction information calculating unit for calculating and a correction unit for correcting the one position information by the correction information. 4. The reception information or the first reception information or the second reception information indicates coordinate information indicating coordinates of each satellite of N satellites or R satellites and a distance between each satellite and the reception position. The positioning device according to claim 1, further comprising distance information. 5. The reception information or the first reception information or the second reception information includes identification information for identifying each of the N satellites or the R satellites.
The positioning device according to claim 4. 6. The correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means is one when the one satellite group is included in the plurality of satellite groups. The positioning device according to claim 1, wherein the position information is corrected by correction information corresponding to the one satellite group. 7. The correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means determines when one satellite group is not included in the plurality of satellite groups. 6. The positioning device according to claim 1, wherein the position information of is corrected by the correction information corresponding to a predetermined satellite group among the plurality of satellite groups. 8. A reference position calculating means for calculating a reference position based on position information corresponding to each satellite group of the plurality of satellite groups, wherein the correction information calculating means is provided for each satellite group of the plurality of satellite groups. The correction information corresponding to each satellite group of the plurality of satellite groups is calculated based on the corresponding position information and the reference position, and when one satellite group is included in the plurality of satellite groups, 8. The positioning device according to claim 1, wherein the position information of is corrected by the correction information corresponding to the one satellite group in the correction information. 9. The positioning device according to claim 8, wherein the reference position calculation means sets the average value of the position information corresponding to each satellite group of the plurality of satellite groups as the reference position. 10. The correction information corresponding to each satellite group of the plurality of satellite groups is defined by the difference between the position information corresponding to each satellite group of the plurality of satellite groups and the reference position. The positioning device according to claim 8 or claim 9. 11. The position information includes at least altitude information indicating an altitude of a reception position, L includes at least P (P is 3 or more and is a natural number smaller than N−1) and P + 1, and among a plurality of satellite groups. As altitude information of the position information corresponding to each satellite group composed of P satellites, the altitude information of the position information corresponding to the satellite group composed of P + 1 satellites of the plurality of satellite groups 11. The positioning device according to claim 1, wherein an average value is used. 12. The position information includes at least altitude information indicating the altitude of the reception position, L includes at least P (P is 3 or more and a natural number less than N−1) and P + 1, and among the plurality of satellite groups. , An index indicating the positioning accuracy in the altitude direction obtained from the arrangement of the P + 1 satellites in the satellite group composed of P + 1 satellites, for example, VDOP (V
optical Dilution of Preci
The position information altitude corresponding to the satellite group having the best satellite position is used as the altitude of the position information corresponding to the satellite group composed of P satellites of the plurality of satellite groups. The positioning device according to any one of claims 1 to 11. 13. The reference position calculating means sets the average value of the position information corresponding to each satellite group formed by Q (Q is the maximum value of L) satellites of the plurality of satellite groups as the reference position. The positioning device according to any one of claims 8 to 12, characterized in that: 14. The reference position calculating means is an index indicating positioning accuracy in a latitude direction and a longitude direction, which is obtained from the arrangement of satellites in a plurality of satellite groups, for example, HDOP (Horizon).
tal Direction of Precisio
13. The positioning device according to claim 8, wherein the position information corresponding to the satellite group having the best n) or the like is used as the reference position. 15. An index, for example, GDOP, indicating positioning accuracy obtained from the arrangement of satellites of each satellite group of a plurality of satellite groups.
(Geometric Dilution of Pre
15. The positioning device according to claim 1, wherein the position is within a predetermined range. 16. The positioning device according to claim 1, further comprising a correction information storage unit that stores the correction information, wherein the correction unit performs the correction based on the correction information or the output of the correction information storage unit. . 17. The position information calculating means, the first position information calculating means or the second position information calculating means repeatedly calculates position information a predetermined number of times within a predetermined time. 16. The positioning device according to 16. 18. The positioning device according to claim 1, wherein the position information or the correction information is only altitude information indicating the altitude of the reception position. 19. The positioning device according to claim 1, wherein if N or R is smaller than a predetermined value, the correction based on the correction information is not performed. 20. An index, for example HDOP, which indicates the positioning accuracy obtained from the arrangement of satellites of each satellite group of a plurality of satellite groups.
20. The positioning device according to claim 1, wherein the correction is not performed based on the correction information as long as is within a predetermined range. 21. The positioning device according to claim 8, wherein the reference position calculating means calculates a predetermined value as the reference position. 22. The positioning device according to claim 3, wherein N is larger than R. 23. The positioning device according to claim 1, wherein M is N-1 or R-1. 24. Correction information storage means for storing correction information and second correction means for correcting the position information based on the output of the correction information storage means, and the position information corrected by the second correction means. 24. The positioning device according to claim 1, wherein the positioning information calculation means and the correction means are used. 25. A mobile body provided with the positioning device according to any one of claims 1 to 24, wherein if the speed of the mobile body is higher than a predetermined value, the correction is not performed based on the correction information. A mobile unit with a positioning device.