JPH09166655A - Positioning apparatus - Google Patents
Positioning apparatusInfo
- Publication number
- JPH09166655A JPH09166655A JP7347561A JP34756195A JPH09166655A JP H09166655 A JPH09166655 A JP H09166655A JP 7347561 A JP7347561 A JP 7347561A JP 34756195 A JP34756195 A JP 34756195A JP H09166655 A JPH09166655 A JP H09166655A
- Authority
- JP
- Japan
- Prior art keywords
- information
- positioning
- gps
- doppler velocity
- doppler
- 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.)
- Granted
Links
Landscapes
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ＧＰＳ衛星を利用
する測位装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device using GPS satellites.
【０００２】[0002]
【従来の技術】図２は、従来のＧＰＳ衛星を利用する測
位装置を説明するための図であり、図において、１はＧ
ＰＳ衛星、２はＧＰＳアンテナ、３はＧＰＳ受信部、４
はＧＰＳ測位計算部である。図２に示すようなＧＰＳ衛
星を利用する測位装置の動作は良く知られているが、Ｇ
ＰＳ衛星１からの電波はＧＰＳアンテナ２で受信され、
ＧＰＳ受信部３で疑似距離と呼ばれる衛星・測位装置間
の距離の情報と、測位装置（測位装置を搭載している移
動体）の移動により生じる衛星・測位装置間のドップラ
速度の情報とが出力され、ＧＰＳ測位計算部４で四つ以
上の衛星からの疑似距離とドップラ速度とから、測位装
置（測位装置を搭載している移動体）の絶対位置および
移動速度が演算により求められる。このＧＰＳ衛星を利
用して移動体の絶対位置および速度を求める方法は良く
知られているが、例えば日本測量協会発行，日本測地学
会編著「ＧＰＳ−人工衛星による精密測位システム」等
に記載されている。2. Description of the Related Art FIG. 2 is a diagram for explaining a conventional positioning device using GPS satellites, where 1 is G
PS satellite, 2 GPS antenna, 3 GPS receiver, 4
Is a GPS positioning calculator. The operation of a positioning device using GPS satellites as shown in FIG. 2 is well known.
The radio wave from the PS satellite 1 is received by the GPS antenna 2,
The GPS receiving unit 3 outputs information about the distance between the satellite and the positioning device, which is called a pseudo range, and information about the Doppler speed between the satellite and the positioning device, which is generated by the movement of the positioning device (the mobile body equipped with the positioning device). Then, the GPS positioning calculation unit 4 calculates the absolute position and the moving speed of the positioning device (the moving body equipped with the positioning device) from the pseudo distances from four or more satellites and the Doppler speed. The method of obtaining the absolute position and velocity of a moving body using this GPS satellite is well known, but it is described in, for example, "GPS-precision positioning system by artificial satellite" published by the Japan Geodetic Society and edited by the Geodetic Society of Japan. There is.
【０００３】[0003]
【発明が解決しようとする課題】上記のように従来のＧ
ＰＳ衛星を利用する測位装置では、ＧＰＳ衛星からの電
波だけで位置および速度を求めているため、得られる情
報の精度および信頼性には限界がある。上述のように従
来のＧＰＳ衛星を利用する測位装置は、四つ以上の衛星
から得た疑似距離により測位を行っているが、衛星から
の電波の受信状態等が原因で全く誤った位置を出力して
しまう場合があり、そのため、この種の測位装置の中に
は、計測される速度と時間の関係からその時間に位置し
得る範囲を限定して正確な測位情報を出力する演算、例
えば速度情報を非定常信号の観測値に用いたカルマンフ
ィルタ(Kalman filter) を構成する微分方程式を用いて
演算を行い、位置情報を出力しているが、従来の装置で
はこの速度情報も衛星から受信する電波で計測したドッ
プラ速度を用いているため、その信頼性には限界があ
る。As described above, the conventional G
In a positioning device that uses PS satellites, the position and speed are obtained only by the radio waves from GPS satellites, so the accuracy and reliability of the obtained information are limited. As described above, the conventional positioning device using GPS satellites performs positioning by using pseudoranges obtained from four or more satellites, but outputs a completely incorrect position due to the reception state of radio waves from the satellites. Therefore, in this type of positioning device, a calculation that outputs accurate positioning information by limiting the range that can be located at that time from the relationship between the measured speed and time, such as speed Position information is output by performing calculations using the differential equations that make up the Kalman filter, which uses information for the observed values of non-stationary signals, but with conventional devices, this speed information is also received by the satellite. Since the Doppler velocity measured at is used, its reliability is limited.
【０００４】また、例えばカーナビゲーション装置等の
場合、衛星からの電波を受信できない間は推測航法に切
り換えて測位情報を出力しているが、この場合に従来の
測位装置では外部からの情報が全く得られないため、測
位精度や信頼性が低下する。Further, for example, in the case of a car navigation system or the like, positioning information is output by switching to dead-reckoning navigation while radio waves from satellites cannot be received. In this case, however, the conventional positioning system has no external information. Since it cannot be obtained, the positioning accuracy and reliability decrease.
【０００５】本発明はかかる問題点を解決するためにな
されたものであり、常時衛星以外からの情報も取得して
衛星からの電波を受信している間も推測航法を行ってい
る間も高精度で信頼性の高い測位情報が得られる測位装
置を提供することを目的としている。The present invention has been made in order to solve the above problems, and it is high during the dead reckoning while receiving the radio wave from the satellite by constantly acquiring the information from other than the satellite. It is an object of the present invention to provide a positioning device that can obtain accurate and highly reliable positioning information.
【０００６】[0006]
【課題を解決するための手段】本発明にかかわる測位装
置は、ＦＭ放送，ＴＶ放送，携帯電話基地局信号，ＰＨ
Ｓ基地局信号などの地上無線信号の無線周波数のドップ
ラ速度を測定する手段を備え、この地上無線信号のドッ
プラ速度も演算因子の１つに用いることで、ＧＰＳ衛星
や推測航法で得た位置および速度情報の精度および信頼
性を担保させることとした。A positioning device according to the present invention is an FM broadcast, a TV broadcast, a mobile phone base station signal, a PH.
A means for measuring the radio frequency Doppler velocity of a terrestrial radio signal such as an S base station signal is provided, and the Doppler velocity of this terrestrial radio signal is also used as one of the calculation factors to obtain the position and position obtained by GPS satellites or dead reckoning. We decided to ensure the accuracy and reliability of speed information.
【０００７】すなわち、ＧＰＳ衛星からの電波を受信し
てＧＰＳ衛星・装置間の疑似距離情報とドップラ速度情
報（このドップラ速度情報を第１のドップラ速度情報と
仮称する）とを得、これらの疑似距離情報と第１のドッ
プラ速度情報とを演算因子として用いた演算により装置
（装置を搭載した移動体）の位置および速度の情報を出
力する測位装置において、地上無線信号を受信してこの
地上無線信号の周波数変位から装置（装置を搭載した移
動体）のドップラ速度情報（このドップラ速度情報を第
２のドップラ速度情報と仮称する）を得る手段、上記疑
似距離情報と上記第１のドップラ速度情報と上記第２の
ドップラ速度情報とを演算因子として用いた演算により
装置（装置を搭載した移動体）の位置および速度の情報
を出力する手段を備えたことを特徴とする。That is, the radio waves from the GPS satellites are received to obtain pseudo distance information between the GPS satellites and devices and Doppler velocity information (this Doppler velocity information is tentatively referred to as first Doppler velocity information), and these pseudo In a positioning device that outputs position and speed information of a device (moving body on which the device is mounted) by calculation using distance information and first Doppler speed information as calculation factors, this ground wireless signal is received by a ground wireless signal. Means for obtaining Doppler velocity information (this Doppler velocity information is tentatively referred to as second Doppler velocity information) of the device (moving body equipped with the device) from the frequency displacement of the signal, the pseudo range information and the first Doppler velocity information And means for outputting information on the position and speed of the device (moving body mounting the device) by calculation using the above-mentioned second Doppler speed information as a calculation factor. And it said that there were pictures.
【０００８】また、地上無線信号を受信してこの地上無
線信号の周波数変位から装置（装置を搭載した移動体）
の第２のドップラ速度情報を得る手段は、地上無線信号
の周波数を装置内に備えた発振器からの基準周波数と比
較して周波数変位を計測する構成とし、上記発振器はＧ
ＰＳ衛星から受信した電波の周波数で発振制御される構
成としたことを特徴とする。[0008] Further, a device (a mobile body equipped with the device) is received from a terrestrial wireless signal and the frequency displacement of this terrestrial wireless signal
The means for obtaining the second Doppler velocity information is configured to measure the frequency displacement by comparing the frequency of the ground radio signal with a reference frequency from an oscillator provided in the device, and the oscillator is G
It is characterized in that the oscillation is controlled by the frequency of the radio wave received from the PS satellite.
【０００９】本発明の測位装置は上述のような構成とす
ることにより、ＧＰＳ衛星からの電波以外の情報も演算
因子として用いることができ、演算因子数の増加および
ＧＰＳ衛星からの電波の受信状態に左右されない演算因
子で測位情報の演算が行えるようになる。By configuring the positioning device of the present invention as described above, information other than radio waves from GPS satellites can also be used as arithmetic factors, the number of arithmetic factors increases and the reception state of radio waves from GPS satellites. The positioning information can be calculated with a calculation factor that is not affected by the above.
【００１０】[0010]
【発明の実施の形態】以下、本発明の実施形態を図面を
用いて説明する。図１は、本発明の一実施形態を説明す
るためのブロック図であり、図において、１はＧＰＳ衛
星、２はＧＰＳアンテナ、３はＧＰＳ受信部、４はＧＰ
Ｓ測位計算部であり、これらの構成は従来の測位装置と
同様である。また、１０はＦＭ放送，ＴＶ放送，携帯電
話基地局信号，ＰＨＳ基地局信号などの地上無線信号を
受信するための受信アンテナ、１１は地上無線信号を受
信してそのドップラ周波数変位を計測し測位装置（移動
体）のドップラ速度を検出するための放送受信部、１２
は放送受信部１１でドップラ周波数を検出するために使
用する基準周波数を出力する発振器であり、これらで本
実施形態の測位装置が構成される。また、１３は発振
器，１４は放送送信部，１５は送信アンテナで、地上無
線信号を送信する例えばＦＭ放送局等の地上無線局のう
ち、本実施形態と関連する構成部分を示す。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram for explaining an embodiment of the present invention. In the figure, 1 is a GPS satellite, 2 is a GPS antenna, 3 is a GPS receiver, and 4 is a GP.
The S positioning calculation unit has the same configuration as the conventional positioning device. Further, 10 is a receiving antenna for receiving terrestrial radio signals such as FM broadcast, TV broadcast, mobile phone base station signal, PHS base station signal, and 11 is a terrestrial radio signal and measures the Doppler frequency displacement to measure positioning. Broadcast receiver for detecting the Doppler speed of the device (moving body), 12
Is an oscillator that outputs a reference frequency used for detecting the Doppler frequency in the broadcast receiving unit 11, and these constitute the positioning device of the present embodiment. Further, 13 is an oscillator, 14 is a broadcast transmission unit, and 15 is a transmission antenna, and shows a constituent part related to the present embodiment among terrestrial radio stations such as FM broadcasting stations that transmit terrestrial radio signals.
【００１１】次に動作について説明する。従来の装置と
同様にＧＰＳ衛星１からの電波はＧＰＳアンテナ２で受
信され、ＧＰＳ受信部３で疑似距離と呼ばれる衛星・測
位装置間の距離の情報と、測位装置（この測位装置を搭
載している移動体）の移動により生じる衛星・測位装置
間のドップラ速度の情報（これを第１のドップラ速度情
報と称する）とが出力され、ＧＰＳ測位計算部４へ送ら
れる。一方、１３〜１５で構成される地上無線局から
は、一般的にルビジウムあるいはセシウムを用いた正確
な発振器１３を備えているので、送信アンテナ１５を介
して送信される地上無線信号は、１０-9以下の相対誤差
精度を有する正確な周波数の信号が送信されており、例
えば９０ＭＨｚのキャリアー周波数標準値を持つ放送局
から送信される地上無線信号の周波数誤差は、わずか
０．０９Ｈｚとなる。Next, the operation will be described. Similar to the conventional device, the radio waves from the GPS satellite 1 are received by the GPS antenna 2, and the GPS receiving unit 3 calls information about the distance between the satellite and the positioning device and the positioning device (installing this positioning device). Information of the Doppler velocity between the satellite and the positioning device (this is referred to as first Doppler velocity information) caused by the movement of the moving body) is output and sent to the GPS positioning calculation unit 4. On the other hand, since the ground radio station composed of 13 to 15 is generally provided with the accurate oscillator 13 using rubidium or cesium, the ground radio signal transmitted via the transmitting antenna 15 is 10 −. A signal of an accurate frequency having a relative error accuracy of 9 or less is transmitted, and the frequency error of a terrestrial radio signal transmitted from a broadcasting station having a carrier frequency standard value of 90 MHz is only 0.09 Hz.
【００１２】この地上無線信号は、受信アンテナ１０を
介して本実施形態の測位装置で受信され、放送受信部１
１で発振器１２からの基準周波数を基にこの地上無線信
号から測位装置（この測位装置を搭載している移動体）
の移動に伴う周波数変位であるドップラ速度を検出し
（第２のドップラ速度情報）、ＧＰＳ測位計算部４へ出
力する。ＧＰＳ測位計算部４では、ＧＰＳ受信部３から
の疑似距離と呼ばれる衛星・測位装置間の距離の情報
と、測位装置の移動により生じる衛星・測位装置間の第
１のドップラ速度の情報とに加えて、放送受信部１１か
らの出力である第２のドップラ速度の情報を用いて測位
装置（この測位装置を搭載している移動体）の位置およ
び速度を出力する。この場合、放送受信部１１からの第
２のドップラ速度の情報は、地上無線局を、地上に固定
したＧＰＳ衛星と見做すことにより、ＧＰＳ衛星からの
疑似距離やドップラ速度と同様に非定常信号の観測値と
し、測位装置の絶対位置および速度を状態変数とした、
カルマン・フィルタを構成する逐次式とすることによ
り、従来の装置より多くの演算因子を用いた演算で測位
情報を出力することができ、より高精度で信頼性の高い
測位情報が得られる。なお、複数の地上無線信号を用い
れば、さらにより多くの演算因子を用いて測位情報を出
力することができ、出力する測位情報の精度および信頼
性を更に向上させることができることは言うまでもな
い。This terrestrial radio signal is received by the positioning apparatus of this embodiment via the receiving antenna 10, and the broadcast receiving unit 1
1. Positioning device (mobile body equipped with this positioning device) from this ground radio signal based on the reference frequency from oscillator 12
The Doppler velocity, which is the frequency displacement associated with the movement of (2), is detected (second Doppler velocity information), and is output to the GPS positioning calculation unit 4. In addition to the information about the distance between the satellite and the positioning device, which is called a pseudo distance from the GPS receiving unit 3, and the information about the first Doppler velocity between the satellite and the positioning device generated by the movement of the positioning device, the GPS positioning calculation unit 4 adds the information. Then, the position and speed of the positioning device (moving body equipped with this positioning device) are output using the second Doppler speed information output from the broadcast receiving unit 11. In this case, the information of the second Doppler speed from the broadcast receiving unit 11 is regarded as the unsteady state like the pseudo distance from the GPS satellite and the Doppler speed by considering the ground radio station as a GPS satellite fixed on the ground. The observed value of the signal was used, and the absolute position and speed of the positioning device were used as state variables.
By using the sequential method that forms the Kalman filter, the positioning information can be output by the calculation using more calculation factors than the conventional device, and more accurate and highly reliable positioning information can be obtained. Needless to say, if a plurality of terrestrial radio signals are used, the positioning information can be output using a larger number of calculation factors, and the accuracy and reliability of the output positioning information can be further improved.
【００１３】なお放送受信部１１で地上無線信号から正
確な第２のドップラ速度情報を得るためには、その検出
のために用いる基準周波数が正確である必要があり、こ
のため発振器１２にもルビジウムやセシウムを用いた高
精度の発振器が必要になるが、ＧＰＳ衛星１から受信す
る受信周波数は非常に正確に得られることが良く知られ
ており、この周波数を制御信号として、例えばＰＬＬ(P
hase Locked Loop) 制御により発振器１２を制御する構
成とすれば、発振器５に安価な水晶発振器等を用いても
その相対誤差が１０-9以下の正確な周波数を基準周波数
として得ることができ、例えば時速１０ｋｍで測位装置
が地上無線局から遠ざかる場合、９０ＭＨｚのキャリア
ー周波数標準値での周波数変位は０．８３Ｈｚとなり、
周波数誤差０．０９Ｈｚに比べ十分に大きな値となるた
め測位計算に十分な速度情報が得られることになる。In order to obtain the accurate second Doppler velocity information from the terrestrial radio signal in the broadcast receiving unit 11, the reference frequency used for its detection needs to be accurate. Therefore, the oscillator 12 also has a rubidium velocity information. Although a high-precision oscillator using cesium or cesium is required, it is well known that the reception frequency received from the GPS satellite 1 can be obtained very accurately, and this frequency is used as a control signal, for example, PLL (P
If the oscillator 12 is controlled by the hase locked loop control, an accurate frequency with a relative error of 10 −9 or less can be obtained as the reference frequency even if an inexpensive crystal oscillator or the like is used as the oscillator 5. When the positioning device moves away from the terrestrial radio station at 10 km / h, the frequency displacement at the carrier frequency standard value of 90 MHz is 0.83 Hz,
Since the value is sufficiently larger than the frequency error of 0.09 Hz, sufficient speed information can be obtained for positioning calculation.
【００１４】なお、発振器１２にルビジウムやセシウム
等の高精度の発振器を用いた場合、必ずしもＧＰＳ衛星
を受信する必要はなく、推測航法を行う場合に利用でき
る。When a high-precision oscillator such as rubidium or cesium is used as the oscillator 12, it is not always necessary to receive GPS satellites and it can be used for dead reckoning navigation.
【００１５】[0015]
【発明の効果】以上説明したように本発明の測位装置
は、ＧＰＳ衛星からの受信情報だけでなく地上無線信号
から得たドップラ速度も演算因子とする演算を行って、
位置および速度の測位情報を出力する構成としたので、
測位精度を向上させることができると共に、信頼性の高
い測位情報を出力できる等の効果がある。As described above, the positioning device of the present invention performs calculation using not only the received information from GPS satellites but also the Doppler velocity obtained from the ground radio signal as a calculation factor,
Since it is configured to output position and speed positioning information,
The positioning accuracy can be improved, and highly reliable positioning information can be output.
【図１】本発明の測位装置の一実施形態を説明するため
の図である。FIG. 1 is a diagram for explaining an embodiment of a positioning device of the present invention.
【図２】従来の測位装置を説明するための図である。FIG. 2 is a diagram for explaining a conventional positioning device.
１ ＧＰＳ衛星 ２ ＧＰＳアンテナ ３ ＧＰＳ受信部 ４ ＧＰＳ測位計算部 １０ 受信アンテナ １１ 放送受信部 １２ 発振器 １３ 発振器 １４ 放送送信部 １５ 送信アンテナ 1 GPS Satellite 2 GPS Antenna 3 GPS Receiver 4 GPS Positioning Calculator 10 Receive Antenna 11 Broadcast Receiver 12 Oscillator 13 Oscillator 14 Broadcast Transmitter 15 Transmit Antenna
Claims (2)
衛星・装置間の疑似距離情報とドップラ速度情報（この
ドップラ速度情報を第１のドップラ速度情報と仮称す
る）とを得、これらの疑似距離情報と第１のドップラ速
度情報とを演算因子として用いた演算により装置（装置
を搭載した移動体）の位置および速度の情報を出力する
測位装置において、 地上無線信号を受信してこの地上無線信号の周波数変位
から装置（装置を搭載した移動体）のドップラ速度情報
（このドップラ速度情報を第２のドップラ速度情報と仮
称する）を得る手段、 上記疑似距離情報と上記第１のドップラ速度情報と上記
第２のドップラ速度情報とを演算因子として用いた演算
により装置（装置を搭載した移動体）の位置および速度
の情報を出力する手段、 を備えたことを特徴とする測位装置。1. GPS by receiving radio waves from GPS satellites
Pseudo-range information between satellites and devices and Doppler velocity information (this Doppler velocity information is tentatively referred to as first Doppler velocity information) are obtained, and these pseudo-range information and first Doppler velocity information are used as calculation factors. In the positioning device that outputs the position and speed information of the device (moving body equipped with the device) by the calculation, the terrestrial radio signal is received, and the frequency displacement of this terrestrial radio signal causes Means for obtaining Doppler velocity information (this Doppler velocity information is tentatively referred to as second Doppler velocity information), using the pseudo distance information, the first Doppler velocity information, and the second Doppler velocity information as calculation factors. A positioning device comprising: means for outputting information on the position and speed of a device (moving body on which the device is mounted) by calculation.
線信号の周波数変位から装置（装置を搭載した移動体）
の第２のドップラ速度情報を得る手段は、 地上無線信号の周波数を装置内に備えた発振器からの基
準周波数と比較して周波数変位を計測する構成とし、上
記発振器はＧＰＳ衛星から受信した電波の周波数で発振
制御される構成としたことを特徴とする請求項第１項記
載の測位装置。2. A device (a mobile body equipped with the device) which receives the terrestrial radio signal and determines the frequency displacement of the terrestrial radio signal.
The second means for obtaining the Doppler velocity information is configured to measure the frequency displacement by comparing the frequency of the terrestrial radio signal with the reference frequency from the oscillator provided in the device, and the oscillator is for the radio wave received from the GPS satellite. The positioning device according to claim 1, wherein the positioning device is configured to control oscillation at a frequency.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34756195A JP3557024B2 (en) | 1995-12-18 | 1995-12-18 | Positioning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP34756195A JP3557024B2 (en) | 1995-12-18 | 1995-12-18 | Positioning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09166655A true JPH09166655A (en) | 1997-06-24 |
| JP3557024B2 JP3557024B2 (en) | 2004-08-25 |
Family
ID=18391059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP34756195A Expired - Fee Related JP3557024B2 (en) | 1995-12-18 | 1995-12-18 | Positioning device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3557024B2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003505669A (en) * | 1999-07-20 | 2003-02-12 | クゥアルコム・インコーポレイテッド | Method for determining changes in communication signals and using this information to improve SPS signal reception and processing |
| JP2004515767A (en) * | 2000-10-26 | 2004-05-27 | クゥアルコム・インコーポレイテッド | Method and apparatus for determining an error estimate in a hybrid position determination system |
| US7589669B2 (en) | 2005-06-20 | 2009-09-15 | Seiko Epson Corporation | Positioning system, terminal apparatus, terminal apparatus control method, terminal apparatus control program, and computer readable recording medium having the terminal apparatus control program recorded therein |
| JP2009270928A (en) * | 2008-05-07 | 2009-11-19 | Toyota Motor Corp | Positioning system for moving object |
| JP2010060421A (en) * | 2008-09-03 | 2010-03-18 | Toyota Motor Corp | Positioning system for moving body and gnss receiving apparatus |
| JP2014507644A (en) * | 2011-01-05 | 2014-03-27 | クアルコム，インコーポレイテッド | Action on electronic device positioning function based on measured communication network signal parameters |
-
1995
- 1995-12-18 JP JP34756195A patent/JP3557024B2/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003505669A (en) * | 1999-07-20 | 2003-02-12 | クゥアルコム・インコーポレイテッド | Method for determining changes in communication signals and using this information to improve SPS signal reception and processing |
| US8369873B2 (en) | 1999-07-20 | 2013-02-05 | Qualcomm Incorporated | Method for determining A change in A communication signal and using this information to improve SPS signal reception and processing |
| US8886225B2 (en) | 1999-07-20 | 2014-11-11 | Qualcomm Incorporated | Position determination processes using signals' multipath parameters |
| JP2004515767A (en) * | 2000-10-26 | 2004-05-27 | クゥアルコム・インコーポレイテッド | Method and apparatus for determining an error estimate in a hybrid position determination system |
| US7589669B2 (en) | 2005-06-20 | 2009-09-15 | Seiko Epson Corporation | Positioning system, terminal apparatus, terminal apparatus control method, terminal apparatus control program, and computer readable recording medium having the terminal apparatus control program recorded therein |
| JP2009270928A (en) * | 2008-05-07 | 2009-11-19 | Toyota Motor Corp | Positioning system for moving object |
| JP2010060421A (en) * | 2008-09-03 | 2010-03-18 | Toyota Motor Corp | Positioning system for moving body and gnss receiving apparatus |
| JP2014507644A (en) * | 2011-01-05 | 2014-03-27 | クアルコム，インコーポレイテッド | Action on electronic device positioning function based on measured communication network signal parameters |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3557024B2 (en) | 2004-08-25 |
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