JPH09211100A - Gps navigation equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the navigation equipment, which can measure the accurate position measuring information even under the state, wherein large fluctuation is applied on antennas by the unnatural motion of a moving body. SOLUTION: At a measuring point 10 determined on a moving body 1, the signals from a satellite are received by a first GPS(global positioning system) antenna 20 and a second GPS antenna 30 having the different distances on the same straight line, and the position measuring information at the respective antenna position is operated. The measured position data at the measuring point 10 are obtained by the proportional distribution method based on the known distances from the measuring point 10 to the respective first and second antennas 20 and 30.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a GPS (GLOBAL PO
SITIONING SYSTEM) Receives signals transmitted from satellites and measures the position and speed of moving bodies such as ships.
It relates to a PS navigation device.

[0002]

2. Description of the Related Art A GPS navigation device mounted on a moving body such as a ship is well known. In GPS, a predetermined number of GPS satellites launched into an orbit around the earth transmit a radio signal, and this signal is sent to the ship. The GPS navigation device installed in the satellite, etc., measures the pseudo range with the satellite and the Doppler frequency, demodulates the transmitted navigation data, and obtains the position and velocity of the satellite that transmitted the signal as information. Based on the distance and Doppler frequency and the information on the position and velocity of the satellite, a navigation equation with the position and velocity of the moving body as unknowns is established, and by solving this equation, the position of the moving body (correctly GPS antenna) and Speed (below,
This is abbreviated as positioning information).

[0003]

As described above, in the GPS navigation device, the required positioning information is precisely the positioning information based on the position of the GPS antenna. Normally, the GPS antenna is attached at a predetermined position of the moving body. Since it is moved in parallel with the moving body, its error does not pose a problem.
However, when the moving body is, for example, a ship, rolling, pitching, or yawing occurs due to aging, etc., which causes the antenna to oscillate significantly in addition to the movement of the moving body, and incorrect position and speed can be measured. Will be recorded.

That is, the positioning information of a ship is usually measured and recorded at the center position of the ship, and the GP is located at this center position.
If the S antenna is installed, there will be no large error in the positioning information even if the ship rolls, pitches, or yaws, but normally the GPS antenna is located from this central position because of the need to receive radio waves from satellites. It is installed at a high (far) distance, so if rolling, pitching or yawing occurs,
This movement is added to the GPS antenna, and the antenna oscillates greatly in addition to the movement of the moving body, and the wrong position and speed are measured and recorded. And in the navigation record, the positioning information is measured and recorded based on the previous data one by one, so once incorrect measurement is recorded,
The error cannot be easily removed. Especially SA (SELECTIVE A
VAILABILITY) error is removed DIFFERENTIAL-GPS
Then, this problem becomes remarkable.

The present invention has been made to solve the above problems, and GPS navigation capable of measuring accurate positioning information even in a situation where a large swing of the antenna is applied due to an unnatural movement of the moving body. The purpose is to provide a device.

[0006]

A GPS navigation device according to the present invention comprises a first GPS antenna and a second G antenna which are different in distance on the same straight line from a measurement point defined on a moving body.
A PS antenna is provided, the signals from the satellites are respectively received by these two GPS antennas, positioning information at each antenna position is calculated, and the known distances from the measurement point to the first and second antennas are calculated. It is characterized in that it is provided with means for obtaining the positioning data of the above measurement points by the proportional distribution method based on the above.

[0007]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. In the GPS navigation device of the present invention, the moving body is, for example, a ship, and a position that is not affected by rolling, pitching, or yawing as much as possible is defined as a measurement point, and different distances are set on the same straight line from the measurement point. First GPS antenna and second GPS
An antenna is provided, the signals from the satellites are respectively received by these two GPS antennas, the positioning information of each GPS antenna is calculated, and the known distance from the measurement point to each of the first and second antennas is calculated. The positioning data of the measurement points is obtained by the proportional distribution method described in (1).

That is, as shown in FIG. 1, the center 10 of the ship 1 is defined as a measurement point, and a first GPS antenna 20 is provided at a distance A on the same straight line from the measurement point.
Distance B from S antenna 20 {Distance from measurement point 10 (A +
B)} is provided with the second GPS antenna 30. First G
The PS antenna 20 and the second GPS antenna 30 are
As shown in FIG. 2, it is connected to the GPS receivers 21 and 31 and the positioning information calculation units 22 and 32, respectively, and outputs the positioning information at the position of each antenna to the measurement point positioning information calculation unit 100.

Here, the position of the measuring point is P ₀ and the velocity is V _0.
Where P _{1 is} the position of the first antenna 20, V _{1 is} the speed,
Assuming that the position of the second antenna 30 is P ₂ and the velocity is V ₂ , the following equation holds for the relation between the position and velocity at each point by the proportional distribution method based on the known distances A and B. . _{(A + B) P 1 =} B × P 0 + A × P 2 ··· Equation (1) (A + B) V 1 = B × V 0 + A × V 2 ··· (2) This equation (1), (2 ) _{is, P 0 = {(A +} B) P 1 -A × P 2} / B ··· equation _{(3) V 0 = {(} A + B) V 1 -A × V 2} / B ··· equation (4 ), That is, the position P ₀ of the measurement point 10 and the velocity V ₀ can be calculated by the formula (3) and the formula (4) according to the position P ₁ of the first antenna 20, the velocity V ₁ , and the second antenna 30.
Can be obtained from the position P ₂ and the velocity V ₂ of the measurement point, and the measurement point positioning information calculation unit 100 performs this calculation to obtain the measurement point 10
The positioning information in is output.

Since the measuring point 10 defines a position which is not affected as much as possible by the rolling, pitching or yawing of the ship 1 as described above, as a result, the GPS antenna is caused by an unnatural movement of the moving body. Even if a large swing or the like is applied, an erroneous measurement due to the large swing or the like does not occur and an accurate positioning information of the moving body 1 can be output.

In the above-described embodiment, rolling of a ship is explained as an example of the unnatural movement of the moving body, but this is an example, and the relative position between the moving body and the antenna is temporarily different. It goes without saying that it includes all the unnatural movements of moving bodies that would otherwise occur. Further, in the description of FIG. 2, the GPS receiver and the positioning information calculation unit are described as a device of two systems, but if the positioning information of the two antennas can be processed in parallel, these will be one system. Can be configured.

[0012]

As described above, the GPS navigation device of the present invention can measure accurate positioning information even in a situation where a large swing or the like is applied to the antenna due to the unnatural movement of the moving body, and the GPS positioning device is highly accurate. With this, there is an effect that highly reliable positioning information can be obtained. The effect is particularly high in DIFFERENTIAL-GPS, in which the SA error is removed and the ship's rocking motion error becomes noticeable.

[Brief description of drawings]

FIG. 1 is an arrangement diagram for explaining a proportional distribution method according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a device configuration example according to an embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Moving body (ship) 10 Measuring point 20 1st GPS antenna 21 GPS receiver 22 Positioning information calculation part 30 2nd GPS antenna 31 GPS receiver 32 Positioning information calculation part 100 Measuring point positioning information calculation part

Claims (1)

[Claims] 1. A GPS navigation device which is provided on a mobile body and which outputs information on the moving position and speed of the mobile body by GPS (hereinafter, abbreviated as positioning information), from a measurement point defined on the mobile body, A first GPS antenna and a second GPS antenna having different distances on the same straight line are provided, and the signals from the satellites are respectively received by these two GPS antennas and the positioning information at each antenna position is calculated. Then, by the proportional distribution method based on the known distances from the measurement point to the first and second antennas, respectively,
A means for obtaining positioning data of the above-mentioned measurement points, and a GPS navigation device.