WO2005050247A1

WO2005050247A1 - Position detection device and method

Info

Publication number: WO2005050247A1
Application number: PCT/JP2004/016989
Authority: WO
Inventors: Masashi Yamashita; Kazunori Kagawa; Hirohisa Onome; Yasuhiro Tajima; Sueo Sugimoto
Original assignee: Toyota Jidosha Kabushiki Kaisha
Priority date: 2003-11-18
Filing date: 2004-11-16
Publication date: 2005-06-02
Also published as: JP2005147952A

Abstract

A position detection device (34) for detecting the position of a mobile station (30) includes: accumulation means (40) for accumulating the number of repetitions of a repetited signal received from a satellite by a receiver of the mobile station (30); means for acquiring an accumulated value Dib of the number of repetitions of the repeted signal received from the satellite at the same time by a fixed station (20) installed at a known point; and detection means (50) for detecting a dynamic state amount associated with the movement of the mobile station (30) (such as a movement speed vector of the mobile station (30)). Considering the detection result of the dynamic state amount and at least according to the accumulated values Diu, Dib of the number of repetitions of the two types (for example, at least according to the dual phase difference Dijbu), the initial values Niu, Nib of the integer portion of the number of repetitions (or the dual phase difference Nijbu) are estimated.

Description

Specification

Position detecting apparatus and method

Technical field

The present invention relates to a position detecting device and method for detecting a position of a mobile station.

Background art

[0002] In recent years, in the field of surveying, GPS surveying using carrier phase has been widely used. In the GPS survey using this carrier phase, the receiver on the reference side and the receiver on the positioning side simultaneously receive satellite signals transmitted by multiple satellites, and the carrier wave of each satellite signal is transmitted between the reference side and the positioning side. The integrated values of the phases are independently calculated. The integrated value of the carrier phase (hereinafter simply referred to as “phase integrated value”) includes an uncertain element (integer value carrier phase ambiguity (hereinafter simply referred to as “integer value bias”) corresponding to an integer multiple of the carrier wavelength. However, unlike the clock error, the integer value bias cannot be eliminated by taking a single phase difference or a double phase difference of the phase integrated value. Therefore, in the field of GPS surveying, there have been proposed techniques to eliminate the integer bias, which is an uncertain element, by taking the triple phase difference of the phase integrated value, and to obtain the integer bias itself! You.

[0003] Here, as a technique for determining an integer value bias, a technique using a Kalman filter is known (for example, see Non-Patent Document 1). In this technique, the position on the positioning side and an integer-valued bias are used as state variables, and the single phase difference of the integrated phase on the positioning side with respect to the reference side is used as an observation amount, and the state variable is updated each time observation is repeated A tracking filter is configured. As another technique for determining the integer bias, there is a technique for obtaining an integer bias of a double phase difference under predetermined conditions by a least squares method using a double phase difference of a carrier including an integer bias. It is known (for example, see Patent Document 1).

Non-Patent Document 1: Patrick Y. C. Hwang, "Kinematic GPS for Differential

Positioning: Resolving Integer Ambiguities on the Fly ", Navigation, Vol.38,

No.1, Spring 1991

Patent Document 1: JP 2003-98245 A

Disclosure of the invention Problems the invention is trying to solve

[0004] However, since each of the above-mentioned prior arts is a technology in the field of surveying on the assumption that the positioning side is fixed for a long time, a technology field in which the positioning side can move (for example, a mobile station) However, there is a problem that it cannot be applied in the field of positioning the position of (that is, the integer value bias cannot be determined with high accuracy).

[0005] Therefore, an object of the present invention is to provide a position detection device and method capable of determining an integer value bias or the like with high accuracy even when the positioning side moves.

Means for solving the problem

[0006] To achieve the above object, according to one aspect of the present invention, there is provided a position detecting device for detecting a position of a mobile station,

Integration means for integrating the number of repetitions of a repetition signal from a satellite received by a receiver of the mobile station;

Means for acquiring an integrated value of the number of repetitions of a repetition signal from a satellite received at the same time by a fixed station installed at a known point;

Detecting means for detecting a dynamic state quantity relating to the movement of the mobile station, wherein an integer of the number of repetitions is based on at least an integrated value of the two types of repetitions while considering the detection result of the dynamic state quantity. Estimating the initial value of the part

, A position detecting device is provided.

[0007] According to another aspect of the present invention, there is provided a position detecting device for detecting a position of a mobile station,

Receiving means provided in the mobile station for receiving a repetitive signal transmitted from a satellite; integrating means for integrating the number of repetitions of the repetitive signal received by the receiving means; detecting a dynamic state quantity relating to movement of the mobile station Detecting means for

Means for estimating the initial value of the integer part of the number of repetitions in consideration of the result of detection of the dynamic state quantity.

[0008] In these aspects, the dynamic state quantity is a moving speed of the mobile station, a moving speed vector of the mobile station, a moving acceleration of the mobile station, or a moving acceleration vector of the mobile station. Yo, [0009] According to another aspect of the present invention, there is provided a position detecting method for detecting a position of a mobile station,

Calculating a double phase difference between the integrated value of the number of repetitions of the repetition signal from the satellite received by the mobile station and the integrated value of the number of repetitions of the same repetition signal received at the same time at a known point;

Detecting a dynamic state quantity related to movement of the mobile station;

Time updating the position of the mobile station based on the dynamic state quantity; anda relational expression between the double phase difference, the satellite position, and the position of the mobile station at the same time.

Deriving for each predetermined timing;

A step of estimating an initial value of an integer part of the number of repetitions based on the derived relational expression.

[0010] The position detection method according to this aspect uses a computer readable program, CD-RO

It is stored on a recording medium such as M or DVD.

[0011] Further, according to another aspect of the present invention, a position detecting device for detecting a position of the mobile station, the receiving device comprising: a receiving unit provided in the mobile station for receiving a satellite signal transmitted from a satellite; Device,

The arithmetic unit is configured to calculate a relationship between the double phase difference of the integrated value of the carrier phase of the satellite signal received at the receiving unit and the known point, the satellite position at the same time, and the position of the mobile station at the same time. Based on the relational expression obtained by deriving an expression and updating the position of the mobile station based on the detection result of the dynamic state quantity relating to the movement of the mobile station, the expression is included in the integrated value of the carrier phase. A position detecting device for estimating an integer bias is provided.

The position detecting device according to each of the above aspects is mounted on a navigation device of a vehicle as a mobile station, or mounted on another moving object (eg, a walking robot, a mobile phone, a PDA, etc.). Alternatively, it may be realized in a facility (including a fixed station) capable of two-way communication with a mobile station.

The invention's effect

According to the present invention, even when the mobile station on the positioning side moves, the integer bias (the initial value of the integer part of the number of repetitions) necessary for detecting the position of the mobile station is determined with high accuracy. so Wear.

Brief Description of Drawings

FIG. 1 is a configuration diagram of a GPS positioning system according to the present invention.

FIG. 2 is a functional block diagram showing one embodiment of a position detecting device 34 according to the present invention mounted on a mobile station 30.

FIG. 3 is a flowchart showing a flow of calculating an integer bias by the position detection device 34.

FIG. 4 is a diagram showing a relationship between a world coordinate system and a local coordinate system, and a relationship between a local coordinate system and a body coordinate.

FIG. 5 is a diagram showing a vehicle motion model.

Explanation of symbols

10 GPS satellites

20 Reference station

22 receiver

30 mobile stations

32 receiver

34 Position detector

40 arithmetic unit

42 Satellite position calculator

44 Dynamic state quantity introduction unit

46 State variable estimator

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, the best mode for carrying out the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram of a GPS positioning system according to the present invention. As shown in FIG. 1, the GPS positioning system can move around the earth with a GPS satellite 10, a fixed reference station 20 installed at a predetermined position on the earth, And a mobile station 30.

[0018] GPS satellite 10 constantly broadcasts navigation messages to the earth. The navigation message Orbit information, the clock correction value, and the ionospheric correction coefficient for the corresponding GPS satellite 10 are included. The navigation message is spread by the CZA code, carried on the L1 carrier (frequency: 1575.42MHz), and is constantly broadcast to the earth.

[0019] Currently, 24 GPS satellites 10 are orbiting the earth at an altitude of about 20, OOOkm, and each of the four GPS satellites 10 is equivalent to six orbital planes inclined at 55 degrees. It is located at Therefore, as long as the sky is open, at least five or more GPS satellites 10 can always be observed anywhere on the earth.

[0020] The mobile station 30 includes a receiver 32. An oscillator (not shown) that matches the carrier frequency of the SGPS satellite 10 is built in the receiver 32. The receiver 32 converts the radio wave received from the GPS satellite 10 into an intermediate frequency, synchronizes the CZA code using the CZA code generated in the receiver 32, and extracts a navigation message.

[0021] Further, the receiver 32 measures the integrated phase value D of the carrier wave phase based on the carrier wave from each GPS satellite 10. For the phase integrated value D, the subscript i (= l, 2,…;)

The number assigned to the GPS satellite 10 is shown, and the suffix u indicates that it is an integrated value on the mobile station 30 side. The phase integrated value D is expressed as the difference between the phase Φ (tO) of the oscillator at the carrier reception time tO and the carrier phase Φ (tO−τ) when the satellite signal is generated by the GPS satellite 10, as shown in the following equation. can get.

D = Φ (ίΟ) -Φ (tO- τ) + Ν + ε (tO) Equation (A)

iu iu iu u iu iu

Here, _u indicates the travel time from the GPS satellite 10 to the receiver 32. At the start of the phase difference observation, the receiver 32 can accurately measure the phase within one wavelength of the carrier phase, but cannot determine the wavelength corresponding to the phase. Therefore, as shown in the above equation, an integer bias N is introduced as an uncertain element in the phase integrated value D.

[0022] Similarly, the reference station 20 includes a similar receiver 22. Similarly, the receiver 22 measures the integrated value D of the carrier wave phase based on the carrier wave of each GPS satellite as much as 10 as shown in the following equation.

D = Φ (tO) — Φ (tO— τ) + N + ε (tO) Equation (B)

ib ib ib b ib ib

For the phase integrated value D, the subscript “b” indicates the integrated value on the reference station 20 side.

ib

The reference station 20 transmits the measured phase integrated value D to the mobile station 30. FIG. 2 is a functional block diagram showing one embodiment of the position detecting device 34 according to the present invention mounted on the mobile station 30. The position detecting device 34 of the present embodiment includes the above-described receiver 32 and a computing unit 40. The arithmetic unit 40 is connected with various sensors 50 mounted on the mobile station 30 in addition to the receiver 32 described above. The various sensors 50 detect a predetermined dynamic state quantity of the mobile station 30 as described later. The arithmetic unit 40 may be built in the receiver 32. Further, when the mobile station 30 is a vehicle, the receiver 32 and the Z or the arithmetic unit 40 may be implemented in the navigation device.

As shown in FIG. 2, the arithmetic unit 40 includes a satellite position calculating unit 42, a dynamic state quantity introducing unit 44, and a state variable estimating unit 46. Hereinafter, the function of the arithmetic unit 40 will be described with reference to the flowchart of FIG.

[0025] The satellite position calculation unit 42, based on the orbit information of the navigation message received by the receiver 32 (see step 1 in Fig. 3), determines the position of each observable GPS satellite 10 in the world coordinate system (X Calculate (tO), Y (tO), Z (tO)) (see step 2 in Figure 3). Since the GPS satellite 10 is one of artificial satellites, its motion is limited to a certain plane (orbit plane) including the center of gravity of the earth. The orbit of the GPS satellite 10 is an elliptical motion with the center of gravity of the earth as one focal point, and the position of the GPS satellite 10 on the orbit plane can be calculated by sequentially calculating the Kepler equation. Also, the position (X (tO), Y (to), Z (to)) of each GPS satellite 10 at the carrier wave reception time tO is such that the orbital plane of the GPS satellite 10 and the equatorial plane of the world coordinate system are in a rotational relationship. Taking this into consideration, the position of the GPS satellite 10 on the orbital plane can be obtained by three-dimensional rotational coordinate conversion. The world coordinate system is defined by an X-axis and a Y-axis orthogonal to each other in the equatorial plane with the center of gravity of the earth as an origin and a Z-axis orthogonal to both axes, as shown in FIG.

[0026] The dynamic state quantity introducing unit 44 calculates a predetermined dynamic state quantity of the mobile station 30 based on output signals of the various sensors 50 input at a predetermined cycle, and a state variable estimating unit 46 described later. Create a known input to the system (see step 3 in Figure 3).

As a specific example, a case where the mobile station 30 is a vehicle will be described with reference to a vehicle motion model in FIG. Based on the output signals of the two wheel speed sensors 52 set for the non-driving wheels of the vehicle, the dynamic state quantity introducing unit 44 calculates the longitudinal speed Vx (tO) of the vehicle at the carrier wave reception time tO by the following equation. Is calculated. Vx (tO) = 0.5X (co3 (tO) + co4 (tO)) XRw Equation (1)

Here, Rw represents the tire radius of the vehicle, and ω 3 (tO) and ω 4 (tO) represent the rotational speed of each non-driven wheel at the carrier wave reception time tO. The longitudinal speed Vx (tO) of the vehicle may be calculated by time-integrating the output signal of the longitudinal G acceleration sensor 54 for detecting the longitudinal acceleration of the vehicle.

Similarly, the dynamic state quantity introduction unit 44 calculates the vehicle angular velocity ω z (tO) at the carrier wave reception time tO by the following equation based on the output signal of the wheel speed sensor 52. .

ω z (tO) = (ω 3 (tO)-ω 4 (tO)) / Tr formula (2)

Here, Tr represents the tread length of the non-driven wheels. Incidentally, the yaw angular velocity ωζ (tO) may be detected based on the output signal of the yaw rate sensor 56!

The dynamic state quantity introduction unit 44 calculates the Yaw angle φ (tO) at the carrier wave reception time tO by integrating the Yaw angular velocity coz (t) with time according to the following equation.

φ (tO) = J oz (t) -dt

Here, the integration interval is t = o—to, and the initial value (ie, the value of φ (to) at t = 0) may be determined using the azimuth meter 58. Further, the yaw angle φ (tO) itself may be detected using the azimuth angle meter 58.

Further, the dynamic state quantity introducing unit 44 calculates the left-right velocity Vy (tO) of the vehicle at the carrier wave reception time tO by using the Yaw angular velocity ωζ (tO) according to the following equation.

Vy (tO) = LrX ωζ (ίθ) Equation (3)

Here, Lr represents the distance between the vehicle center of gravity and the rear wheel. Note that the lateral speed Vy (t 0) of the vehicle may be calculated by time-integrating the output signal of the lateral G acceleration sensor 59 for detecting the lateral acceleration of the vehicle.

[0031] Here, the velocity vectors (Vx (tO), Vy (tO)) of the vehicle calculated as described above are based on the body coordinate system based on the vehicle body. Converts the velocity vector (Vx (tO), Vy (tO)) to the world coordinate system via the local coordinate system. Normally, coordinate rotation conversion can be realized using Euler angles.However, here, regarding the conversion from the body coordinate system to the local coordinate system, the roll angle and the pitch angle are assumed to be small, and only one angle φ (tO) is used. (However, it is necessary to consider the roll angle and pitch angle.) Of course, it is possible. ₀ ) In addition, regarding the conversion of the local coordinate system force to the world coordinate system, the vehicle position is realized by the conversion using the longitude φ (to) and the latitude (to) of the vehicle position.

Note that the longitude φ (tO) and the latitude (tO) used here may be the known longitude and latitude (fixed value) of a predetermined point for which surveying has already been completed. However, the longitude φ (to) and the latitude λ (tO) may be the longitude φ (tO) and the latitude (tO) (variation value) of the mobile station 30 obtained by the independent positioning. The single positioning is obtained by measuring the time when the radio wave is emitted from the GPS satellite 10 and the time when the radio wave reaches the receiver of the observer, and multiplying this time difference by the speed of light. The positioning is performed based on the distance (pseudo-range) between the GPS satellite 10 and the mobile station 30.

[0033] Assuming that the vehicle position in the world coordinate system is (X, Y, Z), the velocity vector dZdt [X, Y, Z] of the vehicle expressed in the world coordinate system is as follows.

d / dt [X, Υ, Ζ

λ) τοΐ ()-[Vx, Vy] ^T- expression (4)

Here, [] ^T means transpose of the matrix, and rot (φ, λ) and rot (φ) are as follows.

[0034] [Equation 1]

If the right side of the above equation (4) is set as inputs U01, U02 and U03 and discretized, the following is obtained.

X (k) = X (k-l) + DT-U01 Equation (7)

Y (k) = Y (k-l) + DT-U02 Equation (8)

Z (k) = Z (k-l) + DT-U03 Equation (9)

Therefore, the final known input is as follows.

U = [DT-U01, DT-U02, DT-U03] ^T- expression (9-1) In the above equation, DT is the sample time (data update interval), and (k) means the k-th value of the operation executed for each sample time.

The state variable estimating unit 46 sets the following state equation using the known input of the above equation (91).

7? (K) = 7? (K-1) + U (k-1) + W (k-1) Equation (10)

Here, η represents a state variable, the position [X _u , Y _u , Z] of the mobile station 30 in the world coordinate system, and a double phase difference N of an integer value bias, and (k) represents a sample. Real time u ubu

It means the k-th value of the operation to be performed. The double phase difference N of the integer bias is defined by the following equation.

N = (N-N)-(N-N) Equation (11)

ybu ib iu jb] U

Where i ≠ j

Here, the double phase difference N of the integer bias needs to be at least four or more, for example, 5 ybu

If two GPS satellites 101-5 are observable, r? = [X, Y, Ζ, Ν, Ν, Ν, Ν] with respect to GPS satellite 101. U and W are respectively the above u 12bu 13bu 14bu 15bu

Are known inputs and disturbances (system noise: normal white noise).

[0036] In the state variable estimating unit 46, the following observation equation is used.

Z (k) = H (k)-7? (K) + V (k) Equation (12)

Here, Z and V indicate the amount of observation and the observation noise (normalized white noise), respectively. Observation Z is the double phase difference D of the integrated phase value and is defined by the following equation.

i] bu

D = (D-D)-(D-D) Equation (13)

ijbu ib iu jb ju

Where i ≠ j

Where the observable Z is 7} = [X, Y, Z, N, N, N, N], and Z = u u u 12bu 13bu 14bu 15bu

[D, D, D, D]. Note that the state variable estimator 46

12bu 13bu 14bu 15bu

The phase integration values D, D (above equation (A) ib iu

And (Equation (B)) are input at predetermined intervals!

[0037] The double phase difference D of the phase integrated value is (distance between GPS satellite 10 and receiver 22 or 32) i] bu 1

= (Wavelength L of carrier) X (phase integrated value) D = [(sqrt ((X -X) ² + (Y -Y) ² + (ZZ) ² ) — sqrt ((X—X) ² + (Y—Y) ² + (Z ijbu bibibiuiuiu -Z) ² )}-{sqrt ((XX) ² + (YY) ² + (ZZ) ² ) -sqrt ((XX) ² + (YY) ² + (

b j b j b j j j

ZZ) ² )}] / L + N formula (14)

Where i ≠ j

Here, sqrt represents The position [Xb, Yb, Zb] of the reference station 20 in the world coordinate system is known.

[0038] Although the state equation of the above equation (10) is linear, the observable Z is nonlinear with respect to the state variables Xu, Yu, and Zu, and thus needs to be linearized. Here, each term of equation (14) is partially differentiated by each of the state variables Xu, Yu, and Zu, and H of equation (12) is obtained.

Therefore, when the Kalman filter is applied to the state equation of the above equation (10) and the observation equation of the above equation (12), the following equation is obtained.

As a time update,

η (k) (—) = r? (k—l) (+) + U (k—1) Equation (15)

P (k) ^H = P (kl) (+) + Q (k—1) Equation (16)

Also, as an observation update,

K (k) = P (k ) (-) · H T (k) · (H (k) · P (k) (-) · H T (k) + R (k)) 1 formula (17) r ? (k) ⁽⁺⁾ = r? (k) ^H + K (k)-(Z (k) -H (k)-r? (k) ^H ) Equation (18)

P (k) ⁽⁺⁾ = P (k) ^H -K (k) · H (k) · P (k) ^H formula (19)

Here, Q and R represent the covariance matrix of the disturbance and the covariance matrix of the observation noise, respectively. Equations (15) and (18) are filter equations, equation (17) is a filter gain, and equations (16) and (19) are covariance equations. ^H and ( ⁺⁾ indicated by superscripts indicate before and after updating.

In this case, the state variable estimating unit 46 obtains the estimated value of the integer bias as a real solution (see step 4 in FIG. 3). However, since the integer value bias is actually an integer value, the closest integer solution (ie, wave number) to the obtained real number solution is obtained (see step 5 in FIG. 3). In this method, the integer value bias is decorrelated, the search space for the integer solution is narrowed, and the solution is identified.

The MBDA method or the like may be used. When the receivers 22 and 32 are dual-frequency receivers that can receive both the L1 wave and the L2 wave emitted from the GPS satellite 10, the L1 wave and the L2 wave For each of them, the same estimation as described above is performed in parallel at the same time, and a sum (wide lane) of both periods can be created. This can be used to further narrow down integer solution candidates.

[0041] When the state variable estimating unit 46 calculates the state variable in this manner, the calculation result

Based on the (integer value bias), the position of the mobile station 30 is determined by the interference positioning method (positioning is started). The state variables estimated as described above may be associated with each GPS satellite 10 and the reference station 20, and may be stored and managed as a double phase difference D. Therefore, mobile station 30

ljbu

When the receivable GPS satellites 10 and the reference station 20 change due to the movement, the above-described estimation processing may be executed again based on information from the new GPS satellites 10 and the reference station 20. .

As described above, according to the present embodiment, it is possible to calculate the state variables (positioning, integer value bias) even while the mobile station 30 is moving, and to input the known external input U (k) to the Kalman filter. By inputting, the model estimation error due to the movement of the mobile station 30 is reduced (the bias of the estimation error can be removed), and the calculation accuracy of the state variable improves. In addition, since model errors can be eliminated in a feed-forward manner, the calculation accuracy of state variables (positioning, integer value bias) is improved, and the time until the start of positioning can be shortened.

In the above-described embodiment, the following combinations are conceivable as usage modes of the sensor output for providing the known input of the above equation (91).

(1) Using a wheel speed sensor (two non-driven wheels) to calculate the front-rear speed from the above equation (1), the left / right speed from the above equation (3), and the yaw angle from the above equation (2).

(2) Using a wheel speed sensor (two non-driven wheels) and a yaw rate sensor, calculating the yaw angle by the forward / backward speed from the above equation (1), the left / right speed from the above equation (3), and the yaw rate sensor signal force integration.

(3) A mode in which the front-rear speed, the left-right speed, and the yaw angle are calculated by integration from each sensor signal using the front-back G sensor, the left-right G sensor, and the yaw rate sensor.

(4) Using front and rear G sensor, left and right G sensor and wheel speed sensor (non-driving wheel, 2 pieces), also calculate the front and rear speed and left and right speed by integrating the G sensor signal force. A mode for calculating an angle. (5) A mode in which the front-rear speed and the left-right speed are calculated from the wheel speed sensor signals using a wheel speed sensor (two non-driven wheels, two azimuth meters) and the yaw angle is calculated from the azimuth meter.

(6) A mode in which the front-rear speed, the yaw rate sensor signal force, the left / right speed, the azimuth meter force, and the yaw angle are calculated from the wheel speed sensor signal using a wheel speed sensor (two non-driven wheels), a yaw rate sensor, and an azimuth meter.

(7) A mode in which the front and rear speed, the yaw rate sensor signal force, the left and right speed, and the azimuth meter force are calculated by integrating the G sensor signal force using the front and rear G sensor, yaw rate sensor, and azimuth meter.

(8) Using front and rear G sensor, left and right G sensor, wheel speed sensor (2 non-driven wheels) and azimuth meter, calculate front and rear speed and left and right speed by integration from each sensor signal, and calculate yaw angle from azimuth meter. Mode.

Here, the above-mentioned use modes are enumerated in order to effectively use an existing sensor that can be generally mounted on a vehicle, but the present invention is not limited to this. For example, in the above-described embodiment, it is possible to prepare a special sensor that gives a known input.

As described above, the present invention has been described in detail with reference to the preferred embodiments. The present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

For example, in the above-described embodiment, another estimation method such as a force least square method, which applied the Kalman filter to the state equation of the above equation (10) and the observation equation of the above equation (12), is applied. It is also possible to estimate the state quantity by using

In the above-described embodiment, the effects of the initial phase of the oscillator in the receivers 22 and 32 and the clock error are eliminated by taking the double phase difference as described above. A configuration in which a single phase difference that can eliminate only the initial phase of the satellite 10 and the GPS clock error may be adopted. Further, in the present embodiment, the ionospheric refraction effect, the troposphere refraction effect, and the force ignoring the influence of multipath may be considered.

In the above description, the GPS satellite 101 is used as a reference satellite for convenience, but another GPS satellite 10 may be used as a reference satellite depending on the positions of the mobile station 30 and the reference station 20 and the like. Also, As long as the mobile station 30 and the reference station 20 secure at least two or more double phase difference forces relating to a common GPS satellite, the combination of GPS satellites when taking a double phase difference is arbitrary.

In the above description, a force is used for a vehicle as an example of the mobile station 30. The mobile station 30 includes a forklift, a robot equipped with the receivers 32 and Z or the arithmetic unit 40, and a Includes information terminals such as built-in mobile phones.

Claims

The scope of the claims

[1] A position detecting device for detecting a position of a mobile station,

Detecting means for detecting a dynamic state quantity relating to the movement of the mobile station; and A position detecting device for estimating an initial value of a unit.

[2] A position detecting device for detecting a position of a mobile station,

Means for estimating the initial value of the integer part of the number of repetitions in consideration of the detection result of the dynamic state quantity.

3. The position detection device according to claim 1, wherein the dynamic state quantity is a moving speed of the mobile station.

4. The position detecting device according to claim 1, wherein the dynamic state quantity is a moving speed vector of the mobile station.

5. The position detecting device according to claim 1, wherein the dynamic state quantity is a moving acceleration of the mobile station.

6. The position detecting device according to claim 1, wherein the dynamic state quantity is a moving acceleration vector of the mobile station.

[7] A position detection method for detecting the position of a mobile station,

Calculating a double phase difference between an integrated value of the number of repetitions of the repetition signal of the satellite power received by the mobile station and an integrated value of the number of repetitions of the same repetition signal received at the same time at a known point; Detecting a dynamic state quantity related to movement of the mobile station;

Time updating the position of the mobile station based on the dynamic state quantity; and a relational expression between the double phase difference, the satellite position, and the position of the mobile station at the same time, Deriving for each timing;

Estimating an initial value of an integer part of the number of repetitions based on the derived relational expression.

[8] A position detecting device for detecting the position of the mobile station, comprising: a receiving unit provided in the mobile station for receiving a satellite signal transmitted from a satellite; and an arithmetic unit,

The arithmetic unit is configured to calculate a relationship between the double phase difference of the integrated value of the carrier phase of the satellite signal received at the receiving means and the known point, the satellite position at the same time, and the position of the mobile station at the same time. An equation is derived, and based on the relational expression obtained by time updating the position of the mobile station based on the detection result of the dynamic state quantity relating to the movement of the mobile station, based on the relational expression! Position detection device that estimates the integer value bias.