WO2008117492A1 - Gps複合航法装置 - Google Patents

Gps複合航法装置 Download PDF

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Publication number
WO2008117492A1
WO2008117492A1 PCT/JP2007/072716 JP2007072716W WO2008117492A1 WO 2008117492 A1 WO2008117492 A1 WO 2008117492A1 JP 2007072716 W JP2007072716 W JP 2007072716W WO 2008117492 A1 WO2008117492 A1 WO 2008117492A1
Authority
WO
WIPO (PCT)
Prior art keywords
rest
navigation apparatus
moving object
gps
composite navigation
Prior art date
Application number
PCT/JP2007/072716
Other languages
English (en)
French (fr)
Inventor
Hiroyuki Toda
Original Assignee
Furuno Electric Co., Ltd.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Furuno Electric Co., Ltd. filed Critical Furuno Electric Co., Ltd.
Priority to EP07832441.5A priority Critical patent/EP2128644B1/en
Priority to US12/532,368 priority patent/US8649977B2/en
Publication of WO2008117492A1 publication Critical patent/WO2008117492A1/ja

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

GPS受信機を含む構成のGPS複合航法装置において、移動体の静止時における移動体の推定位置、推定速度、推定方位の変化を解消すると共に、静止から移動時における応答特性の良いGPS複合航法装置を提供することを目的とする。移動体の静止を判定する静止判定部を設け、該静止判定部で静止状態と判定されたとき、カルマン・フィルタの観測更新に用いる観測モデルを変更すると共に、更新による誤差共分散行列の変化分を補正することを特徴とする。
PCT/JP2007/072716 2007-03-22 2007-11-26 Gps複合航法装置 WO2008117492A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP07832441.5A EP2128644B1 (en) 2007-03-22 2007-11-26 Gps integrated navigation apparatus
US12/532,368 US8649977B2 (en) 2007-03-22 2007-11-26 GPS composite navigation apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-073836 2007-03-22
JP2007073836A JP5398120B2 (ja) 2007-03-22 2007-03-22 Ｇｐｓ複合航法装置

Publications (1)

Publication Number Publication Date
WO2008117492A1 true WO2008117492A1 (ja) 2008-10-02

Family

ID=39788234

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/072716 WO2008117492A1 (ja) 2007-03-22 2007-11-26 Gps複合航法装置

Country Status (4)

Country Link
US (1) US8649977B2 (ja)
EP (1) EP2128644B1 (ja)
JP (1) JP5398120B2 (ja)
WO (1) WO2008117492A1 (ja)

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Also Published As

Publication number Publication date
EP2128644B1 (en) 2019-02-13
EP2128644A4 (en) 2015-11-18
US8649977B2 (en) 2014-02-11
EP2128644A1 (en) 2009-12-02
JP2008232869A (ja) 2008-10-02
US20100211315A1 (en) 2010-08-19
JP5398120B2 (ja) 2014-01-29

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