WO2008117493A1 - Gps複合航法装置 - Google Patents

Gps複合航法装置 Download PDF

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Publication number
WO2008117493A1
WO2008117493A1 PCT/JP2007/072717 JP2007072717W WO2008117493A1 WO 2008117493 A1 WO2008117493 A1 WO 2008117493A1 JP 2007072717 W JP2007072717 W JP 2007072717W WO 2008117493 A1 WO2008117493 A1 WO 2008117493A1
Authority
WO
WIPO (PCT)
Prior art keywords
gps
gps receiver
output
abnormal
observation amount
Prior art date
Application number
PCT/JP2007/072717
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 EP07832442A priority Critical patent/EP2128645B1/en
Priority to AT07832442T priority patent/ATE547718T1/de
Priority to US12/532,395 priority patent/US8149163B2/en
Publication of WO2008117493A1 publication Critical patent/WO2008117493A1/ja

Links

Classifications

    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
    • 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

Abstract

GPS受信機を含む構成のGPS複合航法装置において、GPS擬似距離或観測量及びドップラー周波数観測量との差に基づいて、GPS受信機出力の異常を検知するとき、GPS受信機出力の異常を正確に判定すると共に、GPS擬似距離或観測量及びドップラー周波数観測量の推定誤差に起因する異常判定時の異常継続を回避するGPS複合航法装置を提供することを目的とする。GPS受信機出力の異常を検知したとき、異常期間を計数し、該計数値が予め決められた閾値以下ではGPS受信機出力を異常として扱い、前記閾値を超えた以後はGPS受信機出力を正常として扱うことによって、GPS受信機出力の異常を正確に判定することを特徴とする。
PCT/JP2007/072717 2007-03-22 2007-11-26 Gps複合航法装置 WO2008117493A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP07832442A EP2128645B1 (en) 2007-03-22 2007-11-26 Gps compound navigation device
AT07832442T ATE547718T1 (de) 2007-03-22 2007-11-26 Gps-verbundnavigationseinrichtung
US12/532,395 US8149163B2 (en) 2007-03-22 2007-11-26 GPS compound navigation device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007073827A JP5113407B2 (ja) 2007-03-22 2007-03-22 Ｇｐｓ複合航法装置
JP2007-073827 2007-03-22

Publications (1)

Publication Number Publication Date
WO2008117493A1 true WO2008117493A1 (ja) 2008-10-02

Family

ID=39788235

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/072717 WO2008117493A1 (ja) 2007-03-22 2007-11-26 Gps複合航法装置

Country Status (5)

Country Link
US (1) US8149163B2 (ja)
EP (1) EP2128645B1 (ja)
JP (1) JP5113407B2 (ja)
AT (1) ATE547718T1 (ja)
WO (1) WO2008117493A1 (ja)

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JP5554560B2 (ja) * 2009-12-28 2014-07-23 川崎重工業株式会社 測位信頼度評価装置、測位信頼度評価方法、および、測位信頼度評価プログラム
FR2956215B1 (fr) * 2010-02-09 2014-08-08 Renault Sa Procede d'estimation de la localisation d'un vehicule automobile
JP5118177B2 (ja) * 2010-08-18 2013-01-16 株式会社小野測器 移動体高精度速度計測装置及び方法
CN102253399B (zh) * 2011-05-05 2013-02-06 哈尔滨工程大学 一种利用载波相位中心值的多普勒差分补偿测速方法
KR20140067117A (ko) 2011-09-12 2014-06-03 콘티넨탈 테베스 아게 운트 코. 오하게 차량 모델 유닛을 포함하는 센서 시스템
US9558157B2 (en) 2011-10-24 2017-01-31 Continental Teves Ag & Co. Ohg Sensor system for independently evaluating the accuracy of the data of the sensor system
US9541649B2 (en) 2013-05-02 2017-01-10 The Mitre Corporation Detecting timing anomalies
FR3005510B1 (fr) 2013-05-13 2015-06-19 Alstom Transport Sa Procede ameliore de determination de la position et/ou de la vitesse d'un vehicule guide ; systeme associe.
US20150071102A1 (en) * 2013-09-09 2015-03-12 Qualcomm Incorporated Motion classification using a combination of low-power sensor data and modem information
CN104880722B (zh) * 2015-03-25 2017-08-11 清华大学 无人机的gps速度及位置观测异常值检测方法
CN104749586A (zh) * 2015-03-27 2015-07-01 中国电子科技集团公司第二十研究所 一种卫星导航伪距异常实时检测方法
US9761138B2 (en) 2015-09-11 2017-09-12 J. J. Keller & Associates, Inc. Automatic yard move status
US9646351B2 (en) 2015-09-11 2017-05-09 J. J. Keller & Associates, Inc. Estimation of jurisdictional boundary crossings for fuel tax reporting
US9678214B2 (en) 2015-09-11 2017-06-13 J. J. Keller & Associates, Inc. Determination of GPS compliance malfunctions
WO2017163611A1 (ja) 2016-03-23 2017-09-28 クラリオン株式会社 車載装置および車両
DE102016215645A1 (de) * 2016-08-19 2018-02-22 Continental Automotive Gmbh Vorrichtung und Verfahren zum Erkennen einer fehlerhaften Bestimmung einer geographischen Position eines Fahrzeuges
US20180074205A1 (en) * 2016-09-14 2018-03-15 Qualcomm Incorporated Detection of outlier range measurements using spatial displacement data
JP7180972B2 (ja) * 2017-11-22 2022-11-30 古野電気株式会社 解析データ処理装置、解析データ処理方法、および、解析データ処理プログラム
US10871576B2 (en) * 2018-05-16 2020-12-22 Qualcomm Incorporated Error mitigation in doppler based satellite positioning system measurements
CN109521443B (zh) * 2018-12-29 2021-04-23 广东电网有限责任公司 一种探测星历异常的方法
CN111443363B (zh) * 2020-01-17 2023-07-04 中国人民解放军战略支援部队信息工程大学 一种卫星导航的欺骗识别方法及装置

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JPH06341847A (ja) * 1993-05-31 1994-12-13 Hitachi Ltd ナビゲーション装置
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JPH06341847A (ja) * 1993-05-31 1994-12-13 Hitachi Ltd ナビゲーション装置
US5917445A (en) 1996-12-31 1999-06-29 Honeywell Inc. GPS multipath detection method and system
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Also Published As

Publication number Publication date
US8149163B2 (en) 2012-04-03
EP2128645B1 (en) 2012-02-29
US20100283670A1 (en) 2010-11-11
EP2128645A4 (en) 2011-03-02
EP2128645A1 (en) 2009-12-02
JP2008232868A (ja) 2008-10-02
ATE547718T1 (de) 2012-03-15
JP5113407B2 (ja) 2013-01-09

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