WO2016103934A1 - Positioning signal reception device - Google Patents

Abstract

[Problem] To calculate the difference between analog delay amounts occurring at a plurality of reception units. [Solution] A positioning signal reception device 10 provided with an antenna 100A and an antenna 100B that receive a positioning signal, reception units 11A and 11B, and a calculation unit 20. The reception unit 11A is connected to either the antenna 100A or the antenna 100B and detects a first carrier wave phase of the positioning signal. The reception unit 11B is connected to the antenna 100B and detects a second carrier wave phase of the positioning signal. The calculation unit 20 calculates the phases difference between the first carrier wave phase and the second carrier wave phase in a state in which the reception unit 11A and the reception unit 11B are connected to the antenna 100B. The calculation unit 20 uses the phase difference (the phase difference between the reception units) to calculate the difference ΔAD between the analog delay amounts of the reception unit 11A and the reception unit 11B.

Description

Positioning signal receiver

The present invention relates to a positioning signal receiving device that is arranged on a moving body such as a ship, a flying body, or an automobile and that receives a positioning signal and performs positioning of the moving body.

Patent Document 1 and Patent Document 2 describe a configuration for receiving a positioning signal from a GPS satellite and calculating the azimuth, position, and speed of the device. The devices described in Patent Document 1 and Patent Document 2 include two antennas. Each antenna receives a positioning signal from a GPS satellite.

The devices described in Patent Document 1 and Patent Document 2 include a GPS data processing unit. The GPS data processing unit calculates a single phase difference of the carrier wave phase from the positioning signal received by each antenna. The GPS data processing unit performs positioning and azimuth calculation using a single phase difference.

JP 2010-197353 A US Pat. No. 6,616,631

In the method of performing positioning or the like using a single phase difference as shown in Patent Document 1, a plurality of receiving units are used. However, the analog delay amount of each receiving unit is generally different. As a result, a difference in analog delay amount occurs between the receiving units.

The difference in analog delay amount is included in the single phase difference error. Therefore, when the analog delay amount occurs, the single phase difference error increases. For this reason, unless the analog delay amount is corrected, the calculation accuracy such as positioning deteriorates.

Therefore, an object of the present invention is to calculate the difference between analog delay amounts generated in a plurality of receiving units.

The positioning signal receiving apparatus of the present invention includes a first antenna and a second antenna that receive a positioning signal, first and second receiving units, and an arithmetic unit. The first receiving unit is connected to the first antenna and detects the first carrier phase of the positioning signal. The second receiving unit is connected to the second antenna and detects the second carrier phase of the positioning signal. The computing unit calculates a difference in analog delay amount between the first receiving unit and the second receiving unit using the difference between the first carrier phase and the second carrier phase.

This configuration utilizes the fact that the difference between the first carrier phase and the second carrier phase changes according to the difference in the analog delay amount between the first receiver and the second receiver. Therefore, the difference in the analog delay amount is calculated by using the difference between the first carrier phase and the second carrier phase and performing an operation based on this phase difference.

Further, the positioning signal receiving apparatus of the present invention includes a switch for selectively connecting either the first antenna or the second antenna to the first receiving unit. The calculation unit includes a delay difference calculation unit that calculates a difference in analog delay amount from the first carrier phase and the second carrier phase detected when the first receiver and the second receiver are connected to the second antenna by the switch. Prepare.

In this configuration, a positioning signal received by the same antenna is input to the first receiver and the second receiver. Therefore, the phase difference between the antennas that occurs when the antenna connected to the first receiver is different from the antenna connected to the second receiver does not occur in this configuration. Thereby, the difference in the analog delay amount is calculated with higher accuracy.

In the positioning signal receiver of the present invention, the first receiving unit is also connected to the second antenna. The arithmetic unit calculates a difference in analog delay amount from the first carrier phase detected by the first receiver with respect to the positioning signal received by the second antenna and the second carrier phase detected by the second receiver. Is provided.

In this configuration, a positioning signal received by the same antenna is input to the first receiver and the second receiver. Therefore, the phase difference between the antennas that occurs when the antenna connected to the first receiver is different from the antenna connected to the second receiver does not occur in this configuration. Thereby, the difference in the analog delay amount is calculated with higher accuracy. Furthermore, since no switch is used, the components of the positioning signal receiving device can be reduced.

In the positioning signal receiving apparatus of the present invention, the calculation unit includes a single phase difference calculation unit and a delay amount determination unit. The single phase difference calculation unit calculates a single phase difference between the first carrier phase and the second carrier phase for a plurality of different positioning signals. The delay amount determination unit compares single phase differences for a plurality of positioning signals with each other, and determines an analog delay amount difference from the comparison result.

This configuration utilizes the fact that the single phase difference between the antennas changes in accordance with the difference in the analog delay amount between the first receiver and the second receiver even for a plurality of positioning signals. Therefore, by performing statistical processing on the single phase difference between the antennas for a plurality of positioning signals, the difference in the analog delay amount is calculated with high accuracy. In particular, in GPS, the carrier wave frequencies of a plurality of positioning signals are the same, so that the difference in the analog delay amount can be accurately calculated without correcting each single phase difference due to the difference in frequency.

In the positioning signal receiving apparatus of the present invention, the calculation unit includes a single phase difference calculation unit, a baseline vector storage unit, and a delay amount determination unit. The single phase difference calculation unit calculates a single phase difference between the first carrier phase and the second carrier phase. The baseline vector storage unit stores a baseline vector connecting the first antenna and the second antenna. The delay amount determination unit calculates a single difference of the geometric distance from the baseline vector, includes a difference between the single difference of the geometric distance and the single phase difference in the observation vector, and determines the analog delay amount of the first reception unit and the second reception unit. A difference in the analog delay amount is determined by using a filter operation including the difference in the state vector.

In this configuration, the difference in analog delay amount is calculated with high accuracy by using a single difference in geometric distance based on the baseline vector calculated by a method that is not affected by the analog delay amount.

Further, in the positioning signal receiving apparatus of the present invention, the calculation unit includes a single phase difference calculation unit and an estimation unit. The single phase difference calculation unit calculates a single phase difference between the first carrier phase and the second carrier phase at a plurality of times for the same positioning signal. The estimation unit estimates an analog delay amount difference using a filter operation that includes an observation error of a single phase difference in an observation vector, and includes a difference in analog delay amount between the first receiving unit and the second receiving unit in a state vector. .

Further, in the positioning signal receiving apparatus of the present invention, the calculation unit includes a single phase difference calculation unit, an estimation unit, and an integration processing unit. The single phase difference calculation unit calculates a single phase difference between the first carrier phase and the second carrier phase at a plurality of times. The estimation unit includes a difference between the single phase difference based on the positioning data corrected by the integrated processing unit and the single phase difference obtained by the single phase difference calculation unit in the observation vector, and the analog of the first reception unit and the second reception unit A difference in the delay amount and an error included in the output of the inertial sensor are estimated by using a filter operation including the error included in the output of the inertial sensor in the state vector. The integration processing unit corrects the output from the inertial sensor using an error included in the output of the inertial sensor estimated by the estimation unit.

In these configurations, the difference in the analog delay amount is calculated with high accuracy by the filter operation for state estimation.

According to the present invention, it is possible to calculate the difference in analog delay amount generated between a plurality of receiving units. Thereby, positioning using a single phase difference between antennas and calculation of an azimuth can be performed with high accuracy.

The block diagram which shows the structure of the positioning signal receiver which concerns on the 1st Embodiment of this invention. The block diagram which shows the structure at the time of calculation of the analog delay difference of the positioning signal receiver which concerns on the 1st Embodiment of this invention The block diagram which shows the structure at the time of relative positioning of the positioning signal receiver which concerns on the 1st Embodiment of this invention. Flowchart of analog delay difference calculation method and positioning method according to the first embodiment of the present invention The flowchart which shows the process which determines the calculation timing of a correction value The flowchart which shows the process which determines the calculation timing of a correction value The flowchart which shows the process which determines the calculation timing of a correction value The block diagram which shows the structure of the positioning signal receiver which concerns on the 2nd Embodiment of this invention. The block diagram which shows the structure of the positioning signal receiver which concerns on the 3rd Embodiment of this invention. The block diagram which shows the structure of the positioning signal receiver which concerns on the 4th Embodiment of this invention. The block diagram which shows the structure of the positioning signal receiver which concerns on the 5th Embodiment of this invention. Flowchart of analog delay difference calculation method and positioning method according to the fifth embodiment of the present invention The flowchart of the concrete calculation method of the analog delay difference which concerns on the 5th Embodiment of this invention. Flow chart of analog delay difference calculation method and positioning method in positioning system in which carrier wave frequency differs for each positioning satellite The block diagram which shows the structure of the positioning signal receiver which concerns on the 6th Embodiment of this invention. Flowchart of analog delay difference calculation method and positioning method according to sixth embodiment of the present invention The block diagram which shows the structure of the positioning signal receiver which concerns on the 7th Embodiment of this invention. The flowchart of the analog delay difference estimation method which concerns on the 7th Embodiment of this invention. The block diagram which shows the structure of the positioning signal receiver which concerns on the 8th Embodiment of this invention. Flowchart of Analog Delay Difference Estimation Method According to Eighth Embodiment of the Invention Flowchart for calculating analog delay difference based on operating time Flow chart for calculating analog delay difference based on temperature Flow chart to calculate analog delay difference based on altitude Flowchart for calculating analog delay difference based on speed and rotation amount

A positioning signal receiving apparatus according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a positioning signal receiving apparatus according to the first embodiment of the present invention. FIG. 2 is a block diagram showing a configuration at the time of calculating an analog delay difference of the positioning signal receiving apparatus according to the first embodiment of the present invention. FIG. 3 is a block diagram showing a configuration at the time of relative positioning of the positioning signal receiving apparatus according to the first embodiment of the present invention.

The positioning signal receiving apparatus 10 includes antennas 100A and 100B, receiving units 11A and 11B, a calculation unit 20, a switch 30, and a clock generation unit 40. The calculation unit 20 includes a positioning unit 21 and a delay difference calculation unit 22.

The antenna 100A is the “first antenna” of the present invention, and the antenna 100B is the “second antenna” of the present invention. The receiver 11A is the “first receiver” of the present invention, and the receiver 11B is the “second receiver” of the present invention.

Antennas 100A and 100B receive positioning signals from positioning satellites SV. The positioning signal is, for example, a GPS (Global Positioning System) signal. Note that the configuration of the present embodiment is applied even to a signal (GNSS signal) used in another GNSS (Global Navigation Satellite System).

The clock signal is input from the clock generator 40 to the receivers 11A and 11B. The receivers 11A and 11B are synchronized by this clock signal.

The receiving unit 11A is selectively connected to the antenna 100A and the antenna 100B by the switch 30. The reception unit 11A is connected to the antenna 100B as shown in FIG. 2 when calculating the difference in analog delay amount (analog delay difference). The receiver 11A is connected to the antenna 100A during relative positioning, as shown in FIG. The receiving unit 11B is connected to the antenna 100B.

In the aspect connected to the antenna 100A, the reception unit 11A captures and tracks the positioning signal by performing correlation processing between the positioning signal received by the antenna 100A and the replica signal of the positioning signal. The receiving unit 11A outputs the code demodulated by the correlation processing to the positioning unit 21.

In the aspect connected to the antenna 100B, the reception unit 11A captures and tracks the positioning signal by performing correlation processing between the positioning signal received by the antenna 100B and the replica signal of the positioning signal.

The receiving unit 11A detects the carrier phase of the positioning signal (corresponding to the “first carrier phase” of the present invention) by correlation processing, regardless of whether the receiving unit 11A is connected to either the antenna 100A or 100B. Output to the delay difference calculation unit 22. At this time, the receiving unit 11A associates the positioning satellite SV that is the transmission source of the positioning signal from which the carrier phase has been acquired, and outputs the carrier phase.

The receiving unit 11B captures and tracks the positioning signal by performing correlation processing between the positioning signal received by the antenna 100B and the replica signal of the positioning signal. The receiving unit 11B outputs the code demodulated by the correlation processing to the positioning unit 21. The receiving unit 11 </ b> B detects the carrier wave phase (the “second carrier wave phase” of the present invention) by correlation processing, and outputs it to the positioning unit 21 and the delay difference calculating unit 22. At this time, the receiving unit 11B associates the positioning satellite SV that is the transmission source of the positioning signal from which the carrier phase has been acquired, and outputs the carrier phase.

The positioning unit 21 demodulates the navigation message using the codes from the receiving units 11A and 11B. The positioning unit 21 receives the carrier phase received by the antenna 100A and acquired by the receiving unit 11A (first carrier phase for relative positioning), and the carrier phase received by the antenna 100B and acquired by the receiving unit 11B (for relative positioning). Second carrier phase). The positioning unit 21 combines the first carrier phase for relative positioning and the second carrier phase for relative positioning corresponding to the positioning signal from the positioning satellite SV based on the positioning satellite SV associated with the carrier phase.

The positioning unit 21 performs relative positioning using the combined first carrier phase for relative positioning and second carrier phase for relative positioning. Specifically, the positioning unit 21 calculates a single phase difference between antennas between a first carrier phase for relative positioning and a second carrier phase for relative positioning. The positioning unit 21 calculates a path difference that is a difference between the distance between the antenna 100A and the positioning satellite SV and the distance between the antenna 100B and the positioning satellite SV from the single phase difference between the antennas. The positioning unit 21 acquires the position of the positioning satellite SV from the demodulated navigation message. The positioning unit 21 calculates the positions of the antennas 100A and 100B from a known method using the code pseudo distance obtained by the correlation processing in the receiving units 11A and 11B. The positioning unit 21 calculates a direction cosine vector for the path difference using the position of the positioning satellite SV and the positions of the antennas 100A and 100B. The positioning unit 21 calculates the relative vectors of the antennas 100A and 100B from the path difference and the direction cosine vector. The positioning unit 21 calculates a relative vector using three or more positioning satellites. The positioning unit 21 calculates, from the relative vector, the positioning signal receiving device 10 in which the antennas 100A and 100B are arranged and the posture or orientation of the moving body in which the positioning signal receiving device 10 is mounted.

The positioning unit 21 uses the analog delay difference calculated by the delay difference calculating unit 22 in such relative positioning calculation. The analog delay difference is a difference between a positioning signal transmission delay amount in the first receiving unit 11A and a positioning signal transmission delay amount in the second receiving unit 11B.

The delay difference calculator 22 receives the carrier phase (first carrier phase for delay difference calculation) received by the antenna 100B and received by the receiver 11A and the carrier phase (delay received by the antenna 100B and acquired by the receiver 11B). 2nd carrier wave phase for difference calculation). The positioning signal that has acquired the first carrier phase for delay difference calculation and the positioning signal that has acquired the second carrier phase for delay difference calculation are the same positioning signal.

The delay difference calculation unit 22 calculates the analog delay difference ΔAD based on the following principle.

Φ ₁ ^B is a carrier wave phase detected by the receiving unit 11A for the positioning signal of the positioning satellite SV. Φ ₂ ^B is a carrier phase detected by the receiving unit 11B for the positioning signal of the positioning satellite SV. ρ ₂ ^B is a geometric distance between the positioning satellite SV and the antenna 100B. t _u1 is a clock error of the receiving unit 11A, and t _u2 is a clock error of the receiving unit 11B. T ₂ ^B is a tropospheric delay when the positioning signal of the positioning satellite SV is received by the antenna 100B. I ₂ ^B is an ionospheric delay when the positioning signal of the positioning satellite SV is received by the antenna 100B.

e _ΦB1 is a circuit delay amount of the carrier phase with respect to the receiving unit 11A. e _ΦB2 is a circuit delay amount of the carrier phase with respect to the receiving unit 11B.

When the receiving unit 11A is connected to the antenna 100B, the carrier phase Φ ₁ ^B is expressed by the following (Equation 1).

Φ ₁ ^B = ρ ₂ ^B + t _u1 + T ₂ ^B + I ₂ ^B + e _ΦB1 − (formula 1)
The carrier phase Φ ₂ ^B is expressed by the following (Equation 2).

Φ ₂ ^B = ρ ₂ ^B + t _{u 2} + T ₂ ^B + I ₂ ^B + e _ΦB 2 − (formula 2)
The carrier phase difference ΔΦ ₁₂ between the receiving units using the same antenna is expressed by the following (Expression 3) from (Expression 1) and (Expression 2).

ΔΦ ₁₂ = Φ ₁ ^B −Φ ₂ ^B = (t _u1 −t _u2 ) + (e _φB1 −e _φB2 ) − (Formula 3)
Since the receiving units 11A and 11B are synchronized, (t _u1 −t _u2 ) = 0.

Therefore, the carrier phase difference ΔΦ ₁₂ is expressed by the following (formula 4).

ΔΦ ₁₂ = Φ ₁ ^B −Φ ₂ ^B = ( _{eΦB1− eΦB2} ) − (Formula 4)
Here, the difference between the circuit delay _(e ΦB1 -e ΦB2) has an electrical length between the receiving portion 11A and the antenna 100B, the difference .DELTA.e _CH of the electrical length of the receiving portion 11B and the antenna 100B, the analog delay difference ΔAD And the addition.

( _{EΦB1− eΦB2} ) = Δe _CH + ΔAD− (Formula 5)
Therefore, the carrier phase difference ΔΦ ₁₂ is expressed by the following (formula 6).

ΔΦ ₁₂ = Φ ₁ ^B −Φ ₂ ^B = Δe _CH + ΔAD − (Formula 6)
When this (formula 6) is modified, the analog delay difference ΔAD is expressed by the following (formula 7).

ΔAD = ΔΦ ₁₂ −Δe _CH − (Formula 7)
The electrical length between the antenna 100B and the receiving unit 11A and the electrical length between the antenna 100B and the receiving unit 11B can be set to measured and desired values. Therefore, the difference Δe _CH is known. Note that the electrical length between the antenna 100B and the receiving unit 11A is preferably the same as the electrical length between the antenna 100B and the receiving unit 11B. In this case, the difference Δe _CH can be set to zero.

The carrier wave phases Φ ₁ ^B and Φ ₂ ^B are measured by the delay difference calculation unit 22 as described above, and the carrier wave phase difference ΔΦ ₁₂ can be obtained by observing the positioning signal.

The analog delay difference ΔAD is calculated by substituting the electrical length difference Δe _CH and the carrier phase difference ΔΦ ₁₂ of these known or observed paths into (Equation 7).

Thus, by using the configuration of the present embodiment, the analog delay difference ΔAD between the receiving units 11A and 11B can be calculated.

The delay difference calculation unit 22 outputs the analog delay difference ΔAD to the positioning unit 21. As described above, the positioning unit 21 corrects the single phase difference between the antennas by the analog delay difference ΔAD from the delay difference calculation unit 22. The positioning unit 21 performs a relative positioning calculation using the corrected single phase difference between the antennas. Thereby, the positioning part 21 can perform highly accurate relative positioning. Furthermore, the positioning unit 21 can perform relative positioning with higher accuracy by performing correction in consideration of the known electrical length difference Δe _CH of the path.

Such analog delay difference calculation and positioning calculation can be programmed and executed by an information processing apparatus such as a computer. FIG. 4 is a flowchart of the analog delay difference calculation method and positioning method according to the first embodiment of the present invention.

In step S101, the receiving units 11A and 11B are connected to the antenna 100B.

In step S102, the positioning satellite tracked by the receiving unit 11A is matched with the positioning satellite tracked by the receiving unit 11B. If the positioning satellite tracked by the receiving unit 11A and the positioning satellite tracked by the receiving unit 11B are not the same (S102: NO), matching is repeated. If the positioning satellite tracked by the receiving unit 11A is the same as the positioning satellite tracked by the receiving unit 11B (S102: YES), the process proceeds to step S103.

In step S103, by using the carrier phase detected by the receiving unit 11B has been detected by the receiver 11A carrier phase, it calculates a difference .DELTA..PHI ₁₂ carrier phase between the receiving unit.

In step S104, a difference (path difference) Δe _CH between the electrical length (path length) between the antenna 100B and the receiving unit 11A and the electrical length (path length) between the antenna 100B and the receiving unit 10B is acquired. .

In step S105, the analog phase difference ΔAD is calculated by substituting the carrier phase difference ΔΦ ₁₂ between the receiving units and the path difference Δe _CH into (Equation 7). Using this analog delay difference ΔAD, a correction value for calculating relative positioning is set. At this time, it is better to include the path difference Δe _CH in the correction value.

In step S106, the receiving unit 11A is connected to the antenna 100A, and the receiving unit 11B is connected to the antenna 100B. By this connection change, the receiving unit 11A detects the carrier phase for the positioning signal received by the antenna 100A. The receiving unit 11B detects the carrier phase for the positioning signal received by the antenna 100B. The positioning unit 21 of the calculation unit 20 calculates a single phase difference between the antennas from the difference between the carrier wave phases.

In step S107, relative positioning is performed using the single phase difference between the antennas corrected by the correction value.

By using such a method, the analog delay difference between the receiving units can be calculated, and high-accuracy relative positioning can be realized.

Note that the correction value need not be calculated at every timing of acquiring the carrier phase. For example, the correction value may be calculated according to the processing shown in FIGS. 5, 6, and 7 are flowcharts showing processing for determining the correction value calculation timing.

(Method of FIG. 5)
In step S201, it is detected whether a correction value is stored in advance. If the correction value is stored in advance (S201: YES), the process proceeds to step S203. If no correction value is stored (S201: NO), the process proceeds to step S202.

In step S202, the analog delay difference ΔAD is calculated by the above-described method, and a correction value is calculated.

In step S203, relative positioning is performed using the stored correction value or the single phase difference between the antennas corrected by the correction value calculated this time.

By using this method, the correction value including the analog delay difference ΔAD may be calculated only when the correction value immediately after the power is turned on or the like is not stored. Therefore, the overall processing load of the positioning signal receiving apparatus can be reduced.

(Method of FIG. 6)
In step S301, it is detected whether or not it is a correction value calculation timing. The calculation timing can be detected by a time that can be acquired from the positioning signal, a clock provided in the apparatus, or the like. If it is the calculation timing of the correction value (S301: YES), the process proceeds to step S302. If it is not the calculation timing of the correction value (S301: NO), the process proceeds to step S303.

In step S302, a correction value is calculated using the method described above.

In step S303, a relative difference is performed using the correction value calculated this time or the single phase difference between antennas corrected by the correction value already stored.

By using this method, the correction value including the analog delay difference ΔAD may be calculated only at a preset time. Therefore, the overall processing load of the positioning signal receiving apparatus can be reduced.

(Method of FIG. 7)
In step S401, it is detected whether the stored correction value is a normal value or an abnormal value. As a correction value abnormality detection method, for example, a positioning signal of another positioning satellite different from the positioning satellite for calculating the single phase difference is received, and the carrier phase of the positioning signal from these two positioning satellites is received. Are detected by the receivers 11A and 11B, and a double phase difference is calculated. Further, the double phase difference is calculated using the single phase difference corrected by the correction value. The difference between these two double phase differences is calculated, and when the difference between the double phase differences is equal to or greater than a predetermined threshold value, it is determined that the correction value is equal to or greater. The threshold value for abnormality determination can be set in advance by experiment or simulation.

If the correction value is abnormal (S401: YES), the process proceeds to step S402. If the correction value is normal (S401: NO), the process proceeds to step S403.

In step S402, the correction value is calculated using the method described above.

In step S403, a relative difference is performed using the correction value calculated this time or the single phase difference between antennas corrected by the correction value that has already been stored and determined to be normal.

Next, a positioning signal receiving apparatus according to the second embodiment of the present invention will be described with reference to the drawings. FIG. 8 is a block diagram showing a configuration of a positioning signal receiving apparatus according to the second embodiment of the present invention.

The positioning signal receiving device 10A according to the second embodiment is different from the positioning signal receiving device 10 according to the first embodiment in that the receiving unit 11A is integrated with the arithmetic unit 20A. Note that the receiving unit 11B can also be integrated with the arithmetic unit 20A.

By adopting such a configuration, the components of the positioning signal receiving device 10A can be reduced.

Next, a positioning signal receiving apparatus according to the third embodiment of the present invention will be described with reference to the drawings. FIG. 9 is a block diagram showing a configuration of a positioning signal receiving apparatus according to the third embodiment of the present invention.

The positioning signal receiving device 10B according to the third embodiment is different from the positioning signal receiving device 10 according to the first embodiment in that the switch 30 is omitted.

In the positioning signal receiving apparatus 10B, the receiving unit 11A ′ is connected to the antennas 100A and 100B. For example, the reception unit 11A ′ switches between acquisition and tracking of the positioning signal received by the antenna 100A and acquisition and tracking of the positioning signal received by the antenna 100B by a software switch or the like. The receiving unit 11A outputs, in association with the carrier phase, which antenna is the carrier phase of the positioning signal received by the antenna.

By adopting such a configuration, the switch 30 is omitted, and the components of the positioning signal receiving device 10B can be reduced. Further, by not passing through the switch 30, the electrical length between the antenna 100B and the receiving unit 10A ′ can be acquired more accurately.

Next, a positioning signal receiving apparatus according to the fourth embodiment of the present invention will be described with reference to the drawings. FIG. 10 is a block diagram showing a configuration of a positioning signal receiving apparatus according to the fourth embodiment of the present invention.

The positioning signal receiving device 10C according to the fourth embodiment is different from the positioning signal receiving device 10 according to the first embodiment in that the number of antennas, receiving units, and switches is increased.

The positioning signal receiving apparatus 10C includes three antennas 100A, 100B, 100C, three receiving units 11A, 11B, 11C, and two switches 30A, 30B. The receiving unit 11A is selectively connected to the antennas 100A and 100B by the switch 30A. The receiving unit 11C is selectively connected to the antennas 100B and 100C by the switch 30B.

By connecting the receiver 11A to the antenna 100B by the switch 30A, it is possible to calculate the analog delay difference? AD ₁₂ between the receiving portion 11A and the receiving part 11B. By connecting the receiving unit 11C to the antenna 100B by the switch 30B, the analog delay difference ΔAD ₂₃ between the receiving unit 11B and the receiving unit 11C can be calculated. By using the difference between the analog delay difference? AD ₁₂ and the analog delay difference? AD _23, it is possible to calculate the analog delay difference? AD ₁₃ between the receiving portion 11A and the receiving portion 11C.

Thus, even if there are three antennas and receiving units, the analog delay difference between the receiving units can be calculated as in the above-described embodiment, and high-accuracy relative positioning can be realized.

Next, a positioning signal receiving apparatus according to the fifth embodiment of the present invention will be described with reference to the drawings. FIG. 11 is a block diagram showing a configuration of a positioning signal receiving apparatus according to the fifth embodiment of the present invention.

The positioning signal receiving device 10D according to the fifth embodiment is different from the positioning signal receiving device 10 according to the first embodiment in the configuration of the delay difference calculation unit 22D.

The delay difference calculation unit 22D includes a single phase difference calculation unit 221 and a delay difference determination unit 222.

The single phase difference calculation unit 221 calculates a single phase difference between antennas from the carrier phase from the reception unit 11A and the carrier phase from the reception unit 11B. At this time, the single phase difference between the antennas includes the phase difference due to the arrangement position relationship of the antennas and the analog delay difference of the receiving unit. The single phase difference calculation unit 221 calculates a single phase difference between antennas for each satellite. Note that the single phase difference calculation unit 221 may be omitted, and the single phase difference between antennas before correction calculated by the positioning unit 21 may be used.

The delay difference determination unit 222 calculates a correction value for relative positioning based on the analog delay difference based on the following principle.

The single phase difference calculated by the single phase difference calculator 221 is ΔΦZ ₁₂ ^B , the integer part of the analog delay difference is ΔADn ₁₂ ^B , the decimal part of the analog delay difference is ΔADf ₁₂ ^B, and the integer bias of the carrier phase is Assuming ΔN ₁₂ ^B , the single phase difference ΔΦZ ₁₂ ^B can be expressed by the following (formula 8).

ΔΦZ ₁₂ ^B = ΔADn ₁₂ ^B + ΔADf ₁₂ ^B + ΔN ₁₂ ^B + Δe _Φ − (Formula 8)
Incidentally, .DELTA.e _[Phi is the observation error is negligible very small relative to other elements.

Here, since the integer part ΔADn ₁₂ ^B of the analog delay difference and the integer bias ΔN ₁₂ ^B of the carrier phase are both integers, a new integer bias ΔN ₁₂ ^B ′ = ΔADn ₁₂ ^B + ΔN ₁₂ ^{B is used} for the estimation calculation. Can be used.

Accordingly, if the decimal part ΔADf ₁₂ ^B of the analog delay difference is known as the correction value for the relative positioning estimation calculation, the relative positioning estimation calculation can be performed with high accuracy.

Using this principle, the delay difference determination unit 222 extracts the fractional part of the single phase difference between the antennas from the single phase difference calculation unit 221. The delay difference determination unit 222 sets the decimal part to the analog delay difference. The delay difference determination unit 222 sets the analog delay difference as a correction value for relative positioning calculation, and outputs the correction value to the positioning unit 21.

At this time, the delay difference determination unit 222 continuously acquires a single phase difference between antennas for a plurality of positioning satellites being tracked, and extracts a fractional part for each. The delay difference determination unit 222 calculates the time average value of the decimal part. The delay difference determination unit 222 sets a reference satellite from a plurality of positioning satellites being tracked. The delay difference determination unit 222 calculates the difference between the decimal part of the reference satellite and the decimal part of another positioning satellite, and calculates the width of the difference between the decimal parts. The delay difference determination unit 222 sets a correction value using the decimal part and the difference for each positioning satellite. The delay difference determination unit 222 determines whether or not to use the correction value set this time for the relative positioning calculation based on the difference width of the decimal part.

The positioning unit 21 corrects the single phase difference using the correction value output from the delay difference determination unit 222, and estimates the azimuth and position using a known Kalman filter or the like.

Even with such a configuration, high-accuracy relative positioning can be realized as in the above-described embodiment.

The calculation of the analog delay difference and the positioning calculation shown in the present embodiment can be programmed and executed by an information processing apparatus such as a computer. FIG. 12 is a flowchart of an analog delay difference calculation method and a positioning method according to the fifth embodiment of the present invention.

In step S501, a single phase difference between antennas is continuously acquired for each positioning satellite. This process is repeated until a single phase difference between the antennas can be acquired continuously over a predetermined time length (S501: NO, S511: NO). At this time, if the single phase difference between the antennas of the specified number of positioning satellites cannot be acquired continuously over a predetermined time (S501: YES), the process proceeds to step S521.

If the single phase difference between the antennas can be continuously acquired over the specified time length (S501: YES), the process proceeds to step S502.

In step S502, the decimal part of the single phase difference between the antennas for each positioning satellite is extracted.

In step S503, a reference satellite is set from a plurality of positioning satellites that are tracked, that is, a plurality of positioning satellites that have acquired a single phase difference between antennas.

In step S504, the difference between the decimal part of the reference satellite and the decimal part of the positioning satellite other than the reference satellite is calculated.

In step S505, a correction value is set for each positioning satellite using the decimal part and the difference.

In step S506, the plurality of differences are compared to calculate the overall width of the difference.

In step S507, it is detected whether or not the difference width is within a specified range. If the difference width is less than the threshold value THd (S507: YES), the process proceeds to step S508. If the difference width is equal to or greater than the threshold THd (S507: NO), the process proceeds to step S521.

In step S508, an average value of correction values of all positioning satellites set in step S505 is calculated. Then, the average value is set to a correction value common to each positioning satellite.

In step S521, it is determined that the current correction value setting is invalid.

By performing such processing, it is possible to calculate a correction value for relative positioning calculation based on the analog delay difference. Furthermore, as shown in step S508, the correction value can be set with higher accuracy by using the average value of the correction values of all positioning satellites.

The above-described steps S503, S504, and S505 more specifically include the following processing. FIG. 13 is a flowchart of a specific calculation method of the analog delay difference according to the fifth embodiment of the present invention.

In step S551, the positioning satellite with the highest elevation angle is set as the reference satellite. The elevation angle of each positioning satellite can be obtained from the demodulated navigation message.

In step S552, the difference between the decimal part of each positioning satellite being tracked and the decimal part of the reference satellite is calculated.

In steps S553, S554, S555, S556, and S557, the difference is compared with the reference value, and a correction value is set. Specifically, in step S553, the difference is compared with a reference value (0.5 in this embodiment). If the difference is 0.5 or more (S553: YES), the process proceeds to step S554. If the difference is less than 0.5 (S553: NO), the process proceeds to step S555. In step S554, (decimal part) -1 is set as the correction value. In step S555, if the difference is less than −0.5 (S555: YES), the process proceeds to step S556. If the difference is −0.5 or more (S555: NO), the process proceeds to step S557.

In step S556, (decimal part) +1 is set as the correction value. In step S557, (decimal part) is set as a correction value as it is.

In step S558, it is confirmed whether correction values have been calculated for all positioning satellites being tracked. If the correction value is not calculated even for one of the tracking positioning satellites (S558: NO), the above-described correction value calculation process is repeated. If correction values have been calculated for all positioning satellites, the correction value setting process is terminated, and the process proceeds to another process.

By performing such processing, the correction value based on the analog delay difference can be accurately calculated. In addition, by using the configuration of this embodiment, it is possible to suppress the influence of an integer value bias that differs for each positioning satellite. Specifically, a reference value for the decimal part is provided, and the decimal part is corrected by one of +1, 0 (substantially no correction) or −1 based on the magnitude relationship with the reference value. By this correction, it is possible to suppress the influence of the discrete and non-linear change of the fractional part caused by the change of the integer part of the analog delay difference by +1 or −1. Therefore, the correction value can be set with higher accuracy. In the configuration of the present embodiment, the correction values are unified for all positioning satellites that are being tracked. This utilizes the fact that the frequency of the carrier phase transmitted from each positioning satellite is the same in the case of GPS. By unifying correction values in this way, it becomes easy to store correction values.

If the frequency differs for each carrier phase used in other GNSS, the following method may be used. FIG. 14 is a flowchart of an analog delay difference calculation method and a positioning method in a positioning system in which a carrier frequency differs for each positioning satellite.

In step S561, the single phase difference between the antennas is acquired for each positioning satellite being tracked, and the time average value of the single phase difference between the antennas is calculated.

In step S562, a positioning satellite that transmits a positioning signal having a frequency close to the center frequency of the positioning system among the tracking positioning satellites is set as a reference satellite.

In step S563, the decimal part of the single phase difference between the antennas of the reference satellite is set as the reference correction value.

In step S564, correction values of other positioning satellites are estimated using the reference correction value. Specifically, for example, the difference between the carrier frequency of the positioning signal of the reference satellite and the frequency of the positioning signal of the positioning satellite for estimating the correction value is calculated. Then, the correction value of the other positioning satellite is estimated by correcting the reference correction value using the difference. For this estimation, weighting may be performed according to the elevation angle or signal level of the positioning satellite.

In step S565, it is verified whether or not the estimated correction value of each positioning satellite is valid. Specifically, switching to the relative positioning calculation state, it is determined that the estimated value is valid if the difference between the single phase difference corrected by the estimated value and the observed single phase difference is not greater than or equal to a predetermined threshold. To do.

If the estimated correction value is valid (S565: YES), the process proceeds to step S566. If the estimated correction value is not valid (S565: NO), the process proceeds to step S567.

In step S566, the estimated correction value is adopted and used for relative positioning calculation as a correction value for each positioning satellite.

In step S567, it is determined that the estimated correction value is invalid, and the correction value is set again.

By using such a method, an analog delay difference can be calculated even for a positioning system in which the carrier frequency differs for each positioning satellite, and highly accurate relative positioning can be realized.

Next, a positioning signal receiving apparatus according to the sixth embodiment of the present invention will be described with reference to the drawings. FIG. 15 is a block diagram showing a configuration of a positioning signal receiving apparatus according to the sixth embodiment of the present invention.

The positioning signal receiving device 10E according to the sixth embodiment is different from the positioning signal receiving device 10D according to the fifth embodiment in the configuration of the delay difference calculating unit 22E.

The delay difference calculation unit 22E of the positioning signal receiving apparatus 10E includes a single phase difference calculation unit 221, a delay difference determination unit 22E, and a baseline vector storage unit 223. The configuration and processing of the single phase difference calculation unit 221 are the same as those of the positioning signal reception device 10D according to the fifth embodiment.

The baseline vector storage unit 223 stores a baseline vector between the antennas 100A and 100B calculated by the relative positioning performed previously. The baseline vector is updated each time the relative positioning calculation is repeated, and stored in the baseline vector storage unit 223.

The delay difference determination unit 222E sets a correction value based on the analog delay difference according to the following principle.

A single phase difference calculated by the single phase difference calculation unit 221 is ΔΦZ ₁₂ ^B , a single difference in geometric distance is Δρ ₁₂ ^B , an analog delay difference (single difference in analog delay amount) is ΔAD ₁₂ ^B , and an integer value bias The single phase difference ΔΦZ ₁₂ ^B can be expressed by the following (Equation 9), where ΔN ₁₂ ^B is the single difference and Δe _Φ is the single difference of the observation error.

ΔΦZ ₁₂ ^B = (Δρ ₁₂ ^B + ΔAD ₁₂ ^B ) / λ _B + ΔN ₁₂ ^B + Δe _Φ − (Equation 9)
Here, λ _B is the wavelength of the positioning signal.

If the baseline vector can be estimated in advance, a single phase difference estimate of the geometric distance can also be calculated. If the estimated value of the single phase difference of the geometric distance is Δρe, (Equation 9) can be transformed into the following (Equation 10).

ΔΦZ ₁₂ ^B −Δρe = (Δρee + ΔAD ₁₂ ^B ) / λ _B + ΔN ₁₂ ^B + Δe _Φ
-(Formula 10)
Here, Δρee is an estimation error of the single phase difference of the geometric distance.

Estimation error Δρee and observation error Δe singlet phase difference geometric distance _Φ can be assumed to be sufficiently small. Under this condition, the remainder when the values on both sides are divided by the wavelength λ _B of the carrier phase can be regarded as a fractional part of the analog delay difference. The single phase difference ΔΦZ ₁₂ ^{B on the} left side is an observed value, and the estimated single phase difference of the geometric distance Δρe is a value that can be calculated from a known baseline vector. Therefore, the decimal part of the analog delay difference can be calculated by calculating the remainder when the left side of (Equation 10) is divided by the wavelength of the carrier phase.

The delay difference determination unit 222E acquires the single phase difference ΔΦZ ₁₂ ^B from the single phase difference calculation unit 221. The delay difference determination unit 222E reads the baseline vector from the baseline vector storage unit 223, estimates the single phase difference of the geometric distance, and calculates the estimated value Δρe. The delay difference determination unit 222E subtracts the single phase difference ΔΦZ ₁₂ ^{B from} the estimated single-difference value Δρe of the geometric distance, and divides the difference value by the wavelength λ _B of the carrier phase, thereby obtaining the decimal part of the analog delay difference. The correction value is determined. The delay difference determination unit 222E outputs this correction value to the positioning unit 21.

This makes it possible to use the same relative positioning calculation as the positioning signal receiving apparatus 10D according to the fifth embodiment.

A filter operation such as a Kalman filter may be used to determine the analog delay difference. In this case, the filter may be configured such that the difference value between the single phase difference ΔΦZ ₁₂ ^B and the estimated single-difference value Δρe of the geometric distance is included in the observation vector, and the fractional part of the analog delay difference is included in the state vector.

The calculation of the analog delay difference and the positioning calculation shown in the present embodiment can be programmed and executed by an information processing apparatus such as a computer. FIG. 16 is a flowchart of an analog delay difference calculation method and positioning method according to the sixth embodiment of the present invention.

In step S601, it is determined whether a baseline vector is stored. If the baseline vector is stored (S601: YES), the process proceeds to step S602. If the baseline vector is not stored (S601: NO), the baseline vector is acquired from the result of the relative positioning calculation using the method shown in the other embodiment.

In step S602, the single-point difference Δρe of the geometric distance is estimated using the baseline vector.

In step S603, the single phase difference (observation single difference) ΔΦZ ₁₂ ^B of the positioning signal is calculated. At this time, the antennas connected to the plurality of receiving units are the same.

In step S604, a difference value between the single difference (observation single difference) ΔΦZ ₁₂ ^{B of} the positioning signal carrier phase and the single difference Δρe of the geometric distance is calculated.

In step S605, the remainder obtained by dividing the difference value by the carrier frequency λ _B is calculated as a correction value based on the analog delay difference.

Next, a positioning signal receiving apparatus according to the seventh embodiment of the present invention will be described with reference to the drawings. FIG. 17 is a block diagram showing a configuration of a positioning signal receiving apparatus according to the seventh embodiment of the present invention.

The positioning signal receiving device 10F includes antennas 100A and 100B, receiving units 11A and 11B, a calculating unit 20, and a clock generating unit 40. The calculation unit 20 includes a phase difference change amount calculation unit 23 and an estimation unit 24.

The antenna 100A is the “first antenna” of the present invention, and the antenna 100B is the “second antenna” of the present invention. The antennas 100A and 100B receive positioning signals from the positioning satellite SV.

The receiving unit 11A is the “first receiving unit” of the present invention, and the receiving unit 11B is the “second receiving unit” of the present invention. The receiving unit 11A is connected to the antenna 100A. The receiving unit 11B is connected to the antenna 100B. A clock signal is input from the clock generator 40 to the receivers 11A and 11B. The receivers 11A and 11B are synchronized by this clock signal.

The receiving unit 11A captures and tracks the positioning signal by performing correlation processing between the positioning signal received by the antenna 100A and a replica signal of the positioning signal. The receiving unit 11A outputs the code demodulated by the correlation processing to the estimating unit 24.

The receiving unit 11A detects the carrier phase of the positioning signal (the “first carrier phase” of the present invention) by correlation processing, and outputs it to the phase difference calculating unit 23 and the estimating unit 24. At this time, the receiving unit 11A associates the positioning satellite SV that is the transmission source of the positioning signal from which the carrier phase has been acquired, and outputs the carrier phase.

The receiving unit 11B captures and tracks the positioning signal by performing correlation processing between the positioning signal received by the antenna 100B and the replica signal of the positioning signal. The receiving unit 11B outputs the code demodulated by the correlation processing to the estimating unit 24. The receiving unit 11B detects the carrier phase of the positioning signal (the “second carrier phase” of the present invention) by correlation processing, and outputs it to the phase difference calculating unit 23 and the estimating unit 24. At this time, the receiving unit 11B associates the positioning satellite SV that is the transmission source of the positioning signal from which the carrier phase has been acquired, and outputs the carrier phase.

The phase difference calculator 23 calculates the phase difference between the carrier phase output from the receiver 11A and the carrier phase output from the receiver 11B. The phase difference calculation unit 23 refers to the positioning satellite SV associated with the carrier phase, and the phase difference (single phase difference between antennas) with respect to the positioning signal of the positioning satellite SV common to the carrier phase output from the receiving units 11A and 11B. ) Is calculated. The phase difference calculation unit 23 calculates a single phase difference between antennas for a plurality of positioning satellites. The phase difference calculation unit 23 outputs the single phase difference between the antennas to the estimation unit 24.

The estimation unit 24 sets a filter operation including the analog delay difference ΔAD between the reception unit 11A and the reception unit 11B in the state vector, and estimates the analog delay difference ΔAD. For example, a Kalman filter is used as the filter. Note that the state vector usually includes a position, a speed, and an attitude angle in addition to the analog delay amount ΔAD. Further, the observation vector of the Kalman filter includes a difference value between the single phase difference between antennas calculated from the previously estimated attitude angle and the single phase difference between antennas from the phase difference calculation unit 23. In addition, the observation vector usually includes a position, velocity, and attitude angle obtained from a positioning result based on the code phase difference.

By using the configuration and processing as described above, the analog delay difference ΔAD can be estimated. Thereby, the relative positioning using the single phase difference between the antennas can be reliably realized, and a highly accurate positioning result can be obtained.

The estimation of the analog delay difference shown in the present embodiment can be programmed and executed by an information processing apparatus such as a computer. FIG. 18 is a flowchart of an analog delay difference estimation method according to the seventh embodiment of the present invention.

In step S701, a single phase difference between antennas is sequentially acquired over time.

In step S702, a difference value (observation error of the single phase difference between antennas) between the single phase difference between antennas calculated in step S701 and the single phase difference between antennas based on the result of the previous filter calculation is calculated. This difference value is set as an element of the observation vector of the filter operation.

In step S703, the analog delay difference is set as an element of the state vector. In step S704, a filter operation in which the observation vector and the state vector are set in steps S702 and S703 is executed to estimate the analog delay difference.

Next, a positioning signal receiving apparatus according to the eighth embodiment of the present invention will be described with reference to the drawings. FIG. 19 is a block diagram showing a configuration of a positioning signal receiving apparatus according to the eighth embodiment of the present invention.

The positioning signal receiving device 10G according to the present embodiment is different from the positioning signal receiving device 10F according to the seventh embodiment in the configuration and processing of the arithmetic unit 20G.

The calculation unit 20G includes a phase difference calculation unit 23G, an estimation unit 24G, and an integration processing unit 25G. The phase difference calculation unit 23G has the same configuration as the phase difference calculation unit 23F of the positioning signal reception device 10F according to the seventh embodiment, and executes the same processing.

The estimation unit 24G performs a filter operation. For example, a Kalman filter is used as the filter. The state vector of this filter calculation includes the analog delay difference ΔAD between the receiving unit 11A and the receiving unit 11B and the correction value for the integration process. The correction value for the integration process includes an estimated value of sensor error with respect to the output of the IMU sensor 50, a position correction value, a speed correction value, and a posture angle correction value.

The observation vector of the filter calculation is a difference value (single-to-antenna single-phase difference between the single-phase phase difference between the antennas output from the phase difference calculation unit 23G and the single-phase difference between antennas calculated from the attitude angle output from the integration processing unit 25G. Phase difference error). Further, the output value of the IMU sensor 50 is included in the observation vector of the filter calculation.

The estimation unit 24G executes this filter operation to estimate the analog delay difference ΔAD and the correction value for the integration process. By performing such processing, the analog delay difference ΔAD can be estimated. The estimation unit 24G outputs the correction value for the integration process to the integration processing unit 25G.

The sensor output from the IMU sensor 50 is input to the integrated processing unit 25G. Examples of the sensor output include acceleration and angular velocity. The integrated processing unit 25G calculates the speed, position, and posture angle based on the sensor output. At this time, the integration processing unit 25G uses the correction value for the integration processing for calculating the speed, position, and posture angle. Thereby, a speed, a position, and an attitude angle can be calculated with high accuracy.

The estimation of the analog delay difference and the correction value for the integration processing shown in the present embodiment can be programmed and executed by an information processing apparatus such as a computer. FIG. 20 is a flowchart of an analog delay difference estimation method according to the eighth embodiment of the present invention.

In step S801, single phase differences between antennas are sequentially acquired over time.

In step S802, the sensor output of the IMU sensor 50 is sequentially acquired.

In step S803, a difference value (observation error of the single phase difference between the antennas) between the single phase difference between the antennas calculated in step S801 and the single phase difference between the antennas based on the result of the previous integration process is calculated. This difference value is set as an element of the observation vector of the filter operation.

In step S804, the analog delay difference is set as an element of the state vector. In step S805, a filter operation in which the observation vector and the state vector are set in steps S803 and S804 is executed to estimate the analog delay difference.

In each of the embodiments described above, the calculation (including estimation) of the analog delay difference ΔAD may be executed at all timings (all epochs) at which the single phase difference between the antennas is calculated. You may go on.

(I) Calculation of Analog Delay Difference ΔAD Based on Operating Time FIG. 21 is a flowchart for calculating the analog delay difference based on the operating time.

In step S911, the operation time is counted. The operating time may be counted using a timepiece provided in the positioning signal receiving device or using a time that can be demodulated from the positioning signal.

In step S912, the operating time is compared with the threshold time THh for calculating the analog delay difference. If the operation time does not satisfy the threshold time THh (S912: NO), the operation time is continuously counted. If the operating time reaches the threshold time THh (S912: YES), the process proceeds to step S913.

In step S913, an analog delay difference ΔAD is calculated.

By using such processing, the analog delay difference ΔAD can be calculated with high accuracy even if the analog delay difference ΔAD changes due to a change with time of the receiving unit. Further, the processing load for calculating the analog delay difference ΔAD can be reduced as compared with the aspect of calculating the analog delay difference ΔAD for all epochs.

(Ii) Calculation of Analog Delay Difference ΔAD Based on Temperature FIG. 22 is a flowchart for calculating an analog delay difference based on temperature.

In step S921, the temperature is measured.

In step S922, the amount of change in temperature is compared with an analog delay difference calculation threshold value THΔT. If the temperature change amount does not reach the threshold value THΔT (S922: NO), the temperature measurement is continued. If the temperature change amount reaches the threshold value THΔT (S922: YES), the process proceeds to step S923.

In step S923, an analog delay difference ΔAD is calculated.

By using such processing, the analog delay difference ΔAD can be calculated with high accuracy even if the analog delay difference ΔAD changes due to a change in the temperature of the receiving unit.

(Iii) Calculation of Analog Delay Difference ΔAD Based on Altitude FIG. 23 is a flowchart for calculating the analog delay difference based on the altitude.

In step S931, the altitude is measured.

In step S932, the amount of change in altitude and the threshold value THΔTa for calculating the analog delay difference are compared. If the change amount of the altitude is less than the threshold value THΔTa (S932: NO), the altitude measurement is continued. If the amount of change in altitude reaches the threshold value THΔTa (S932: YES), the process proceeds to step S933.

In step S933, an analog delay difference ΔAD is calculated.

By using such processing, the analog delay difference ΔAD can be calculated with high accuracy even if the analog delay difference ΔAD changes due to a change in the altitude of the receiving unit.

(Iv) Calculation of Analog Delay Difference ΔAD Based on Speed and Rotation Amount FIG. 24 is a flowchart for calculating the analog delay difference based on the speed and the rotation amount.

In step S941, the speed is calculated. The speed is calculated based on, for example, the change amount of the pseudo distance based on the code phase difference.

In step S942, the azimuth is calculated. The azimuth is calculated, for example, from the position and posture angle obtained from the result of independent positioning using the code phase difference.

In step S943, the amount of change in speed is compared with the threshold THv for analog delay difference calculation. Also, the amount of change in azimuth and the threshold value THψ for analog delay difference calculation are compared. If the amount of change in speed is less than the threshold value THv, or if the amount of change in direction is less than the threshold value THψ (S943: NO), the calculation of the speed and direction is continued. If the speed change amount reaches the threshold value THv and the azimuth change amount (rotation amount) reaches the threshold value THψ (S943: YES), the process proceeds to step S944.

In step S944, the elapsed time is measured. If the elapsed time does not reach the preset threshold time (S944: NO), the calculation of the speed and direction is continued. That is, the calculation of the speed and direction is continued in the period in which the change in speed and direction continues or in the period in which the speed and direction do not change for a short time. If the elapsed time has reached the threshold time (S944: YES), the process proceeds to step S945. That is, when it is detected that the change in speed and direction has not changed over a predetermined time, the process proceeds to step S945.

In step S945, an analog delay difference ΔAD is calculated.

By using such processing, it is possible to calculate the analog delay difference ΔAD during a period in which the posture of the moving body equipped with the positioning signal receiving device is stable. Thereby, the calculation error of the analog delay difference ΔAD can be reduced, and the analog delay difference ΔAD can be calculated with higher accuracy.

10, 10A, 10B, 10C, 10D, 10E, 10F, 10G: Positioning signal receivers 100A, 100B, 100C: Antennas 11A, 11A ′, 11B, 11C: Receivers 20, 20A, 20C, 20D, 20E, 20F, 20G: arithmetic units 21, 21C: positioning units 22, 22C, 22D, 22E: delay difference calculation unit 221: single phase difference calculation unit 222, 222E: delay difference determination unit 223: baseline vector storage unit 23, 23G: phase difference calculation Units 24, 24G: estimation units 30, 30A, 30B: switch 40: clock generation unit 50: IMU sensor

Claims (17)

1. A first antenna and a second antenna for receiving positioning signals;
   A first receiver connected to the first antenna and detecting a first carrier phase of the positioning signal;
   A second receiver connected to the second antenna for detecting a second carrier phase of the positioning signal;
   An arithmetic unit that calculates a difference in analog delay amount between the first receiving unit and the second receiving unit using a difference between the first carrier phase and the second carrier phase;
   A positioning signal receiving device.
2. The positioning signal receiving device according to claim 1,
   A switch that selectively connects either the first antenna or the second antenna to the first receiver;
   The computing unit is
   A delay difference for calculating a difference in the analog delay amount from the first carrier phase and the second carrier phase detected when the first receiver and the second receiver are connected to the second antenna by the switch. With a calculation unit,
   Positioning signal receiver.
3. The positioning signal receiving device according to claim 1,
   The first receiving unit is also connected to the second antenna,
   The arithmetic unit is configured to obtain a difference between the analog delay amount from the first carrier phase detected by the first receiver and the second carrier phase detected by the second receiver with respect to the positioning signal received by the second antenna. A delay difference calculating unit for calculating
   Positioning signal receiver.
4. The positioning signal receiving device according to claim 1,
   The computing unit is
   A single phase difference calculator for calculating a single phase difference between the first carrier phase and the second carrier phase for a plurality of different positioning signals;
   A delay amount determination unit that compares the single phase differences for the plurality of positioning signals with each other, and determines a difference in the analog delay amount from a comparison result;
   Comprising
   Positioning signal receiver.
5. The positioning signal receiving device according to claim 1,
   The computing unit is
   A single phase difference calculator for calculating a single phase difference between the first carrier phase and the second carrier phase;
   A baseline vector storage unit for storing a baseline vector connecting the first antenna and the second antenna;
   A single difference in geometric distance is calculated from the baseline vector, a difference between the single difference in geometric distance and the single phase difference is included in an observation vector, and a difference in analog delay amount between the first receiver and the second receiver A delay amount determination unit that determines a difference between the analog delay amounts using a filter operation including
   Comprising
   Positioning signal receiver.
6. The positioning signal receiving device according to claim 1,
   The computing unit is
   A single phase difference calculation unit for calculating a single phase difference between the first carrier phase and the second carrier phase at a plurality of times for the same positioning signal;
   The difference in the analog delay amount is estimated using a filter operation that includes the observation error of the single phase difference in an observation vector and includes the difference in analog delay amount between the first receiving unit and the second receiving unit in a state vector. An estimation unit;
   A positioning signal receiving device.
7. The positioning signal receiving device according to claim 1,
   The computing unit is
   A single phase difference calculating unit that calculates a single phase difference between the first carrier phase and the second carrier phase at a plurality of times;
   The difference between the single phase difference obtained from the positioning data corrected by the integrated processing unit and the single phase difference obtained by the single phase difference calculation unit is included in an observation vector, and the analog of the first reception unit and the second reception unit An estimation unit that estimates the difference in the analog delay amount and the error by using a filter operation including a difference in delay amount and an error included in the output of the inertial sensor in a state vector;
   An integrated processing unit that corrects an output from the inertial sensor using the error estimated by the estimation unit;
   A positioning signal receiving device.
8. A first receiving step of detecting a first carrier phase of a positioning signal at a first receiving unit;
   A second receiving step of detecting a second carrier phase of the positioning signal by a second receiver;
   A calculation step of calculating an analog delay amount difference between the first receiver and the second receiver using a difference between the first carrier phase and the second carrier phase;
   A positioning signal receiving method.
9. A positioning signal receiving method according to claim 8,
   A connection switching step of connecting a second antenna to the second receiver, and selectively connecting either the first antenna or the second antenna to the first receiver;
   The calculation step includes
   A delay difference calculating step of calculating a difference between the analog delay amounts from a first carrier phase detected by the first receiver and a second carrier phase detected by the second receiver with respect to the positioning signal received by the second antenna; ,
   Positioning signal reception method.
10. A positioning signal receiving method according to claim 8,
    The calculation step includes
    A single phase difference calculating step of calculating a single phase difference between the first carrier phase and the second carrier phase for a plurality of different positioning signals;
    A delay amount determination step of comparing the single phase differences for the plurality of positioning signals with each other, and determining a difference in the analog delay amount from a comparison result;
    Having
    Positioning signal reception method.
11. A positioning signal receiving method according to claim 8,
    The calculation step includes
    A single phase difference calculating step of calculating a single phase difference between the first carrier phase and the second carrier phase;
    A baseline vector storing step of storing a baseline vector connecting the antennas corresponding to the single phase difference;
    A single difference in geometric distance is calculated from the stored baseline vector, the difference between the single difference in geometric distance and the single phase difference is included in an observation vector, and the analog delay between the first receiver and the second receiver A delay amount determining step of determining the difference between the analog delay amounts using a filter operation including a difference in the amount in a state vector;
    Having
    Positioning signal reception method.
12. A positioning signal receiving method according to claim 8,
    The calculation step includes
    A single phase difference calculation step of calculating a single phase difference between the first carrier phase and the second carrier phase at a plurality of times for the same positioning signal;
    The difference in the analog delay amount is estimated using a filter operation that includes the observation error of the single phase difference in an observation vector and includes the difference in analog delay amount between the first receiving unit and the second receiving unit in a state vector. An estimation process;
    A positioning signal receiving method.
13. A positioning signal receiving program for causing an information processing device to execute a process of calculating a difference in analog delay amount between a first receiving unit and a second receiving unit,
    The information processing apparatus includes:
    A first reception process for detecting a first carrier phase of a positioning signal by a first receiver;
    A second receiving process of detecting a second carrier phase of the positioning signal by a second receiver;
    An arithmetic processing for calculating a difference in analog delay amount between the first receiver and the second receiver using a difference between the first carrier phase and the second carrier phase;
    A positioning signal receiving program that executes
14. A positioning signal receiving program according to claim 13,
    The information processing apparatus includes:
    A connection switching process for connecting a second antenna to the second receiving unit and selectively connecting either the first antenna or the second antenna to the first receiving unit;
    In the arithmetic processing,
    A delay difference calculation process for calculating a difference in the analog delay amount from a first carrier phase detected by the first receiver and a second carrier phase detected by the second receiver with respect to the positioning signal received by the second antenna is executed. To
    Positioning signal reception program.
15. A positioning signal receiving program according to claim 13,
    The information processing apparatus includes:
    In the arithmetic processing,
    A single phase difference calculation process for calculating a single phase difference between the first carrier phase and the second carrier phase for a plurality of different positioning signals;
    A delay amount determination process for comparing the single phase differences for the plurality of positioning signals with each other, and determining a difference in the analog delay amount from a comparison result;
    Run the
    Positioning signal reception program.
16. A positioning signal receiving program according to claim 13,
    The information processing apparatus includes:
    In the arithmetic processing,
    A single phase difference calculation process for calculating a single phase difference between the first carrier phase and the second carrier phase;
    A baseline vector storage process for storing a baseline vector connecting the antennas corresponding to the single phase difference;
    A single difference in geometric distance is calculated from the stored baseline vector, the difference between the single difference in geometric distance and the single phase difference is included in an observation vector, and the analog delay between the first receiver and the second receiver A delay amount determination process for determining a difference in the analog delay amount using a filter operation including a difference in the amount in a state vector;
    Run the
    Positioning signal reception program.
17. A positioning signal receiving program according to claim 13,
    The information processing apparatus includes:
    In the arithmetic processing,
    A single phase difference calculation process for calculating a single phase difference between the first carrier phase and the second carrier phase at a plurality of times for the same positioning signal;
    The difference in the analog delay amount is estimated using a filter operation that includes the observation error of the single phase difference in an observation vector and includes the difference in analog delay amount between the first receiving unit and the second receiving unit in a state vector. An estimation process;
    A positioning signal receiving program that executes

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