WO2017022391A1 - Dispositif de détection de trajets multiples, procédé de détection de trajets multiples, programme de détection de trajets multiples, dispositif de positionnement, procédé de positionnement et programme de positionnement - Google Patents

Dispositif de détection de trajets multiples, procédé de détection de trajets multiples, programme de détection de trajets multiples, dispositif de positionnement, procédé de positionnement et programme de positionnement Download PDF

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Publication number
WO2017022391A1
WO2017022391A1 PCT/JP2016/069907 JP2016069907W WO2017022391A1 WO 2017022391 A1 WO2017022391 A1 WO 2017022391A1 JP 2016069907 W JP2016069907 W JP 2016069907W WO 2017022391 A1 WO2017022391 A1 WO 2017022391A1
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Prior art keywords
positioning
multipath
value
multipath detection
wave
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PCT/JP2016/069907
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English (en)
Japanese (ja)
Inventor
勇人 鳥居
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古野電気株式会社
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Publication of WO2017022391A1 publication Critical patent/WO2017022391A1/fr

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    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational 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
    • G01S19/22—Multipath-related issues
    • 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
    • G01S19/29—Acquisition or tracking or demodulation of signals transmitted by the system carrier including Doppler, related
    • 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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Definitions

  • the present invention relates to a multipath detection device, a multipath detection method, and a multipath detection program for detecting whether or not a received positioning signal is a multipath wave.
  • a direct wave is a signal in which a positioning signal transmitted from a positioning satellite is directly received by an antenna.
  • a multipath wave is a signal in which a positioning signal transmitted from a positioning satellite is reflected by some object and received by an antenna.
  • High-accuracy positioning using carrier phase is less affected by multipath waves than positioning using code phase, and positioning accuracy is less likely to deteriorate.
  • one positioning signal is excluded from all received positioning signals, and positioning calculation is performed using a pseudo distance.
  • the positioning device described in Patent Document 1 repeats positioning calculation based on pseudo distance while switching positioning signals to be excluded.
  • the positioning device described in Patent Literature 1 detects a positioning signal excluded when it is determined that the positioning accuracy is high as an unnecessary wave such as a multipath wave.
  • the positioning calculation based on the pseudo distance must be performed a plurality of times. Executing the positioning calculation based on the pseudo distance a plurality of times requires a high calculation load and takes time to detect a multipath wave.
  • an object of the present invention is to provide a multipath detection device that detects a multipath wave at high speed and accurately.
  • the multipath detection apparatus of the present invention includes an observation value acquisition unit 20, an estimated value calculation unit 30, and a determination unit 40.
  • the observation value acquisition unit acquires the observation value from the carrier phase of the positioning signal received from a plurality of positioning satellites.
  • the estimated value calculation unit calculates an estimated value corresponding to the observed value from the geometric distance obtained from the position of the positioning satellite and the approximate position of the antenna.
  • the determination unit determines whether the received positioning signal is a multipath wave based on the time change amount of the observed value and the time change amount of the estimated value.
  • the difference between the observed value of the multipath wave and the observed value of the direct wave is detected from the time change of the difference between the observed value and the estimated value. Therefore, the difference between the direct wave and the multipath wave can be obtained without performing positioning using the carrier phase.
  • multipath waves can be detected at high speed.
  • multipath waves can be detected accurately.
  • FIG. 1 is a block diagram of a multipath detection device according to a first embodiment of the present invention.
  • Graph showing time variation in multiphase wave and direct wave carrier phase integration value Graph showing the time change of the difference between the carrier phase integration value of the reference direct wave and the carrier phase integration value of the observed direct wave and multipath wave
  • Flowchart of the positioning method according to the first embodiment of the present invention The block diagram of the positioning apparatus which concerns on the 1st Embodiment of this invention.
  • the block diagram of the multipath detection apparatus concerning the 2nd Embodiment of this invention.
  • Flowchart of the positioning method according to the second embodiment of the present invention The block diagram of the multipath detection apparatus concerning the 3rd Embodiment of this invention.
  • FIG. 1 is a block diagram of a multipath detection apparatus according to the first embodiment of the present invention.
  • the multipath detection apparatus 10 includes an observation value acquisition unit 20, an estimated value calculation unit 30, and a determination unit 40.
  • the observation value acquisition unit 20 is connected to the antenna ANT1.
  • the antenna ANT1 is installed at a fixed point, receives a positioning signal transmitted from a positioning satellite, and outputs it to the observation value acquisition unit 20.
  • a positioning satellite is a satellite that constitutes a GNSS such as GPS.
  • the positioning signal is a signal obtained by code-modulating a carrier wave having a predetermined frequency with a pseudo spread code. A navigation message is superimposed on the positioning signal.
  • the observation value acquisition unit 20 captures and tracks a positioning signal for each positioning satellite.
  • the observation value acquisition unit 20 acquires the observation value of the carrier phase integrated value from the tracking result.
  • the observation value acquisition unit 20 outputs the observation value to the determination unit 40.
  • the observation value acquisition unit 20 measures the code phase and carrier phase of the positioning signal.
  • the observation value acquisition unit 20 outputs the code phase and the carrier wave phase to the estimated value calculation unit 30.
  • the estimated value calculation unit 30 calculates a geometric distance from the approximate position of the antenna ANT1 and the position of the positioning satellite.
  • the position of the positioning satellite is obtained from the satellite orbit information in the navigation message.
  • the approximate position of the antenna ANT1 is obtained by positioning using pseudoranges for a plurality of positioning satellites calculated using the code phase.
  • the estimated value calculating unit 30 outputs the carrier phase integrated value calculated from the geometric distance to the determining unit 40 as an estimated value of the carrier phase integrated value.
  • the determination unit 40 determines whether or not the received positioning signal is a multipath wave, using the observation value and the estimated value of the carrier phase integrated value. Specifically, the determination unit 40 determines multipath waves by the following method.
  • FIG. 2 is a graph showing the time change of the carrier phase integrated value of the multipath wave and the direct wave.
  • FIG. 3 is a graph showing the change over time of the difference between the carrier phase integrated value of the reference direct wave and the observed carrier phase integrated values of the direct wave and the multipath wave.
  • direct wave (Wd), multipath wave A (Wma), and multipath wave B (Wmb) indicate cases where a positioning signal is received at a fixed point
  • multipath wave C (Wmc) is The case where a positioning signal is received at a moving point is shown.
  • the difference between the carrier phase integrated values shown in FIG. 3 is calculated by the carrier phase integrated value shown in FIG.
  • the reference direct wave Wd (std) is the same as the observed direct wave Wd.
  • the observed value of the carrier phase integrated value when a positioning signal is received at a fixed point, regardless of whether it is a direct wave or a multipath wave, the observed value of the carrier phase integrated value can be regarded as linearly increasing or decreasing linearly if it is about a few minutes. it can.
  • the amount of time change in the observed value of the carrier phase integrated value differs between the direct wave and the multipath wave. For this reason, as shown in FIG. 3, when a positioning signal is received at a fixed point, the difference between the observed value of the carrier phase integrated value of the multipath wave and the observed value of the carrier phase integrated value of the direct wave is approximately linear. Change, monotonically increasing or monotonically decreasing.
  • the time change of the observed value of the carrier phase integrated value becomes nonlinear depending on the receiving position. Therefore, the difference between the observed value of the carrier phase integrated value of the multipath wave and the observed value of the carrier phase integrated value of the direct wave also changes nonlinearly.
  • the observed values of the carrier phase integrated value of the multipath wave at times t0 and t0 + ⁇ t are respectively ADR m (t0) and ADR m (t0 + ⁇ t), and the observed values of the carrier phase integrated value of the direct wave at times t0 and t0 + ⁇ t Are ADR d (t0) and ADR d (t0 + ⁇ t), respectively, and a multipath wave dependence coefficient f x (t0, t0 + ⁇ t) between times t0 and t0 + ⁇ t is expressed by the following equation.
  • f x (t0, t0 + ⁇ t) (ADR m (t0 + ⁇ t) ⁇ ADR m (t0)) ⁇ (ADR d (t0 + ⁇ t) ⁇ ADR d (t0)) (Formula 1)
  • n is a coefficient representing the passage of time.
  • the determination unit 40 Since it is not possible to directly acquire the term relating to the direct wave in the above (Equation 1), the determination unit 40 does not know whether the positioning signal is a direct wave or a multipath wave only by acquiring the observation value of the carrier phase integrated value. .
  • the estimated value calculation unit 30 calculates an estimated value of the carrier wave phase integrated value of the direct wave in a pseudo manner from the position measured using the code phase. Specifically, the estimated value calculation unit 30 calculates the position of the antenna ANT1 from the pseudo distance for each positioning signal, calculates the reception time, and calculates the geometric distance between the positioning satellite and the antenna ANT1. The estimated value calculation unit 30 calculates an estimated value of the carrier phase integrated value from the calculated geometric distance.
  • the determination unit 40 substitutes the estimated value at each time for ADR d (t0 + ⁇ t) and ADR d (t0) in (Equation 1), and calculates the multipath wave dependency coefficient f x (t0, t0 + ⁇ t). The determination unit 40 similarly calculates the multipath wave dependency coefficient f x (t0, t0 + n ⁇ t) at different times (t0, t0 + n ⁇ t).
  • Determining portion 40 the relationship (linear change in the multipath wave dependence coefficient at different another twice times f x (t0, t0 + ⁇ t ) and multipath wave dependency coefficient f x (t0, t0 + n ⁇ t ) is (Equation 3) ), It is determined that the received positioning signal is a multipath wave.
  • the determination unit 40 that the second time of the multipath wave dependency coefficient f x (t0, t0 + ⁇ t ) and multipath wave dependency coefficient f x (t0, t0 + n ⁇ t ) is a relationship (no change) of (Formula 2) Is detected, it is determined that the received positioning signal is not a multipath wave (direct wave).
  • the configuration of the present embodiment it is possible to detect whether or not the received positioning signal is a multipath wave without performing positioning using the carrier phase. That is, by using the configuration of this embodiment, multipath waves can be detected quickly and accurately.
  • the multipath may be detected by acquiring the ratio of the time change amount of the observed value and the time change amount of the estimated value over time.
  • the mode in which the multipath is detected by obtaining the difference between the time change amount of the observed value and the time change amount of the estimated value with time is shown.
  • FIG. 4 is a flowchart of the positioning method according to the first embodiment of the present invention.
  • the arithmetic processing unit acquires the observation value of the carrier phase integrated value from the tracking result of the received positioning signal (S101).
  • the arithmetic processing unit calculates an estimated value of the carrier phase integrated value from the pseudo distance based on the positioning signal (S102).
  • the arithmetic processing unit compares the observed value of the carrier wave phase integrated value with the estimated value (S103). The arithmetic processing unit performs this comparison by combining two times having different time intervals.
  • the arithmetic processing unit determines that the positioning signal is a multipath wave (S105). As a specific example, the arithmetic processing unit calculates the difference between the observed value and the estimated value of the carrier phase integrated value (corresponding to S103), and if the difference value changes linearly (S104: corresponding to NO), It is determined that the positioning signal is a multipath wave (corresponding to S105).
  • the arithmetic processing unit determines that the positioning signal is not a multipath wave but a direct wave. As a specific example, the arithmetic processing unit calculates the difference between the observed value and the estimated value of the carrier phase integrated value (corresponding to S103), and if the difference value is the same (S104: corresponding to YES), positioning is performed. It is determined that the signal is not a multipath wave but a direct wave.
  • FIG. 5 is a block diagram of the positioning apparatus according to the first embodiment of the present invention.
  • the positioning device 100 includes the configuration of the multipath detection device 10 described above and a positioning calculation unit 50.
  • the positioning calculation unit 50 receives the observation value of the carrier phase integrated value and the detection result of the multipath wave.
  • the positioning calculation unit 50 performs positioning calculation using the observation value of the carrier phase integrated value.
  • the positioning calculation unit 50 sets a weighting coefficient for each observation value in the calculation formula for positioning calculation.
  • the weighting coefficient is set so that the larger the weight, the greater the influence on the positioning result, and the smaller the weight, the smaller the influence on the positioning result.
  • the positioning calculation unit 50 sets the weight for the observation value of the positioning signal determined to be a multipath wave to be small and the weight for the observation value of the positioning signal determined to be not a multipath wave to be large.
  • the positioning calculation unit 50 performs positioning calculation using this weighted calculation formula.
  • the weight of the positioning signal determined to be a multipath wave may be minimized, that is, the weighting coefficient may be “0”.
  • the positioning calculation unit 50 can perform positioning using not only the observed value of the carrier phase integrated value but also the observed value of the code phase integrated value.
  • FIG. 6 is a block diagram of a multipath detection apparatus according to the second embodiment of the present invention.
  • the multipath detection device 10A according to the present embodiment uses a single phase difference between satellites calculated from the carrier phase integration value, whereas the multipath detection device 10 according to the first embodiment uses the carrier phase integration value as it is. Is used.
  • the basic concept of the multipath detection device 10A according to the present embodiment is the same as that of the multipath detection device 10 according to the first embodiment.
  • the multipath detection device 10A includes an observation value acquisition unit 20A, an estimated value calculation unit 30A, and a determination unit 40A.
  • the observation value acquisition unit 20A includes an integrated value observation unit 201 and a single phase difference calculation unit 202.
  • the integrated value observation unit 201 is the same as the observation value acquisition unit 20 according to the first embodiment.
  • the integrated value observation unit 201 outputs the observation value of the carrier phase integrated value to the single phase difference calculation unit 202.
  • the integrated value observation unit 201 outputs the code phase to the estimated value calculation unit 30A.
  • the single phase difference calculation unit 202 calculates the observation value of the inter-satellite single phase difference from the observation value of the carrier phase integrated value for a plurality of positioning satellites.
  • Single phase difference calculation section 202 outputs the observation value of the single phase difference between satellites to determination section 40A.
  • the estimated value calculation unit 30A calculates pseudoranges for a plurality of positioning satellites from code phases for the plurality of positioning satellites.
  • the estimated value calculation unit 30A calculates an estimated value of a single phase difference between satellites from a difference in pseudoranges for a plurality of positioning satellites and a wavelength of a carrier phase.
  • the estimated value calculation unit 30A outputs an estimated value of the single phase difference between the satellites to the determination unit 40A.
  • the determination unit 40A compares the observed value and the estimated value of the single phase difference between the satellites, and detects whether or not the positioning signal is a multipath wave from the comparison result. Specifically, the relationship between the observed value and the estimated value of the single phase difference between satellites is similar to that in the first embodiment.
  • the single-phase phase differences between the satellites of the multipath wave carrier phase at times t0 and t0 + ⁇ t are respectively ADRD m P, Q (t0) and ADRD m P, Q (t0 + ⁇ t), and the carrier phase of the direct wave at times t0, t0 + ⁇ t
  • ADRD m P, Q (t0) and ADRD m P, Q (t0 + ⁇ t) are respectively ADRD m P, Q (t0) and ADRD m P, Q (t0 + ⁇ t)
  • the carrier phase of the direct wave at times t0, t0 + ⁇ t are respectively, and the multipath wave dependence coefficients due to the single phase difference between times t0, t0 + ⁇ t.
  • n be a coefficient representing the passage of time.
  • the determination unit 40A detects whether or not the positioning signal is a multipath wave by using whether or not the difference between the observed value and the estimated value of the single phase difference between the satellites changes with time.
  • the detection of multipath waves in the present embodiment may be stored by programming each of the above-described processes, and the program may be executed by an arithmetic processing device such as a computer.
  • the arithmetic processing unit may execute the following positioning method and positioning program.
  • FIG. 7 is a flowchart of the positioning method according to the second embodiment of the present invention.
  • the arithmetic processing unit acquires the observation value of the carrier phase integrated value from the tracking result of the received positioning signal (S201).
  • the arithmetic processing unit calculates the observation value of the single phase difference between the satellites from the observation value of the carrier phase integrated value for each positioning satellite (S202).
  • the arithmetic processing unit calculates an estimated value of the single phase difference between the satellites from the pseudorange using the code phase of the positioning signal (S203).
  • the arithmetic processing unit compares the observed value and the estimated value of the single phase difference between the satellites (S204).
  • the arithmetic processing unit performs this comparison by combining two times having different time intervals.
  • the arithmetic processing unit determines that the positioning signal is a multipath wave (S206). If the comparison result is constant (S205: YES), the arithmetic processing unit determines that the positioning signal is not a multipath wave but a direct wave.
  • multipath detection device 10A can also be provided in the positioning device, similarly to the configuration shown in FIG.
  • FIG. 8 is a block diagram of a multipath detection apparatus according to the third embodiment of the present invention.
  • the multipath detection device 10B according to the present embodiment uses the double phase difference of the carrier phase integrated value, whereas the multipath detection device 10A according to the second embodiment uses a single phase difference between satellites. Yes.
  • the basic concept of the multipath detection device 10B according to the present embodiment is the same as that of the multipath detection device 10A according to the second embodiment.
  • the multipath detection device 10B includes an observation value acquisition unit 20B, an estimated value calculation unit 30B, a determination unit 40B, and a wireless communication unit 70.
  • the observation value acquisition unit 20B includes an integrated value observation unit 201 and a double phase difference calculation unit 203.
  • the integrated value observation unit 201 is the same as the integrated value observation unit 201 according to the second embodiment.
  • the integrated value observation unit 201 outputs the observation value of the carrier phase integrated value to the double phase difference calculation unit 203.
  • the integrated value observation unit 201 outputs the code phase to the estimated value calculation unit 30B.
  • the wireless communication unit 70 is connected to the antenna ANT70.
  • the radio communication unit 70 receives the observation value of the carrier phase integrated value and the code phase or pseudorange in the base station via the antenna ANT70.
  • the wireless communication unit 70 outputs the observation value of the carrier phase integrated value to the double phase difference calculation unit 203.
  • the wireless communication unit 70 outputs the code phase or the pseudo distance to the estimated value calculation unit 30B.
  • the double phase difference calculation unit 203 calculates the observation value of the double phase difference from the observation value of the carrier phase integrated value of the own device and the base station for a plurality of positioning satellites.
  • the double phase difference calculation unit 203 outputs the observation value of the double phase difference to the determination unit 40B.
  • the estimated value calculation unit 30B calculates pseudoranges for the plurality of positioning satellites, the own device, and the base station from the code phases of the own device and the base station for the plurality of positioning satellites. If the pseudo distance is acquired from the base station, the acquired pseudo distance may be used.
  • the estimated value calculation unit 30B calculates an estimated value of the double phase difference from the difference of the pseudoranges for the plurality of positioning satellites in the own apparatus and the base station and the wavelength of the carrier phase. That is, the estimated value of the single phase difference shown in the second embodiment is calculated for the own apparatus and the base station, and the difference is calculated.
  • the estimated value calculation unit 30B outputs the estimated value of the double phase difference to the determination unit 40B.
  • the determination unit 40B compares the observed value of the double phase difference with the estimated value of the double phase difference, and detects whether the positioning signal is a multipath wave from the comparison result. Specifically, the relationship between the observed value of the double phase difference and the estimated value of the double phase difference has the same relationship as in the first and second embodiments described above.
  • the double phase difference of the carrier phase of the multipath wave at times t0 and t0 + ⁇ t is ADRDD m p, q (t0) and ADRDD m p, q (t0 + ⁇ t), respectively, and the carrier phase of the direct wave at times t0, t0 + ⁇ t
  • the double phase differences are ADRDD d p, q (t0) and ADRDD d p, q (t0 + ⁇ t), respectively, and the multipath wave dependence coefficient due to the double phase difference between times t0, t0 + ⁇ t is f x P, Q (t0 , T0 + ⁇ t).
  • n be a coefficient representing the passage of time.
  • the determination unit 40B detects whether or not the positioning signal is a multipath wave by using whether or not the difference between the observed value of the double phase difference and the estimated value of the double phase difference changes with time.
  • the detection of multipath waves according to the present embodiment is stored by programming each of the above-described processes, and the program may be executed by an arithmetic processing device such as a computer. .
  • the arithmetic processing unit may execute the following positioning method and positioning program.
  • FIG. 9 is a flowchart of the positioning method according to the third embodiment of the present invention.
  • the arithmetic processing unit acquires the observation value of the carrier phase integrated value from the tracking result of the received positioning signal (S301).
  • the arithmetic processing unit acquires the observation value and the pseudo distance of the carrier phase integrated value from the base station (S302).
  • the arithmetic processing unit calculates an observed value of the double phase difference from the observed value of the carrier phase integrated value for each positioning satellite in the own device and the base station (S303).
  • the arithmetic processing unit calculates an estimated value of the double phase difference from the pseudorange using the code phase of the positioning signal and the pseudorange of the base station (S304).
  • the arithmetic processing unit compares the observed value of the double phase difference with the estimated value of the double phase difference (S305).
  • the arithmetic processing unit performs this comparison by combining two times having different time intervals.
  • the arithmetic processing unit determines that the positioning signal is a multipath wave if the comparison result is not constant (S306: NO) (S307). If the comparison result is constant (S306: YES), the arithmetic processing unit determines that the positioning signal is not a multipath wave but a direct wave.
  • multipath detection device 10B can also be provided in the positioning device, similarly to the configuration shown in FIG.
  • the second and third embodiments there are two positioning satellites for obtaining a single phase difference or a double phase difference between the satellites, and it cannot be determined which positioning satellites are multipath waves. .
  • high-accuracy positioning can be realized by reducing or eliminating the weights for these two positioning satellites.
  • Multipath detection device 20 Integrated value acquisition unit 30, 30A, 30B: Estimated value calculation unit 40, 40A, 40B: Determination unit 50: Positioning calculation unit 70: Wireless communication unit 100: Positioning device 201: Integrated value observation unit 202: single phase difference calculation unit 203: double phase difference calculation unit

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  • 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)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

Le problème décrit par l'invention est de détecter avec précision une onde à trajets multiples à haute vitesse. La solution de l'invention porte sur un dispositif de détection de trajets multiples (10) qui comprend une unité d'acquisition de valeur d'observation (20), une unité de calcul de valeur d'estimation (30) et une unité de détermination (40). L'unité d'acquisition de valeur d'observation (20) reçoit un signal de positionnement à partir de chaque satellite d'une pluralité de satellites de positionnement et obtient une valeur d'observation d'une phase d'onde porteuse de chaque signal de positionnement. L'unité de calcul de valeur d'estimation (30) calcule une valeur d'estimation correspondant à la valeur d'observation sur la base d'une distance géométrique obtenue à partir de la position du satellite de positionnement et d'une position approximative d'une antenne ANT1. L'unité de détermination (40) détermine si le signal de positionnement reçu est une onde à trajets multiples sur la base de l'ampleur du changement temporel de la valeur d'observation et de l'ampleur du changement temporel de la valeur d'estimation.
PCT/JP2016/069907 2015-08-06 2016-07-05 Dispositif de détection de trajets multiples, procédé de détection de trajets multiples, programme de détection de trajets multiples, dispositif de positionnement, procédé de positionnement et programme de positionnement WO2017022391A1 (fr)

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WO2022162127A1 (fr) * 2021-01-29 2022-08-04 Thales Dispositif de détection de multitrajets de signaux gnss, et système de géolocalisation d'un porteur et procédé de détection de multitrajets associés
CN116299623A (zh) * 2023-05-12 2023-06-23 武汉大学 一种城市复杂场景下的ppp和ins紧组合方法与系统

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FR3119463A1 (fr) * 2021-01-29 2022-08-05 Thales Dispositif de detection de multitrajets de signaux gnss, et systeme de geolocalisation d'un porteur et procede de detection de multitrajets associes
CN116299623A (zh) * 2023-05-12 2023-06-23 武汉大学 一种城市复杂场景下的ppp和ins紧组合方法与系统

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