WO2019123558A1 - Système d'estimation de position de soi - Google Patents

Système d'estimation de position de soi Download PDF

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Publication number
WO2019123558A1
WO2019123558A1 PCT/JP2017/045664 JP2017045664W WO2019123558A1 WO 2019123558 A1 WO2019123558 A1 WO 2019123558A1 JP 2017045664 W JP2017045664 W JP 2017045664W WO 2019123558 A1 WO2019123558 A1 WO 2019123558A1
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WIPO (PCT)
Prior art keywords
self
dop
position estimation
predetermined value
satellites
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PCT/JP2017/045664
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English (en)
Japanese (ja)
Inventor
尚子 高田
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株式会社日立製作所
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Priority to PCT/JP2017/045664 priority Critical patent/WO2019123558A1/fr
Publication of WO2019123558A1 publication Critical patent/WO2019123558A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/485—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an optical system or imaging system
    • 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
    • G01S19/28—Satellite selection

Definitions

  • the present invention relates to a self-position estimation system that performs self-position estimation with higher accuracy by using a plurality of self-position estimation results based on the output of a self-position measurement sensor in combination.
  • second positioning means for positioning the position of the moving body using the positioning result of the position of the moving body in the past and the velocity information of the moving body, and the positioning result of the first or second positioning means in the past It comprises: third positioning means for positioning the position of a mobile using the obtained variable solution; and control means 60 for selecting positioning means for executing positioning processing among the positioning means, the control means selecting If the reliability of the positioning result of the determined positioning means is lower than a predetermined reference value, another positioning means is selected to execute the positioning process.
  • Reliability of the external sensor and the variance of the sensor output Calculated from, in the case the reliability of the positioning results of a sensor is lower than a predetermined reference value techniques for switching to a different sensor is disclosed.
  • the self-position estimation system of the present invention estimates self-position with reference to the outputs of a plurality of external sensors, and an error index value serving as an index of measurement error of each external sensor Using the above weights for the error index value calculation unit to be estimated, the weight setting unit for setting the weight of each external sensor based on each error index value, and the self position estimated based on the output of each external sensor And a self-position estimation control unit for taking a weighted average and estimating a final self-position.
  • the present invention is intended to estimate a self position by referring to radio waves of a plurality of GPS satellites, and select a GPS receiver which receives the radio waves of the GPS satellites and a GPS satellite whose CN ratio of radio waves is a predetermined value or more.
  • a GPS satellite comprising: selection means, and a self position estimation unit for estimating a self position based on radio waves of a plurality of selected GPS satellites, and used for self position estimation according to a combination of outputs of the satellite selection means The combination of
  • FIG. 1 is a functional block diagram of a self-position estimation system according to a first embodiment.
  • 7 shows an example of an external sensor arrangement of an autonomous vehicle equipped with the self-position estimation apparatus of the first embodiment.
  • FIG. 7 is a diagram for explaining the correlation of PN codes observed from radio waves of a satellite A. The figure explaining the correlation of the PN code observed from the electric wave of satellite B.
  • FIG. FIG. 7 is a functional block diagram of a self-position estimation system according to a second embodiment. List of satellite selection logic corresponding to the reception status of the GPS receiver.
  • the flowchart of the satellite selection method of mode 1.
  • the flowchart of the satellite selection method of mode 4. Flow chart of satellite selection method of mode 5.
  • the ⁇ R setting logic list corresponding to the reception status of the GPS receiver.
  • the figure which illustrates the possible range of ⁇ R 1 ′ to ⁇ R 5 ′. diagram for explaining a method of setting the value of sigma] R 1 '.
  • the details of the self-position estimation system 100 according to the first embodiment, which estimates the self-position of a mobile unit 200 such as an autonomous vehicle, will be described with reference to FIGS. 1 and 2.
  • FIG. 1 is a functional block diagram of the self-position estimation system 100.
  • the self-position estimation system 100 includes a self-position estimation unit 12 and an error index value in addition to an external sensor 11 (for example, a GPS sensor, a camera, a rider, a laser, a wheel speed sensor) that measures the self position.
  • the calculation unit 13, the weight setting unit 14, the self-position estimation generalization unit 15, and the control device 16 are included.
  • the configuration using n external sensors 11 (11a to 11n) and the corresponding self position estimation units 12 (12a to 12n) is exemplified, but the type and number of external sensors may be changed as necessary. And you should choose appropriately.
  • each function expressed by the self position estimation unit 12, the error index value calculation unit 13, the weight setting unit 14, and the self position estimation generalization unit 15 is an auxiliary storage such as a hard disk provided in the self position estimation system 100.
  • This is realized by loading a program recorded in the device into a main storage device such as a semiconductor memory and executing it by an arithmetic device such as a CPU. In the following, such a known operation is appropriately omitted. While explaining.
  • a method of processing the output of the external sensor 11 in the self-position estimation system 100 will be described using an example in which the first external sensor 11a is a GPS sensor.
  • the first self-position estimating unit 12a estimates the self-position estimation value r 1 based on the GPS information. .
  • this estimated self-position value r 1 contains an error ⁇ 1 and deviates from the true self-position r 0, since the error ⁇ 1 is unknown, the first self-position estimation unit 12 a is true The self position r 0 can not be determined.
  • the first error index value calculator 13a when the GPS information which is the output of the first external sensor 11a is input to the first error index value calculator 13a, the first error index value calculator 13a generates the first external sensor based on the GPS information. An error index value that is an index of the magnitude of the error ⁇ 1 of 11 a is calculated.
  • another external sensor the second external sensor 11b in the example of FIG. 1 You may refer to the output of
  • the first weight setting unit 14a calculates the weight w 1 (reference strength) of the reliability of the first external sensor 11a based on the error index value calculated by the first error index value calculation unit 13a. Output.
  • self position estimate values r 2 to r n and weights w 2 to w n are obtained also for the second external sensor 11 b to the n-th external sensor 11 n.
  • the self position estimation generalization unit 15 estimates a final self position estimated value r ⁇ more emphasizing the large self position estimated value r with a large weight w, using a plurality of self position estimated values r and weights w. , To the control device 16 of the mobile unit 200.
  • the estimated r ⁇ in order to approximate the true self position r 0, by using this r ⁇ , the control device 16, it is possible to more stably control the moving object 200.
  • the mobile unit 200 is provided with a GPS receiver 21, a camera 22, a rider 23 and a wheel speed / steering angle sensor 24 as an external sensor 11 which measures its own position.
  • the rainfall sensor 25 which acquires rainfall as external information is also provided.
  • the self-position estimation unit 12 of the GPS sensor 21 receives radio waves from a plurality of GPS satellites (hereinafter referred to as "satellites") flying overhead, calculates the distance to each satellite, and estimates the self-position.
  • the self-position estimation unit 12 of the camera 22 captures an image of the surroundings, compares features (such as a signboard) in the image with a map, and estimates the self-position.
  • the self-position estimation unit 12 of the lidar 23 obtains the three-dimensional object shape of the periphery, compares the feature of the shape with the map as in the camera, and estimates the self-position.
  • the self-position estimation unit 12 of the wheel speed and steering angle sensor 24 obtains the rotational speed and direction of each wheel, integrates the distance and direction of travel of the moving body, and estimates the self position.
  • the error index value calculation unit 13 of the GPS sensor 21 calculates an error index value from the height, distance, and density of the surrounding obstacle. For example, it is estimated that the error in the self-position estimation by the GPS receiver 21 is larger as the number of obstacles at the position where the elevation angle is high as viewed from the GPS receiver 21 is larger.
  • the error index value calculation unit 13 of the camera 22 calculates an error index value from the degree of coincidence with the map. For example, it is estimated that the error in self-position estimation by the camera 22 is larger as the degree of coincidence between the landmark registered in the map, the type of the observed landmark, and the position is lower.
  • the error index value calculation unit 13 of the lidar 23 estimates that the lower the degree of coincidence of the observation result with the landmark on the map, the larger the error in self-position estimation by the lidar.
  • the error index value calculation unit 13 of the wheel speed and steering angle sensor 24 estimates that the error in self position estimation by the wheel speed and steering angle sensor is larger as the deviation of the observation result of each wheel is larger.
  • the weight setting unit corresponding to each external sensor assigns a weight w proportional to the reciprocal of each error index value to the self position estimation value r.
  • the self-position estimation generalization unit 15 calculates a weighted average using a plurality of self-position estimate values r and weights w to estimate a final self-position estimate value r ⁇ . This makes it possible to minimize the error of the self-position estimation result for the following reasons.
  • an error ⁇ i is generally included in the self-position estimation value r i based on the output of the i-th external sensor 11 i , and the following equation is established with the true self-position r 0 .
  • the minimum value of can be expressed by the following formula from the formula of additive geometric mean.
  • the stability of autonomous control can be improved by controlling the mobile unit 200 using the final self-position estimation value r ⁇ obtained by the self-position estimation generalization unit 15 of this embodiment.
  • the error index value of the GPS receiver 21 As a method of calculating the error index value of the GPS receiver 21, a simple method has been exemplified in which the error is estimated to increase as the number of obstacles increases at a position where the elevation angle is high as viewed from the GPS receiver 21.
  • a method of using the CN ratio indicating the magnitude of a signal (carrier) with respect to noise and the PN code information to be collated to estimate the distance to the satellite is used to calculate the error index value of the GPS receiver 21. explain.
  • the geometrical arrangement of each satellite can be evaluated by calculating and referring to the positional accuracy deterioration degree DOP (Dilution of Precision).
  • the DOP is an index calculated from the arrangement of each satellite, and indicates that the smaller the DOP is, the higher the self-position estimation accuracy is.
  • the distance estimation accuracy with each satellite can be evaluated based on the influence of the surrounding environment on radio waves.
  • the influence of the surrounding environment on the quality of the radio wave received by the GPS receiver 21 will be described with reference to FIGS.
  • FIG. 3 is a schematic view in which radio wave paths from satellites to the GPS receiver 21 when the GPS receiver 21 is located in a valley of a building are classified into four modes.
  • the radio wave path from satellite A is composed of only direct waves (solid line)
  • the radio wave path from satellite B is composed of multipaths of direct waves (solid line) and reflected waves (broken line)
  • the radio wave path from is constituted only by the reflected wave (broken line)
  • the radio wave path from the satellite D is constituted only by the diffracted wave (broken line).
  • These four satellites are representative examples of each aspect of the radio wave path, and in fact, the GPS receiver 21 also receives radio waves from many satellites other than the four satellites.
  • the radio wave from the satellite C which is a reflected wave and the radio wave from the satellite D which is a diffracted wave have a reduced CN ratio as a result of reflection and diffraction.
  • a lower limit value of CN ratio is provided, and by selecting only radio waves of quality exceeding this lower limit, satellites of low quality radio waves such as reflected waves and diffracted waves Can be excluded.
  • the satellite B to which both the direct wave and the reflected wave reach does not necessarily have a low CN ratio, and the radio wave quality can not be judged only by the CN ratio. Therefore, the quality of the radio wave is judged based on the correlation profile of the PN code.
  • FIG. 4A is a diagram for explaining the PN code correlation ⁇ (t) of the radio wave from the satellite A.
  • the vertical axis is the PN code correlation ⁇ (t), and the horizontal axis is the time t.
  • the correlation profile of the PN code has only one correlation peak (single peak).
  • single peaks are also observed in the case where only reflected waves or diffracted waves reach.
  • the satellite B in which a multipath occurs in which a reflected wave is also received in addition to the direct wave, as shown in FIG.
  • a correlation peak of the reflected wave is observed after a predetermined time has elapsed from the correlation peak of the direct wave Peak). Therefore, by checking whether the correlation profile of the PN code is unimodal or multimodal, it is possible to exclude satellites in which multipath is generated.
  • the GPS receiver 21 can extract satellites (satellite A) with high radio wave quality by selecting a signal with a sufficiently high CN ratio and a single peak of the delay profile of the PN signal. Then, by calculating DOPs of a plurality of satellites selected by this method, it is possible to estimate the self-position estimation accuracy by the GPS receiver 21.
  • FIG. 5 shows a process of selecting a satellite to be used by the GPS receiver 21 based on the CN ratio of radio waves of each satellite and information of PN code, etc., and calculating the self position estimated value r and the error index value from the radio waves of selected satellites. Is shown. Note that the processing of S51 to S57 is actually processing performed by any of the GPS receiver 21, the self position estimation unit 12, and the error index value calculation unit 13. However, for convenience of explanation, the GPS receiver 21 is used. It is displayed out of etc.
  • the GPS receiver 21 receives a radio wave of a satellite
  • the PN code correlation ((t) is acquired from the radio wave (S51). If the acquired PN code correlation ((t) is a single peak as shown in FIG. 4A, the satellite is selected as an available satellite (S52). On the other hand, if there are multiple peaks as shown in FIG. 4B, the satellite is not selected.
  • the CN ratio is acquired from the radio wave received by the GPS receiver 21 (S53). If the acquired CN ratio is equal to or greater than a predetermined value, the satellite is selected as an available satellite (S54). On the other hand, if it is less than the predetermined value, the satellite is not selected.
  • the position information of the satellite is acquired from the radio wave received by the GPS receiver 21 (S55). Also, based on the azimuth and elevation angle of the satellite relative to the vehicle identified from the position information of the satellite, the position of the surrounding obstacle is specified from the output of the camera 22, radar 23a, laser 23b, sonar 23c etc. Estimate the presence or absence of an obstacle or the blocking rate between Then, satellites not shielded by surrounding obstacles (hereinafter referred to as "visible satellites") or satellites having a shielding rate equal to or less than a predetermined value are selected as available satellites (S56). On the other hand, satellites shielded by surrounding obstacles are not selected.
  • the self-position estimation unit 12 can realize highly accurate self-position estimation by using only the information of the satellite selected in this way. Furthermore, after DOP is calculated based on the positional relationship of the plurality of selected satellites (S57), the error index value calculation unit 13 obtains the product of the DOP and the error index .sigma.R, and calculates the product by the GPS receiver 21 It is an error index value for position estimation. Note that ⁇ R is an error index that can be calculated from the PN code correlation ((t), and indicates an error in the distance to each satellite, which will be described later in detail.
  • the CN ratio is a predetermined value or more, and are not shielded by an obstacle for self-position estimation by the GPS system.
  • the number of satellites satisfying all these conditions is less than 4, and there is a period in which satellites with inferior radio wave quality can not but be used. Therefore, in the following, a self-position estimation method in the case of using a satellite with inferior radio wave quality will be described.
  • FIG. 6 is a list of the radio wave reception status of the GPS receiver and the correspondence of the satellite selection logic.
  • the satellite selection logic in the case where both PN code correlation and CN ratio can be referred to It indicates that "satellites are added until DOP falls below a predetermined value in descending order of CN ratio".
  • FIGS. 7 to 12 Note that which mode to use is successively changed according to the reception status of radio waves, and mode 1 is used at normal times, but any of mode 2 to mode 6 is appropriate according to radio wave conditions. Things are temporarily available.
  • FIG. 7 is a flowchart of a mode 1 satellite selection method that can be employed when PN code correlation and CN ratio can be referenced. The details of the process of this flowchart will be described below.
  • satellites transmitting high-quality radio waves are extracted from satellites in which the GPS receiver 21 receives radio waves (S1). Specifically, all satellites having a CN ratio equal to or greater than a predetermined value and having a PN code correlation ⁇ (t) of unimodality are extracted.
  • f which is the reciprocal of the error index value
  • the DOP of the satellite combination corresponding to this f is less than or equal to a predetermined value (S5). If it is less than or equal to the predetermined value, the self-position estimation accuracy only with the GPS signal from the currently selected satellite Is predicted to be sufficient, so that satellite combination and f are output (S6).
  • the predetermined value used in S5 (and S9 described later) is set by the user according to the accuracy required for self-position estimation, and a smaller value may be set if high accuracy is required.
  • the CN ratio is the next highest.
  • One satellite is selected, and .sigma.R and DOP in the satellite combination to which this satellite is added are calculated (S7).
  • f ′ is calculated using the new ⁇ R and DOP (S8), and it is checked whether the new DOP is less than or equal to a predetermined value (S9). If the new DOP is less than the specified value, it can be determined that DOP has improved, but f 'may be worse due to the addition of satellites, so check whether f' is greater than f ( S10).
  • FIG. 8 is a flowchart of a mode 2 satellite selection method that can be employed when PN code correlation can be referred to and the blocking rate of the satellite due to an obstacle can be estimated. In the following, the processing unique to mode 2 will be described, omitting the points common to mode 1.
  • S1a In mode 2, the processes of S1a, S3a, and S7a shown in FIG. That is, in S1a, all satellites in which the PN code correlation ⁇ (t) is unimodal and the blocking ratio is equal to or less than a predetermined value are extracted. In S3a, four satellites with the lowest shielding rate are selected, and ⁇ R and DOP are calculated based on these GPS signals. In S7a, when DOP is larger than a predetermined value, the satellite with the next lowest shielding ratio is added to calculate ⁇ R and DOP.
  • FIG. 9 is a flow chart of a mode 3 satellite selection method that can be employed when only PN code correlation can be referenced. In the following, details of processing specific to mode 3 will be described, omitting points common to mode 1.
  • the processes of S1 b, S3 b, and S7 b are different from those in mode 1. That is, in S1b, all satellites whose PN code correlation ⁇ (t) is unimodal and whose elevation angle is a predetermined value or more are extracted. In S3b, four satellites with the highest elevation angle are selected, and ⁇ R and DOP are calculated based on these GPS signals. In S7b, when DOP is larger than a predetermined value, the satellite with the next highest elevation angle is added to calculate ⁇ R and DOP.
  • FIG. 10 is a flowchart of a mode 4 satellite selection method that can be employed when only CN ratio can be referenced. In the following, details of the processing specific to mode 4 will be described, omitting points common to mode 1.
  • the process of S1c is different from that of mode 1. That is, in S1c, all satellites whose CN ratio is equal to or more than a predetermined value are extracted (S1c).
  • FIG. 11 is a flowchart of a satellite selection method of mode 5 that can be adopted when only the blocking rate of the satellite due to an obstacle can be estimated. In the following, details of processing specific to mode 5 will be described, omitting points common to mode 1.
  • the processes of S1 d, S3 a, and S7 a are different from those of mode 1. That is, in S1d, all satellites whose shielding ratio is less than or equal to a predetermined value are extracted. In S3a, four satellites with the lowest shielding rate are selected, and ⁇ R and DOP are calculated based on these GPS signals. In S7a, when DOP is larger than a predetermined value, the satellite with the next lowest shielding ratio is added to calculate ⁇ R and DOP.
  • FIG. 12 is a flowchart of a satellite selection method of mode 6 that can be adopted even when the PN code correlation and the CN ratio can not be referred to and the shielding factor of the satellite can not be estimated either.
  • details of processing specific to mode 6 will be described, omitting points common to mode 1.
  • the processes of S1 e, S3 b, and S7 b are different from those of mode 1. That is, in S1e, all satellites whose elevation angle is equal to or more than a predetermined value are extracted. In S3b, four satellites with the highest elevation angle are selected, and ⁇ R and DOP are calculated based on these GPS signals. In S7b, when DOP is larger than a predetermined value, the satellite with the next highest elevation angle is added to calculate ⁇ R and DOP.
  • FIG. 13 is a list of the reception status of the GPS receiver and the correspondence of the ⁇ R setting logic.
  • the row of mode A can refer to the PN code correlation and the CN ratio
  • the number of selected satellites 7 shows an outline of the policy of calculating ⁇ R when 4 is 4 (Yes in S5 of FIG. 7 for explaining mode 1).
  • FIG. 14 is a diagram outlining the magnitude relationship of ⁇ R 1 to ⁇ R 6 preset for mode A to mode K, in which the error is larger as it goes upward, and the error is smaller as it goes downward. It shows. That is, in the same figure, it is shown that ⁇ R 1 corresponding to mode A and mode B is the best, and ⁇ R 6 ()) corresponding to mode K is the worst.
  • ⁇ R n ′ is a value after the initial ⁇ R n is degraded due to the influence of the surrounding environment etc.
  • ⁇ R 1 ′ to ⁇ R 5 ′ in FIG. 14 indicate that ⁇ can be achieved due to the degradation of the environment.
  • Mode A is adopted in which the predetermined ⁇ R 1 is made ⁇ R as it is.
  • ⁇ Mode B> If PN code correlation and CN ratio can be referred to but DOP less than the specified value can not be calculated with only 4 satellites with the best CN ratio (if it is necessary to select 5 or more satellites) (No at S5 in Figure 7) ), to indicate that it is also used bad satellite relatively radio wave quality, employing a mode B to sigma] R of sigma] R 1 'subordinated to the default sigma] R 1. In this mode B, ⁇ R 1 ′ is calculated using FIG. 15A or FIG. 15B.
  • the vertical axis in FIG. 15A is ⁇ R, and the horizontal axis is the CN ratio average value.
  • ⁇ R 1 ′ approximates to the predetermined ⁇ R 1
  • the smaller the CN ratio average value the larger the ⁇ R 1 ′, and the CN ratio average value becomes a predetermined shielding occurrence.
  • the index value a numerical value used to determine whether the satellite is behind an obstacle, for example, 30 dB
  • ⁇ R 1 ′ indicates ⁇ .
  • FIG. 15B also corresponds to mode B, and the vertical axis represents ⁇ R and the horizontal axis represents ⁇ .
  • ⁇ is expressed by equation 6.
  • ⁇ R 1 ′ can be calculated by using the relationship of FIG. 15A or FIG. 15B.
  • ⁇ Mode C> If PN code correlation can be referred to and DOP less than the predetermined value can be calculated only with the four satellites with the best shielding ratio (Yes in S5 in FIG. 8), only satellites with good radio quality can be used. A mode C is adopted in which a predetermined ⁇ R 2 proportional to the density of objects is taken as ⁇ R as it is.
  • ⁇ Mode D> If PN code correlation can be referred to but DOP less than the predetermined value can not be calculated with only the four satellites with the best shielding ratio (if it is necessary to select five or more satellites) (No at S5 in FIG.
  • ⁇ R 2 ′ is calculated using FIG. 16A or 16B. 16A is used when all the selected satellites are unimodal, and FIG. 16B is used when the selected satellites include multi-modal ones.
  • FIGS. 16A and 16B the vertical axis is ⁇ R, and the horizontal axis is (the number of correlation peaks / the number of satellites included in all the satellites).
  • FIG. 16A shows that the number of correlation peaks and ⁇ R 2 ′ are proportional when using only unimodal satellites.
  • FIG. 16B shows that when multi-peak satellites are used, ⁇ R 2 ′ rises sharply as the number of correlation peaks increases.
  • ⁇ R 2 ′ can be calculated by using the relationship of FIG. 16A or 16B.
  • ⁇ Mode E> If the CN ratio can be referred to and the DOP less than the predetermined value can be calculated only with the four satellites with the best CN ratio (Yes in S5 of FIG. 10), only the satellites with good radio quality can be used. 2 to a sigma] R 3 multiplied by (the height of the obstacle) / (distance to the obstacle) as it adopts the mode E to sigma] R. In the environment where reflection easily occurs, this ⁇ R 3 is estimated to have a larger error risk than ⁇ R 2 .
  • ⁇ Mode F> If the CN ratio can be referred to but the DOP less than the specified value can not be calculated with only the four satellites with the best CN ratio (if it is necessary to select more than five satellites) (No at S5 in FIG. 10), relative to indicate that it is also used bad satellite radio wave quality, adopts a mode F to sigma] R of sigma] R 3 'subordinated to the default sigma] R 3. In this mode F, ⁇ R 3 ′ is calculated using any of FIGS. 17A to 17C.
  • FIGS. 17A and 17B the vertical axis is ⁇ R, and the horizontal axis is the CN ratio average value.
  • Figure 17A if the CN ratio average value is large enough sigma] R 3 'is similar to sigma] R 3, sigma] R 3 if falls below a predetermined CN ratio good index' indicates a situation where a ⁇ .
  • FIG. 17B if the CN ratio average value is sufficiently large, ⁇ R 3 ′ approximates to ⁇ R 3 and ⁇ R 3 ′ gradually decreases between the predetermined CN ratio good index value and the shielding occurrence index value, and the predetermined shielding occurrence occurs. Below the index value, it is shown that ⁇ R 3 ′ becomes ⁇ .
  • the vertical axis is ⁇ R
  • the horizontal axis is ⁇ . Since ⁇ is the one described in equation 6, even in mode F, when the number of satellites hidden by an obstacle increases or when the average CN ratio of radio waves from satellites behind an obstacle deteriorates In this case, it is understood that ⁇ increases and ⁇ R 3 ′ also increases.
  • ⁇ R 3 ′ can be calculated by using any one of the relationships in FIGS. 17A to 17C.
  • ⁇ Mode G> When the PN code correlation and the CN ratio are not referable, and the number of selected satellites is four, and the shielding ratio of those satellites can be estimated, mode G is adopted in which a predetermined ⁇ R 4 is used as it is as ⁇ R. Note that ⁇ R 4 is set to a value larger than the above-mentioned ⁇ R 3 .
  • ⁇ Mode H> If the PN code correlation and CN ratio can not be referred to and the number of selected satellites is 5 or more, and the shielding ratio of those satellites can be estimated, it indicates that satellites with relatively poor radio quality are also used.
  • mode H is adopted in which ⁇ R 4 ′, which is subordinate to the predetermined ⁇ R 4 , is ⁇ R.
  • ⁇ R 4 ′ proportional to the number of potentially occluded satellites is calculated using FIG.
  • mode I is adopted in which a predetermined ⁇ R 5 is used as it is as ⁇ R. Note that ⁇ R 5 is set to a value larger than the above-mentioned ⁇ R 4 .
  • ⁇ Mode J> If the PN code correlation and CN ratio can not be referred to, and the number of selected satellites is 5 or more, and the shielding ratio of those satellites can not be estimated, it indicates that satellites with relatively poor radio quality are also used, A mode J is adopted in which ⁇ R is a ⁇ R 5 ′ that is subordinate to the default ⁇ R 5 . In this mode J, ⁇ R 5 ′ proportional to the number of potentially occluded satellites is calculated using FIG. ⁇ Mode K> Since the satellite radio wave can not be received during the cold start or warm start preparation time, mode K is adopted in which ⁇ R 6 substantially meaning ⁇ is used as it is as the error index ⁇ R.
  • ⁇ Self-position estimation method of this embodiment The error index value calculation unit 13 multiplies ⁇ R calculated in any of the above-mentioned modes A to K by the value of DOP calculated from the positional relationship of a plurality of satellites selected at that time, and the reciprocal thereof is calculated By calculating, the error index value f of self-position estimation by the GPS receiver 21 is calculated. Then, by using this error index value in the flowcharts of mode 1 to mode 6, the best satellite combination under each environment can be determined.
  • the estimation result of the error index value may be stored in the map together with the date and time information and may be used as reference information at the time of route selection in the next and subsequent traveling. By providing date and time information, the arrangement of all satellites at that time can be estimated from the satellite operation information.
  • the self-position estimation unit 12 calculates the self position estimation value r based on the radio waves from the satellites of the combination, and the self position estimation generalization unit 15 calculates the self position estimation value r and the error index value ⁇ R ⁇ DOP. Use to estimate the final self position estimate r ⁇ . That is, according to this embodiment, stable self-position estimation corresponding to environmental change of the GPS system can be easily continued.
  • the self-position estimation system of this embodiment is intended to be interlocked with a car navigation system provided in the mobile unit 200.
  • the target point arrival time is predicted from the current time and the average moving speed of the moving object 200
  • the satellite arrangement from the point of time to the predicted time is acquired, and based on the map held by the car navigation system, the number of satellites with high C / N ratio and PN signal delay profile with unimodality in each route. It estimates, C / N ratio is high, and the delay profile of PN signal starts autonomous movement so as to select a route with many satellites having unimodality, and provides guidance to the passenger.
  • route which can use an electromagnetic wave with a more favorable quality can be selected easily.

Landscapes

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

Abstract

La présente invention concerne un système d'estimation de position de soi permettant d'effectuer une estimation de position de soi stable, même dans des conditions dans lesquelles l'environnement autour de capteurs d'environnement externe change rapidement. Ce système d'estimation de position de soi, qui permet d'estimer sa propre position en se référant à la sortie d'une pluralité de capteurs d'environnement externe, comprend: une unité de calcul de valeur d'indice d'erreur pour estimer des valeurs d'indice d'erreur servant d'indices pour les erreurs de mesure des capteurs d'environnement externe, une unité d'établissement de poids pour établir des poids pour les capteurs d'environnement externe sur la base des valeurs d'indice d'erreur, et une unité d'intégration d'estimation de position de soi pour estimer une position finale de soi au moyen des poids pour obtenir une moyenne pondérée de positions de soi estimées sur la base de la sortie des capteurs d'environnement externe.
PCT/JP2017/045664 2017-12-20 2017-12-20 Système d'estimation de position de soi WO2019123558A1 (fr)

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JPWO2021070308A1 (fr) * 2019-10-09 2021-04-15
WO2022107453A1 (fr) * 2020-11-18 2022-05-27 日本電信電話株式会社 Dispositif de réception de signal satellite, procédé de traitement de signal satellite et programme
WO2023032277A1 (fr) * 2021-09-01 2023-03-09 ソニーグループ株式会社 Dispositif de mesure de position, procédé de mesure de position et programme

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