WO2019225501A1 - Ｇｎｓｓ受信装置 - Google Patents

Ｇｎｓｓ受信装置 Download PDF

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Publication number
WO2019225501A1
WO2019225501A1 PCT/JP2019/019728 JP2019019728W WO2019225501A1 WO 2019225501 A1 WO2019225501 A1 WO 2019225501A1 JP 2019019728 W JP2019019728 W JP 2019019728W WO 2019225501 A1 WO2019225501 A1 WO 2019225501A1
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WO
WIPO (PCT)
Prior art keywords
antenna
unit
gnss receiver
reception mode
environment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/019728
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English (en)
French (fr)
Japanese (ja)
Inventor
小出　士朗
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to DE112019002581.3T priority Critical patent/DE112019002581T5/de
Publication of WO2019225501A1 publication Critical patent/WO2019225501A1/ja
Priority to US17/099,406 priority patent/US20210072403A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/011—Identifying the radio environment
    • 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
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
    • 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
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/018—Involving non-radio wave signals or measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
    • G01S19/235—Calibration of receiver components
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/24—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system varying the orientation by switching energy from one active radiating element to another, e.g. for beam switching

Definitions

  • the present disclosure relates to a GNSS receiver that is a device that receives radio waves transmitted from a satellite of a global satellite positioning system (hereinafter referred to as GNSS).
  • GNSS global satellite positioning system
  • Patent Document 1 proposes a method for removing multipaths by signal processing after receiving a GNSS signal.
  • a GNSS receiver that is mounted on a vehicle and includes an antenna unit, a determination unit, and a setting unit.
  • the antenna unit includes at least one antenna, and has two reception modes: a first reception mode in which reception is performed with a predetermined directivity, and a second reception mode in which directivity is higher than the first reception mode. It is configured to be feasible.
  • the determination unit is configured to determine whether or not the environment around the GNSS receiver is a multipath environment that is highly likely to cause multipath. When the determination unit determines that the multipath environment is not determined by the determination unit, the setting unit sets the antenna unit to the first reception mode. On the other hand, when the determination unit determines that the multipath environment is determined, the setting unit The second reception mode is configured.
  • the radio wave output from the GNSS satellite is received in the second reception mode. Since the directivity of the second reception mode is relatively high, the influence of reflected waves having a low elevation angle can be suppressed compared to the first reception mode. As a result, a decrease in positioning accuracy due to multipath is suppressed, and the accuracy of the detected position can be improved.
  • a GNSS receiver 1 shown in FIG. 1 is mounted on a vehicle and used.
  • the GNSS receiver 1 includes an antenna unit 11 and a control unit 12.
  • the antenna unit 11 includes at least one antenna and has two reception modes: a first reception mode in which reception is performed with a predetermined directivity and a second reception mode in which directivity is higher in elevation than the first reception mode. Is configured to be feasible. If the directivity of the antenna is high, the reception sensitivity of a signal that reaches the antenna from above can be improved.
  • the antenna unit 11 may include two patch antennas 21 a and 21 b and an RF switch 22.
  • the patch antenna 21a is a directional antenna having a relatively low elevation angle.
  • the patch antenna 21b is an antenna having directivity with a relatively high elevation angle.
  • the RF switch 22 receives the switching signal output from the control unit 12, and switches the antenna that outputs a signal to the control unit 12 to one of the patch antenna 21a and the patch antenna 21b. By the switching by the RF switch 22, the operation mode of the antenna unit 11 is set.
  • the operation mode in which the patch antenna 21a outputs the reception signal is the first reception mode described above, and the operation mode in which the patch antenna 21b outputs the reception signal is the second reception mode described above.
  • the control unit 12 includes a microcomputer having a CPU 31 and a semiconductor memory (hereinafter, memory 32) such as a RAM or a ROM. Each function of the control unit 12 is realized by the CPU 31 executing a program stored in a non-transitional physical recording medium.
  • the memory 32 corresponds to a non-transitional tangible recording medium that stores a program. Also, by executing this program, a method corresponding to the program is executed.
  • the control unit 12 may include a single microcomputer or a plurality of microcomputers.
  • the control unit 12 includes a determination unit 41 and a setting unit 42 as shown in FIG.
  • the control unit 12 may include a correction unit 43 and a positioning unit 44.
  • the method for realizing the functions of the respective units included in the control unit 12 is not limited to software, and some or all of the functions may be realized using one or a plurality of hardware.
  • the function is realized by an electronic circuit that is hardware, the electronic circuit may be realized by a digital circuit, an analog circuit, or a combination thereof.
  • the determination unit 41 is configured to determine whether or not the environment around the GNSS receiver 1 is a multipath environment that is highly likely to cause multipath.
  • the determination unit 41 is configured to be able to refer to the map data 33.
  • the map data 33 stores a range on the map predetermined as a multipath environment. In the following description, this range is referred to as a multipath area. Examples of multipath areas include, but are not limited to, areas with many high-rise buildings that can cause multipath.
  • the determination unit 41 compares the current position specified based on the received GNSS signal with the multipath area stored in the map data 33. The determination unit 41 determines that the current path of the GNSS receiver 1 is a multipath environment when the current position of the GNSS receiver 1 is located in the multipath area. The determination unit 41 determines that the multipath environment is not established when the GNSS receiver 1 is not located in the multipath area.
  • the setting unit 42 is configured to set the antenna unit 11 to the first reception mode when the determination unit 41 does not determine that the surrounding environment is a multipath environment.
  • the setting unit 42 is configured to set the antenna unit 11 to the second reception mode when the determination unit 41 determines that the surrounding environment is a multipath environment.
  • the correction unit 43 is configured to correct the phase shift of the elevation angle and azimuth of at least one antenna using correction parameters specific to the antenna.
  • the correction method of the antenna elevation angle and azimuth phase shift by the correction unit 43 will be described with reference to FIGS. 4A to 4B.
  • a patch antenna 21 arranged on the XY plane is assumed.
  • the deviation of the antenna phase center is calculated by changing the elevation angle ⁇ and the azimuth angle ⁇ in the direction in which the GNSS signal arrives at the patch antenna 21. Then, correction parameters are set so that the deviation becomes small.
  • the elevation angle ⁇ and the angle indicating inclination with respect to the Z-axis as shown in FIG. 4B, and the azimuth angle ⁇ is the angle indicating the horizontal direction around the Z-axis as shown in FIG. 4C.
  • FIG. 5 is an example of a table showing correction parameters.
  • This table is stored in the memory 32.
  • This table shows the correction parameters every 1 ° in the range of 0 to 90 ° for the elevation angle ⁇ and every 1 ° in the range of 0 to 359 ° for the azimuth angle ⁇ .
  • This correction parameter is a unique value for each antenna, and individual differences are likely to occur. For this reason, it is desirable to actually measure and obtain the correction parameter for each antenna or for each group having a small change such as a manufacturing lot.
  • the phase shift of the elevation angle and azimuth of the antenna is suppressed, and the shift of the antenna phase center due to the direction of the GNSS satellite with respect to the patch antenna 21 is suppressed. .
  • the GNSS receiver 1 can improve the antenna accuracy by an approach other than the suppression of the influence of multipath.
  • the positioning unit 44 is configured to identify the current position of the GNSS receiver 1, that is, the current position of the vehicle, based on the received GNSS signal.
  • the function of the positioning unit 44 is a known function.
  • the CPU 31 specifies the current position of the GNSS receiver 1 based on a signal from a GNSS satellite.
  • the CPU 31 determines whether or not the environment around the GNSS receiver 1 is a multipath environment. That is, it is determined whether or not the current position obtained in S1 is located in the multipath area. If the CPU 31 determines in S2 that it is not a multipath environment, the CPU 31 proceeds to S3. On the other hand, if the CPU 31 determines in S2 that the environment is a multipath environment, the CPU 31 proceeds to S4.
  • the GNSS receiver 1 receives a radio wave output from a GNSS satellite in the second reception mode. Since the directivity of the second reception mode is relatively high, the influence of reflected waves having a low elevation angle can be suppressed compared to the first reception mode. As a result, a decrease in positioning accuracy due to multipath is suppressed, and the accuracy of the detected position can be improved. Further, when the GNSS receiver 1 is not in a multipath environment, the first reception mode is set, and a GNSS signal can be received in a wide range of elevation angles.
  • the GNSS receiver 1 corrects the elevation angle and azimuth phase shift of the patch antenna 21 by the correction unit 43, and suppresses the error due to the incident angle of the GNSS signal at the center of the antenna phase. Thereby, it is possible to improve the reception accuracy of the antenna.
  • the determination unit 41 determines whether or not the GNSS receiver 1 is in a multipath environment based on the position of the GNSS receiver 1 on the map, the GNSS receiver 1 can accurately switch the reception mode. it can.
  • the antenna unit 11 includes at least one antenna and is configured to be able to realize the two reception modes of the first reception mode and the second reception mode, the antenna unit 11 has various configurations different from the configuration of the first embodiment. A configuration can be employed.
  • the antenna unit 11 may use an array antenna including a plurality of antenna elements. Since directivity can be controlled electronically with an array antenna, it can be used as an antenna provided in the antenna unit 11 of the present disclosure.
  • the shape of the ground plane 52 of the antenna 51 may be configured to be controllable.
  • the directivity of the antenna 51 can be controlled by changing the size and shape of the ground plane 52.
  • the specific configuration of directivity control by antenna switching using an RF switch is not limited to the configuration of FIG.
  • the RF switch 22 outputs a reception mode in which a signal is output by the patch antenna 21 a alone and a combined signal of the patch antenna 21 a and the patch antenna 21 b based on a switching signal from the control unit 12.
  • the reception mode may be switched to any one of the reception modes.
  • the directivity can be made different depending on the reception mode.
  • the number of antennas provided in the antenna unit 11 is not particularly limited, and three or more antennas may be provided. Further, the number of reception modes may be three or more. That is, the types of directivity that can be realized as the entire antenna unit are not limited to two, and may be three or more.
  • the configuration in which it is determined whether or not the environment around the GNSS receiver 1 is a multipath environment with reference to the map data 33 is exemplified.
  • the second embodiment is different from the first embodiment in that it is determined whether or not the multipath environment is based on a captured image of a camera that captures the outside of the vehicle.
  • the receiving device 101 is configured to be able to communicate with an in-vehicle camera 111 configured to be able to photograph the outside of the vehicle.
  • the determination unit 113 of the control unit 112 is configured to acquire a captured image of the in-vehicle camera 111 and identify whether the environment around the vehicle is a multipath environment based on the captured image of the in-vehicle camera 111. ing.
  • the in-vehicle camera 111 corresponds to the photographing unit.
  • the CPU 31 acquires a captured image of the in-vehicle camera 111.
  • the CPU 31 analyzes the captured image acquired in S11 and determines whether or not it is an area where there are many buildings.
  • Specific image analysis and determination methods are not particularly limited.
  • the determination unit 113 determines that the GNSS receiving apparatus 101 is located in an area where there are many buildings when the ratio of the captured images in which the buildings are captured is equal to or greater than a predetermined threshold among the captured images captured within a certain period. It is determined that it is located.
  • a method for determining whether or not the image is a captured image of a building is not particularly limited. For example, among all the pixels of a captured image, a building captures a captured image in which the ratio of pixels in a range obtained by learning in advance is within the reference range for one or more of brightness, saturation, and hue. The captured image may be determined. Of course, you may determine whether it is the picked-up image in which the building was reflected by methods other than this.
  • the CPU 31 determines in S12 that the area does not have many buildings, the CPU 31 proceeds to S13. On the other hand, if the CPU 31 determines in S12 that the area has many buildings, the process proceeds to S14.
  • the GNSS receiver 101 can execute the switching of the reception mode with high accuracy because the determination unit 41 determines whether or not the multipath environment is based on the captured image of the in-vehicle camera 111.
  • a specific method for determining whether or not a multipath environment is based on captured images around the vehicle is not limited to the method of the above embodiment.
  • the determination unit 113 may determine the size of the sky-visible range from the captured image and determine whether or not the multipath environment is based on the size.
  • the determination unit 113 may acquire a predetermined installation other than the building, for example, a sign from the captured image, and determine whether the environment is a multipath environment based on the type, the number, the installation frequency, and the like.
  • the configuration for determining whether the environment around the GNSS receiver is a multipath environment based on map data or captured images around the vehicle is illustrated, but the present invention is not limited thereto. It is not something.
  • the determination may be made based on the ratio of the low elevation angle GNSS signal or a change in the ratio, or may be made based on the traveling speed or stop frequency of the vehicle.
  • the correction unit 43 refers to the table shown in FIG. 5 to correct the elevation and azimuth phase shifts, but the present invention is not limited to this.
  • the correction data may be received from a device provided outside the vehicle, such as an external server, by cellular communication or the like without storing the correction data by itself.
  • a plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate
  • at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment.
  • all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.
  • a system including the GNSS receiver as a constituent element, a program for causing a computer to function as a control unit of the GNSS receiver, and a non-transitive semiconductor memory storing the program can also be realized in various forms such as an actual recording medium and a signal receiving method.

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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)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
PCT/JP2019/019728 2018-05-21 2019-05-17 Ｇｎｓｓ受信装置 Ceased WO2019225501A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112019002581.3T DE112019002581T5 (de) 2018-05-21 2019-05-17 GNSS-Empfänger
US17/099,406 US20210072403A1 (en) 2018-05-21 2020-11-16 Gnss receiver

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018097124A JP2019203710A (ja) 2018-05-21 2018-05-21 Ｇｎｓｓ受信装置
JP2018-097124 2018-05-21

Related Child Applications (1)

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US17/099,406 Continuation US20210072403A1 (en) 2018-05-21 2020-11-16 Gnss receiver

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JP (1) JP2019203710A (https=)
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WO (1) WO2019225501A1 (https=)

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Publication number Priority date Publication date Assignee Title
JP7409935B2 (ja) * 2020-03-30 2024-01-09 清水建設株式会社 衛星送信情報の補正装置
US11635528B2 (en) * 2020-08-12 2023-04-25 Rockwell Collins, Inc. GPS receiver module

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62883A (ja) * 1985-06-27 1987-01-06 Toshiba Corp 航法装置
JPH03142389A (ja) * 1989-05-15 1991-06-18 Matsushita Electric Works Ltd Ｇｐｓ用測位装置
JP2001264076A (ja) * 2000-03-21 2001-09-26 Clarion Co Ltd カーナビゲーション装置
JP2006504952A (ja) * 2002-10-30 2006-02-09 コーニンクレッカ　フィリップス　エレクトロニクス　エヌ　ヴィ Ｇｐｓ受信機
JP2007093483A (ja) * 2005-09-29 2007-04-12 Mitsubishi Electric Corp 測位装置、測位方法および測位プログラム
US20160070001A1 (en) * 2014-09-07 2016-03-10 Trimble Navigation Limited Satellite navigation using side by side antennas
US20160252620A1 (en) * 2011-08-31 2016-09-01 Samsung Electronics Co., Ltd. Multipath mitigation in positioning systems
US20180180741A1 (en) * 2016-12-22 2018-06-28 Centre National D'etudes Spatiales Simplified gnss receiver with improved precision in a perturbated environment

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5069492B2 (ja) * 2007-04-13 2012-11-07 株式会社エヌ・ティ・ティ・ドコモ 測位システム、測位用ｉｃチップ、測位方法及び測位プログラム

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62883A (ja) * 1985-06-27 1987-01-06 Toshiba Corp 航法装置
JPH03142389A (ja) * 1989-05-15 1991-06-18 Matsushita Electric Works Ltd Ｇｐｓ用測位装置
JP2001264076A (ja) * 2000-03-21 2001-09-26 Clarion Co Ltd カーナビゲーション装置
JP2006504952A (ja) * 2002-10-30 2006-02-09 コーニンクレッカ　フィリップス　エレクトロニクス　エヌ　ヴィ Ｇｐｓ受信機
JP2007093483A (ja) * 2005-09-29 2007-04-12 Mitsubishi Electric Corp 測位装置、測位方法および測位プログラム
US20160252620A1 (en) * 2011-08-31 2016-09-01 Samsung Electronics Co., Ltd. Multipath mitigation in positioning systems
US20160070001A1 (en) * 2014-09-07 2016-03-10 Trimble Navigation Limited Satellite navigation using side by side antennas
US20180180741A1 (en) * 2016-12-22 2018-06-28 Centre National D'etudes Spatiales Simplified gnss receiver with improved precision in a perturbated environment

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US20210072403A1 (en) 2021-03-11
DE112019002581T5 (de) 2021-04-01

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