WO2020149014A1 - Dispositif de sélection de satellite et programme - Google Patents

Dispositif de sélection de satellite et programme Download PDF

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Publication number
WO2020149014A1
WO2020149014A1 PCT/JP2019/045961 JP2019045961W WO2020149014A1 WO 2020149014 A1 WO2020149014 A1 WO 2020149014A1 JP 2019045961 W JP2019045961 W JP 2019045961W WO 2020149014 A1 WO2020149014 A1 WO 2020149014A1
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satellite
satellites
antennas
gps
unit
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PCT/JP2019/045961
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English (en)
Japanese (ja)
Inventor
和也 下岡
鈴木　徳祥
朗 宮島
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株式会社デンソー
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Publication of WO2020149014A1 publication Critical patent/WO2020149014A1/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
    • G01S19/01—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 disclosure relates to a satellite selection device and a program.
  • Patent Document 1 when receiving signals from multiple satellites and calculating its own position, position detection that calculates its own position without using some satellite signals among the signals from multiple satellites A device is known (Patent Document 1).
  • the receiver that receives the signal from the satellite, and the Doppler frequency generated by the relative velocity with the satellite the difference between the measured value and the predicted value while the receiver is stationary becomes a threshold value or more It calculates its position without using the signal from.
  • Patent Document 2 There is also known a navigation satellite receiver that calculates the distance from a satellite to a receiver and calculates the position of the receiver without using the distance calculated for some satellites.
  • Patent Document 2 the distance predicted from the satellite to the receiver is used as an approximate distance, and the satellite to the receiver is calculated based on the time difference between the transmission time at which the signal was transmitted from the satellite and the time at the receiver that received the signal.
  • the calculated distance is obtained as a pseudo distance.
  • the position of the receiver is calculated without using the approximate distance and the pseudo distance for a satellite in which the difference between the pseudo distance and the approximate distance (hereinafter referred to as the pseudo distance residual) exceeds the threshold value.
  • Patent Document 1 when the difference between the measured value and the predicted value of the Doppler frequency is equal to or more than the threshold value, it is determined that the influence of the multipath is exerted, and the signal from the satellite is not used. Calculate the position of. At this time, a method of setting a threshold according to the speed of the moving body has been proposed. However, since it is irrelevant whether or not the velocity of the mobile body is in a multipath environment, it is difficult for this method to set an appropriate threshold value considering the prediction error of the Doppler frequency due to the influence of multipath. For example, if the threshold value is too large, satellites with large multipath errors cannot be excluded. If the threshold value is too small, satellites that are not affected by multipath may be excluded.
  • the pseudo distance includes the distance error caused by the estimation error of the receiver position and the estimation error of the receiver time difference.
  • the estimation error of the receiver position does not have a common effect on the calculation accuracy of the pseudorange residual with each satellite. For example, if a position error occurs in the direction of approaching the satellite with the highest elevation angle, the pseudorange residual with the satellite with the highest elevation angle will be small, while the pseudorange residual with other satellites will be large. There is a nature. Therefore, it is difficult to reduce the influence of the accuracy of position estimation.
  • the present disclosure provides a satellite selection device and a program that can select a satellite that can be accurately calculated when determining at least one of the position and speed of the moving body on the earth.
  • a first aspect of the present disclosure is a satellite selection that selects a satellite to be used in a positioning device that calculates a position on the earth of a positioning target location in a mobile body that is different from the installation location of a plurality of satellite antennas installed in the mobile body.
  • a device which acquires satellite information including information about the position of each of the plurality of satellites transmitted from each of the plurality of satellites and information about a distance between each of the plurality of satellites and the mobile body.
  • An estimation pseudo indicating the distance between each of the plurality of satellites and each of the plurality of satellite antennas at each position from the calculated position to be measured based on the satellite information acquired by the acquisition unit.
  • An estimated pseudo distance calculation unit for estimating distance information, and for each of the plurality of satellites, the observation pseudo distance information derived by the observation pseudo distance derivation unit for each satellite antenna of the plurality of satellite antennas, and the estimation Based on a residual difference deriving unit that derives a residual with the estimated pseudo distance information estimated by the pseudo distance calculating unit, and a difference between the residuals of each of the plurality of satellite antennas that is derived by the residual deriving unit. And a satellite selector that selects satellites to be excluded from the satellites to be used.
  • a second aspect of the present disclosure is the satellite selecting apparatus of the first aspect, wherein the satellite selecting unit may exclude, from the satellites to be used, satellites corresponding to the difference of the residuals equal to or larger than a predetermined threshold. ..
  • a third aspect of the present disclosure is the satellite selection device according to the first aspect or the second aspect, further including a reliability determination unit that determines the reliability of each time error of the receivers of the plurality of satellite antennas, The satellite selection unit selects a satellite to be excluded from the satellites to be used, based on the difference between the residuals of the plurality of satellite antennas only when the reliability determination unit determines that the reliability is high. You may.
  • the reliability determination unit determines which one of the residuals derived by the residual deriving unit for a plurality of predetermined different satellites. It may be determined that the reliability of the time error of the receiver is high when the residual error of one satellite antenna is within a threshold with respect to the residual error of another satellite antenna.
  • a fifth aspect of the present disclosure is a satellite that selects a satellite to be used in a speed measurement device that calculates a speed on the earth of a positioning target location in the mobile body that is different from installation locations of a plurality of satellite antennas installed in the mobile body.
  • a satellite information including a position information of each of the plurality of satellites transmitted from each of the plurality of satellites and a relative speed between each of the plurality of satellites and the moving body. Based on the satellite information acquisition unit to be acquired and the satellite information acquired by the satellite information acquisition unit, each of the plurality of satellites observed at each installation location of the plurality of satellite antennas, and the plurality of satellites.
  • An observational Doppler frequency deriving unit that derives observed Doppler frequency information indicating the relative speed between each of the satellite antennas, a speed relationship between the installation location of each of the plurality of satellite antennas and the positioning target location, and the satellite information.
  • an estimated Doppler frequency calculation unit for estimating estimated Doppler frequency information indicating the relative speed between each of the plurality of satellite antennas, and ,
  • the observed Doppler frequency information derived by the observed Doppler frequency deriving unit, and the estimated Doppler estimated by the estimated Doppler frequency calculator A residual derivation unit that derives a residual with frequency information, and a plurality of satellites based on the difference between the residuals of the plurality of satellite antennas derived by the residual derivation unit of each of the plurality of satellites.
  • a satellite selection device including a satellite selection unit that selects a satellite to be
  • the satellite selection unit may exclude, from the satellites to be used, satellites corresponding to the difference of the residuals equal to or more than a predetermined threshold. ..
  • a seventh aspect of the present disclosure is the satellite selection device according to the fifth aspect or the sixth aspect, further comprising a reliability determination unit that determines the reliability of each change amount of the time error of each receiver of the plurality of satellite antennas. Further, the satellite selection unit excludes from the satellites to be used based on the residual difference of each of the plurality of satellite antennas only when the reliability determination unit determines that the reliability is high. You may select a satellite.
  • the reliability determination unit includes the plurality of residuals derived by the residual derivation unit for a plurality of different predetermined satellites. Even if it is determined that the reliability of the amount of change in the time error of the receiver is high when the residual error of any one of the satellite antennas is less than the threshold value of the residual error of the other satellite antennas. Good.
  • a ninth aspect of the present disclosure is for selecting a satellite to be used by a positioning device that calculates a position on the earth of a position to be measured in the moving body different from the installation position of a plurality of satellite antennas installed in the moving body.
  • a program a satellite information including information about the position of each of the plurality of satellites transmitted from each of the plurality of satellites and information about the distance between each of the plurality of satellites and the mobile body. Based on the satellite information acquired by the satellite information acquisition unit, the plurality of satellites observed at the respective installation locations of the plurality of satellite antennas, and the plurality of satellites.
  • An observation pseudo-range deriving unit for deriving observation pseudo-range information indicating a distance to each of the satellite antennas, a predetermined positional relationship between the installation location of each of the plurality of satellite antennas and the positioning target location, and the satellite Estimating the distance between each of the plurality of satellites and each of the plurality of satellite antennas at each position from the calculated position to be measured based on the satellite information acquired by the information acquisition unit
  • An estimated pseudo-range calculation unit that estimates pseudo-range information, and for each of the plurality of satellites, the observation pseudo-range information derived by the observation pseudo-range derivation unit for each satellite antenna of the plurality of satellite antennas, and the estimation
  • a residual derivation unit that derives a residual with the estimated pseudo distance information estimated by the pseudo distance calculation unit, and a difference between the residuals of each of the plurality of satellite antennas derived by the residual derivation unit.
  • a program for operating as a satellite selection unit that selects satellites to be excluded from the satellites to be used based on the
  • a tenth aspect of the present disclosure is to select a satellite to be used in a speed measurement device that calculates the speed of the earth on a position to be measured in the moving body different from the installation positions of a plurality of satellite antennas installed on the moving body.
  • a program including the information about the position of each of the plurality of satellites transmitted from each of the plurality of satellites and the information about the relative speed between each of the plurality of satellites and the moving body.
  • a satellite information acquisition unit that acquires satellite information, based on the satellite information acquired by the satellite information acquisition unit, each of the plurality of satellites observed at each installation location of the plurality of satellite antennas, and An observational Doppler frequency deriving unit that derives observed Doppler frequency information indicating relative speed between each of the plurality of satellite antennas, a speed relationship between the installation location of each of the plurality of satellite antennas and the positioning target location, and the satellite.
  • An estimated Doppler frequency calculation unit that estimates estimated Doppler frequency information indicating the relative speed between each of the plurality of satellites and each of the plurality of satellite antennas based on the satellite information acquired by the information acquisition unit.
  • the observed Doppler frequency information derived by the observed Doppler frequency deriving unit, and the estimated Doppler estimated by the estimated Doppler frequency calculator A residual derivation unit that derives a residual with frequency information, and a plurality of satellites based on the residual difference of each of the plurality of satellite antennas derived by the residual derivation unit of each of the plurality of satellites.
  • the storage medium that stores the program of the present disclosure is not particularly limited, and may be a hard disk or a ROM. Further, it may be a CD-ROM, a DVD disc, a magneto-optical disc or an IC card. Furthermore, the program may be downloaded from a server or the like connected to the network.
  • the satellite selection device and the program of the present disclosure can select a satellite that can be accurately calculated when determining at least one of the position and speed of the moving body on the earth.
  • FIG. 1 is a block diagram showing a positioning device according to the first embodiment
  • FIG. 2 is a diagram showing an example in which two GPS antennas are installed with the positioning target location being the vehicle center
  • FIG. 3A is a diagram showing an example of a vehicle attitude angle calculation result at a certain time
  • FIG. 3B is a diagram showing an example of a vehicle attitude angle calculation result at a certain time
  • FIG. 4A is a diagram for explaining a method of calculating a positional relationship between a positioning target location and an antenna installation location in the ENU coordinate system
  • FIG. 1 is a block diagram showing a positioning device according to the first embodiment
  • FIG. 2 is a diagram showing an example in which two GPS antennas are installed with the positioning target location being the vehicle center
  • FIG. 3A is a diagram showing an example of a vehicle attitude angle calculation result at a certain time
  • FIG. 3B is a diagram showing an example of a vehicle attitude angle calculation result at a certain time
  • FIG. 4A is a diagram for explaining a
  • FIG. 4B is a diagram for explaining a method of calculating the positional relationship between the position to be positioned and the antenna installation position in the ENU coordinate system
  • FIG. 4C is a diagram for explaining a method of calculating a positional relationship between a position to be positioned and an antenna installation position in the ENU coordinate system
  • FIG. 5 is a flowchart showing the contents of a positioning processing routine in the computer of the positioning device according to the first embodiment
  • FIG. 6 is a block diagram showing a positioning device according to the second embodiment
  • FIG. 7 is a flowchart showing the contents of a positioning processing routine in the computer of the positioning device according to the second embodiment
  • FIG. 8 is a block diagram showing a speed measuring device according to a third embodiment
  • FIG. 9A is a diagram showing an example of a vehicle angular velocity and attitude angle calculation result at a certain time
  • FIG. 9B is a diagram showing an example of the angular velocity and attitude angle calculation results of the vehicle at a certain time
  • FIG. 10A is a diagram for explaining a method of calculating a speed relationship between a position to be positioned and an antenna installation position in the ENU coordinate system
  • FIG. 10B is a diagram for explaining a method of calculating a speed relationship between a position to be positioned and an antenna installation position in the ENU coordinate system
  • FIG. 10A is a diagram for explaining a method of calculating a speed relationship between a position to be positioned and an antenna installation position in the ENU coordinate system
  • FIG. 10B is a diagram for explaining a method of calculating a speed relationship between a position to be positioned and an antenna installation position in the ENU coordinate system
  • FIG. 10A is a diagram for explaining a method of calculating a speed relationship between a position to be
  • 10C is a diagram for explaining a method of calculating a speed relationship between a position to be positioned and an antenna installation position in the ENU coordinate system, It is a flow chart which shows the content of the speed measurement processing routine in the computer of the speed measurement device concerning a 3rd embodiment. It is a block diagram which shows the speed measuring device which concerns on 4th Embodiment.
  • the positioning target location does not match the GNSS antenna installation location where the observed value is obtained, and if the GNSS antenna installation location is affected by the multipath error, the multipath error The accuracy of the position and velocity calculated from the satellite information from the affected satellites will be less accurate than that not affected by the multipath error.
  • satellites affected by multipath errors are excluded in advance by appropriately considering the positional relationship and speed relationship between the positioning target location and each GNSS antenna installation location, so that satellites with less error can be detected. It is possible to calculate the position and speed of the position to be measured with high accuracy using only the satellite information of.
  • FIG. 1 shows an example of the configuration of the positioning device according to the first embodiment.
  • the positioning device 10 according to the first embodiment includes a plurality of GPS antennas 12A and 12B for receiving radio waves from GPS satellites, and a plurality of GPS antennas 12A and 12B.
  • the attitude angle sensor 16 Based on the plurality of receivers 14A and 14B that obtain the reception signals, the attitude angle sensor 16, the reception signals from the GPS satellites received by the plurality of receivers 14A and 14B, and the detection values of the attitude angle sensor 16,
  • the satellite selecting device 18 for selecting the GPS satellite to be used and the position deriving unit 40 for executing the positioning process for estimating the position of the own vehicle are provided.
  • the satellite selection device 18 includes a computer 30 that executes a satellite selection process that selects a GPS satellite used to derive the position of the position to be measured, and an output unit 20.
  • FIG. 2 shows an example of installation locations of the plurality of GPS antennas 12A and 12B.
  • the plurality of GPS antennas 12A and 12B are installed in the vehicle interior of the vehicle 50, and are installed in a position different from the position to be measured.
  • the position to be measured is the center of the vehicle and the two GPS antennas 12A and 12B and the receivers 14A and 14B are installed at the positions shown in FIG.
  • the distance of each of the GPS antennas 12A and 12B from the position to be measured is accurately grasped by manually measuring.
  • the receivers 14A and 14B are provided for the GPS antennas 12A and 12B, respectively, and the receivers 14A and 14B receive radio waves from a plurality of GPS satellites via the GPS antennas 12A and 12B and receive all of them. From the received signal from the GPS satellite, the satellite number of the GPS satellite, the orbit information (ephemeris) of the GPS satellite, the time when the GPS satellite transmitted radio waves, the strength of the received signal, the frequency, etc. are acquired as the information of the GPS satellite, and a computer is obtained. Output to 30.
  • the attitude angle sensor 16 is, for example, a geomagnetic sensor and detects geomagnetism.
  • the computer 30 in the satellite selection device 18 is configured by a CPU, a ROM that stores a program for implementing the processes described below, a RAM that temporarily stores data, and a storage device such as an HDD.
  • a satellite information acquisition unit 31 is an example of the satellite information acquisition unit and the observation pseudo distance deriving unit of the present disclosure.
  • the estimated pseudo distance calculation unit 34 is an example of the estimated pseudo distance derivation unit of the present disclosure.
  • the pseudo distance residual calculation unit 35 is an example of the residual derivation unit of the present disclosure.
  • the excluded satellite discriminating unit 37 is an example of a satellite selecting unit of the present disclosure.
  • the satellite information acquisition unit 31 acquires GPS satellite information for all GPS satellites that have received radio waves, and calculates and acquires GPS pseudorange data, Doppler frequency, and GPS satellite position coordinates. Specifically, the satellite information acquisition unit 31 acquires GPS satellite information from all of the receivers 14A and 14B for all GPS satellites that have received radio waves, and the time at which the GPS satellites transmitted radio waves and the host vehicle. The GPS pseudo distance data is calculated based on the time when the radio wave is received in. In addition, the satellite information acquisition unit 31 determines the Doppler frequency of the received signal from each GPS satellite based on the known frequency of the signal transmitted from each GPS satellite and the frequency of the received signal received from each GPS satellite. calculate.
  • the Doppler frequency is an observation of the Doppler shift amount of the carrier frequency due to the relative speed between the GPS satellite and the vehicle.
  • the satellite information acquisition unit 31 also calculates the position coordinates of the GPS satellites based on the orbit information of the GPS satellites and the time when the GPS satellites transmitted radio waves.
  • the antenna position/receiver time error calculation unit 32 obtains the positional relationship between the installation location of each of the GPS antennas 12A and 12B on the earth and the positioning target location calculated based on the attitude angle of the own vehicle, and the acquired satellite information. Based on the position of the position of the positioning target determined by using the position of each of the GPS antennas 12A and 12B, the time difference between the receivers 14A and 14B is calculated.
  • the antenna position/receiver time error calculation unit 32 calculates the attitude angle of the host vehicle from the detection value of the attitude angle sensor 16 as the first step.
  • the attitude angle of the host vehicle at that time is calculated by using the detected value of the attitude angle sensor 16 as the attitude angle of the host vehicle.
  • a case where a geomagnetic sensor is used as the attitude angle sensor 16 to calculate the attitude angle of the vehicle is described as an example.
  • the present embodiment is not limited to this, and for example, using a vehicle velocity vector calculated based on the Doppler frequency, vehicle acceleration and angular velocity detected from the 6-axis gyro sensor, and the like, The attitude angle of the host vehicle may be calculated.
  • FIGS. 3A and 3B show an example of the attitude angle of the host vehicle 50 at a certain time.
  • FIG. 3A shows an attitude angle of the host vehicle 50 from directly above the road surface
  • FIG. 3B shows an attitude angle of the host vehicle 50 from just beside the road surface.
  • the antenna position/receiver time error calculation unit 32 determines, for each of the GPS antennas 12A and 12B, the installation location of the GPS antenna on the earth based on the calculated attitude angle of the own vehicle. , Calculate the positional relationship with the position to be measured. Specifically, first, the antenna position/receiver time error calculation unit 32 determines, in advance, the distance between the installation location of each GPS antenna 12A and 12B on the earth and the positioning target location, and each GPS. Based on the angle of the installation location of the antennas 12A and 12B and the detected attitude angle of the own vehicle, the relationship between the absolute position on the earth between the positioning target location (vehicle center) and the installation location of each GPS antenna is calculated. To do. Specifically, it is calculated by the following procedure. Note that, here, a case where the GPS antenna 12A is targeted will be described.
  • the positional relationship in the ENU (East-North-Up) coordinate system is calculated by the following equation (1).
  • 4A to 4C show an example of the positional relationship between the position to be measured (vehicle center) and the installation position of the GPS antenna 12A.
  • FIG. 4A shows a positional relationship as seen from directly above the road surface
  • FIG. 4B shows a positional relationship as seen from directly beside the road surface
  • FIG. 4C is projected on the ground surface (EN coordinate plane). The positional relationship is shown.
  • ⁇ is the long radius [m] of the earth
  • f is the oblateness
  • the antenna position/receiver time error calculation unit 32 uses the calculated positional relationship and the acquired satellite information to determine the position of the position to be measured on the earth and the position of each receiver. Calculate the time difference. Specifically, the antenna position/receiver time error calculation unit 32 sets the position of the positioning target location and the time error of each of the plurality of GPS antennas 12A and 12B as unknowns, and determines the position of the positioning target location and the positioning target location.
  • the position of the position to be measured and the time error of each receiver are calculated based on the pseudo distances observed at the installation positions of the plurality of GPS antennas 12A and 12B.
  • This pseudo distance is the distance between the GPS satellite and the GPS antenna based on the GPS pseudo distance data.
  • the total of the three-dimensional position vector (x, y, z) in the ECEF coordinate system of the position to be positioned and the time error between the two receivers 14A and 14B (hereinafter, also referred to as clock bias) is 5
  • the number is unknown and the three-dimensional position vector in the ECEF coordinate system of the installation location of each GPS antenna 12A, 12B is F A (x, y, z) and F B (x, y, z).
  • formula (3) is established for each GPS antenna 12A, 12B and each satellite (here, only the GPS antenna 12A is described. The same applies to the GPS antenna 12B.
  • the position (x, y, z) of the position to be measured is calculated by using the observation results of the GPS antennas 12A and 12B by a total of five or more satellites. Also, the time error of each of the receivers 14A and 14B is calculated. When the number of installed GPS antennas is N, the position (x, y, z) of the position to be measured is calculated by using the observation results of a total of (N+3) or more satellites.
  • the position of the GPS antenna 12A is represented by the following formula.
  • (x, y, z) is the position of the position to be measured
  • Cb A is the clock bias [m] (converted to the distance by multiplying the speed of light) of the receiver 14A of the GPS antenna 12A.
  • PR i is the pseudorange [m] observed for satellite i
  • (X si , Y si , Z si ) is the position of satellite i.
  • the position of the positioning target location can be accurately measured even when using the pseudo distance observed at a position different from the positioning target location. Can be calculated.
  • the antenna position/receiver time error calculation unit 32 uses the positional relationship between the installation location of the GPS antenna and the positioning target location and the position of the positioning target location obtained as described above as the fourth step.
  • the positions of the GPS antennas 12A and 12B are derived. That is, by applying the position of the positioning target location on the earth calculated in the third step to the positional relationship between the installation location of each of the GPS antennas 12A and 12B calculated in the second step and the positioning target location, The positions of the GPS antennas 12A and 12B are derived.
  • the estimated pseudo distance calculation unit 34 estimates, for each of the GPS antennas 12A and 12B, all of the GPS satellites that commonly receive the radio waves by the GPS antennas 12A and 12B among all the GPS satellites that have received the radio waves.
  • a pseudo distance (hereinafter referred to as an estimated pseudo distance) is calculated.
  • the respective positions of the GPS antennas 12A and 12B and the respective time errors of the receivers 14A and 14B derived by the antenna position/receiver time error calculation unit 32 are substituted into the equation (3).
  • the estimated pseudo distance is calculated for each of the GPS antennas 12A and 12B.
  • the excluded satellite discriminating unit 37 is used when estimating the position of the own vehicle based on the difference in the pseudo range residuals of the GPS antennas 12A and 12B of all the GPS satellites calculated by the pseudo range residual calculating unit 35.
  • the exclusion target GPS satellites to be excluded from the GPS satellites are determined.
  • the excluded satellite discriminating unit 37 calculates the pseudo distance of the GPS antenna 12A calculated by the pseudo distance residual calculating unit 35 for each of all the GPS satellites commonly receiving radio waves by the GPS antennas 12A and 12B.
  • the difference between the residual and the pseudorange residual of the GPS antenna 12B (hereinafter referred to as the pseudorange residual difference) is calculated.
  • the GPS satellite of the GPS antenna in which the absolute value of the difference in the pseudorange residual calculated for each GPS satellite is equal to or more than the threshold value is determined as the exclusion target GPS satellite to be excluded from all the GPS satellites that have commonly received radio waves. To do. In this way, the satellite affected by the multipath error can be excluded in advance by appropriately considering the positional relationship and speed relationship between the positioning target location and each GNSS antenna installation location.
  • the position deriving unit 40 derives the position of the position to be measured on the earth using the information of the GPS satellites. Specifically, for example, the position of the positioning target location is calculated using satellite information from GPS satellites other than the exclusion target GPS satellites. Note that the position derivation of the position to be measured by the position derivation unit 40 can be derived by, for example, the same process as the calculation by the first step to the third step in the antenna position/receiver time error calculation unit 32. Description is omitted.
  • FIG. 5 shows an example of the contents of the satellite selection processing routine in the computer of the satellite selection device 18 in the positioning device.
  • the computer 30 of the satellite selection device 18 displays the signals as shown in FIG.
  • the positioning processing routine shown is repeatedly executed.
  • step S100 information on a plurality of GPS satellites is acquired from the GPS receivers 14A and 14B, and GPS pseudorange data, Doppler frequency, and position coordinates of the GPS satellites of the plurality of GPS satellites are calculated and acquired.
  • GPS information for a plurality of GPS satellites acquired at the same time is acquired as a GPS information group.
  • step S102 the position of each installation location of the GPS antennas 12A and 12B and the time error of the receivers 14A and 14B are calculated.
  • the attitude angle of the host vehicle is calculated based on the detection value from the attitude angle sensor 16.
  • the distance between the installation location of each GPS antenna 12A, 12B on the earth and the positioning target location, and the angle of the installation location of each GPS antenna 12A, 12B, which are obtained in advance is calculated.
  • the position of the positioning target position and the time error of each of the receivers 14A and 14B corresponding to the plurality of GPS antennas 12A and 12B are set as unknowns, and the position of the positioning target position and the positioning target position (vehicle Using the positional relationship between the center) and each antenna installation location in the ECEF coordinate system, a plurality of equations describing the positions of the installation locations of the plurality of GPS antennas 12A and 12B and the plurality of GPS antennas 12A and 12B are used.
  • the position of the positioning target location is calculated based on the pseudo distance observed at each installation location of the GPS antennas 12A and 12B.
  • the time error of the receivers 14A and 14B of the GPS antennas 12A and 12B is calculated.
  • the position of the positioning target location on the earth calculated in the third step is calculated based on the positional relationship between the installation locations of the GPS antennas 12A and 12B calculated in the second step and the positioning target location. By applying, the positions of the GPS antennas 12A and 12B are derived.
  • the positions of the GPS antennas 12A and 12B, and the time difference between the receivers 14A and 14B corresponding to the GPS antennas 12A and 12B, among the commonly received GPS satellites Set the excluded GPS satellites.
  • step S110 for each of the GPS antennas 12A and 12B, the absolute value obtained by subtracting the estimated pseudo distance calculated in step S112 from the observed pseudo distance that is the observed pseudo distance is used to calculate the residual pseudo distance. Is calculated (see Formula (4)).
  • the difference in the pseudorange residual which is the difference between the pseudorange residual of the GPS antenna 12A calculated for the corresponding GPS satellite and the pseudorange residual of the GPS antenna 12B, is calculated.
  • the position deriving unit 40 obtains the satellite information from the GPS satellites other than the selected exclusion target GPS satellite.
  • the position of the position to be measured is calculated using this.
  • the position on the earth is accurately calculated by excluding the GPS satellites estimated to be affected by the multipath error in advance from the positioning target position different from the installation position of the plurality of GPS antennas in the vehicle. be able to.
  • the satellite selection device 18 appropriately considers the positional relationship between the positioning target position and each GPS antenna installation position, and thus the influence of the multipath error. By excluding in advance the GPS satellites that are estimated to have received, it is possible to accurately calculate the position on the earth of the positioning target position in the vehicle.
  • the position of the positioning target location is calculated with high accuracy. Is possible.
  • the first point is that the GPS satellites estimated to be affected by the multipath error are excluded in advance only when the reliability of the calculated time error of the receivers 14A and 14B is high.
  • This embodiment is mainly different from the above embodiment.
  • FIG. 6 shows an example of the configuration of the positioning device according to the second embodiment.
  • the computer 230 of the satellite selection device 218 in the positioning device 210 according to the second embodiment includes a satellite information acquisition unit 31, an antenna position/receiver time error calculation unit 32, and an estimated pseudo distance calculation unit 34. , Pseudo range residual calculation unit 35, receiver time error reliability determination unit 232, and excluded satellite determination unit 237.
  • the receiver time error reliability determination unit 232 is an example of the reliability determination unit of the present disclosure.
  • the receiver time error reliability determination unit 232 determines the reliability of the time error of the receiver calculated by the antenna position/receiver time error calculation unit 32.
  • the reliability of the time error of the receiver may be determined according to the fluctuation of the pseudo range residual in the GPS antenna. For example, if an error occurs in the time error of the receiver, the pseudo range residuals of all GPS satellites are commonly affected. For this reason, the fact that the pseudorange residuals for all GPS satellites are larger than a certain amount indicates that there is a high possibility that the time error calculation of the receiver is erroneous, that is, the reliability is low. On the other hand, when the pseudorange residuals for all GPS satellites are less than a certain value, it is considered that there is a low possibility that the time error calculation of the receiver is erroneous, that is, the reliability is high.
  • the receiver time error reliability determination unit 232 uses the pseudo distance residual calculated by the pseudo distance residual calculation unit 35 to determine whether all of the GPS antennas 12A and 12B commonly receive the same. For GPS satellites, a pseudorange residual is calculated for each GPS antenna. Next, for all GPS satellites commonly received, if the pseudorange residual of one GPS antenna is larger than the pseudorange residual of the other GPS antenna by a predetermined threshold value or more, the pseudorange residual is It is determined that the reliability of the time error of the receiver connected to the larger GPS antenna is low.
  • the error in the calculation of the time error of the receiver has a common effect on the pseudorange residuals of all the GPS satellites that are commonly received, and therefore the pseudorange residuals of all the GPS satellites are The reason why it is larger than a certain amount is that there is a high possibility that the time error calculation of the receiver is wrong. If the pseudorange residual of one GPS antenna is less than the threshold with respect to the pseudorange residual of the other GPS antenna, the reliability of the time error of the receiver connected to the GPS antenna is high. judge.
  • the excluded satellite discriminating unit 237 based on the reliability of the time error of the receiver determined by the receiver time error reliability determining unit 232, calculates the GPS antenna of each GPS satellite calculated by the pseudorange residual calculation unit 35. From the difference between the pseudo-range residuals of 12A and 12B, the GPS satellites to be excluded from the GPS satellites used when estimating the position of the vehicle are determined.
  • the exclusion target GPS satellites are determined based on the difference in the pseudo range residuals of the GPS antennas 12A and 12B of all the GPS satellites.
  • the exclusion target GPS satellites are used. Is not performed. For example, the GPS satellites received by any of the GPS antennas 12A and 12B are output without being excluded from the GPS satellites.
  • satellites similar to those in the first embodiment are selected only when it is determined that the receivers of the GPS antennas 12A and 12B have high reliability of the time difference. This makes it possible to exclude in advance the satellites affected by the multipath error in consideration of the reliability of the time error of the receiver determined based on the pseudorange residuals for all GPS satellites. ..
  • FIG. 7 shows an example of the contents of a satellite selection processing routine in the computer of the satellite selection device 18 as main processing in the positioning device according to the second embodiment.
  • the computer 230 When the GPS antennas 12A, 12B and the receivers 14A, 14B are receiving radio waves from a plurality of GPS satellites, the computer 230 repeatedly executes the positioning processing routine shown in FIG.
  • step S100 information on a plurality of GPS satellites is acquired from the GPS receivers 14A and 14B, and GPS pseudo range data, Doppler frequency, and position coordinates of the GPS satellites of the plurality of GPS satellites are calculated and acquired.
  • GPS information for a plurality of GPS satellites acquired at the same time is acquired as a GPS information group.
  • step S102 the position of each installation location of the GPS antennas 12A and 12B and the time difference between the receivers 14A and 14B of the GPS antennas 12A and 12B are calculated. Then, among the GPS satellites commonly received by the GPS antennas 12A and 12B, the exclusion-targeted GPS satellites are set.
  • step S106 one of the GPS satellites commonly receiving radio waves by the plurality of GPS antennas 12A and 12B is set. Then, in step S108, the estimated pseudo distance of each of the GPS antennas 12A and 12B is calculated, and in step S110, the residual pseudo distance is calculated for each of the GPS antennas 12A and 12B.
  • step S200 it is determined whether or not the above processing has been completed for all GPS satellites by determining whether or not there are remaining GPS satellites that have not executed the processing for calculating the estimated pseudo distance and the residual of the pseudo distance. .. If there are GPS satellites for which the above processing has not been executed, the determination is negative in step S200, the next GPS satellite is set in step S202, and the process returns to step S200. On the other hand, when the execution of the above processing is completed for all GPS satellites, the affirmative determination is made in step S200, and the processing proceeds to step S204.
  • step S204 it is determined whether or not there is a GPS antenna having a pseudo range residual of a threshold value or more among the pseudo range residuals of each GPS antenna for all GPS satellites commonly received by the GPS antennas 12A and 12B. To do. If there is a GPS antenna with a pseudorange residual of a threshold value or more, the affirmative determination is made in step S204, and the process returns to step S100 without executing the process of selecting a GPS satellite to be excluded, which will be described later. On the other hand, if all the pseudorange residuals are less than the threshold value, the determination is negative in step S204, and the process proceeds to step S206 in order to execute the process of selecting the GPS satellite to be excluded.
  • step S206 one of the GPS satellites that are commonly receiving radio waves by the plurality of GPS antennas 12A and 12B is set. Then, in step S108, the estimated pseudo distance of each of the GPS antennas 12A and 12B is calculated, and in step S110, the residual pseudo distance is calculated for each of the GPS antennas 12A and 12B.
  • the difference in the pseudorange residual which is the difference between the pseudorange residual of the GPS antenna 12A and the pseudorange residual of the GPS antenna 12B, is calculated.
  • step S214 it is determined whether or not the above processing has been completed for all GPS satellites by determining whether or not there are GPS satellites that have not been subjected to the above processing. If there are GPS satellites for which the above processing has not been executed, the determination is negative in step S214, the next GPS satellite is set in step S216, and then the process returns to step S208. On the other hand, when the execution of the above process is completed for all GPS satellites, the affirmative answer is obtained in step S214, and the process returns to step S100.
  • the satellite selection device 18 determines the position to be positioned only when the reliability of the time error of the receiver connected to the GPS antenna is high.
  • the position of the vehicle on the earth can be accurately determined. Can be calculated well.
  • FIG. 8 shows an example of the configuration of the speed measuring device according to the third embodiment.
  • the velocity measuring device 310 includes a plurality of GPS antennas 12A and 12B, a plurality of receivers 14A and 14B, an attitude angle sensor 16, a gyro sensor 316, and a plurality of gyro sensors. Based on the signals received from the GPS satellites received by the receivers 14A and 14B of the GPS receiver, and the detection values of the attitude angle sensor 16 and the gyro sensor 316, the satellite selection device 318 that selects the GPS satellite to be used, and the speed of the vehicle.
  • the satellite selection device 318 includes a computer 330 that executes a satellite selection process that selects a GPS satellite used to derive the speed of the host vehicle, and the output unit 20.
  • a satellite information acquisition unit 31 is an example of the satellite information acquisition unit and the observed Doppler frequency derivation unit of the present disclosure.
  • the estimated Doppler frequency calculation unit 334 is an example of the estimated Doppler frequency derivation unit of the present disclosure.
  • the Doppler frequency residual calculation unit 335 is an example of the residual derivation unit of the present disclosure.
  • the excluded satellite discriminating unit 337 is an example of a satellite selecting unit of the present disclosure.
  • the antenna speed/receiver time error change amount calculation unit 332 calculates the speed relationship between the installation location and the positioning target location on the earth of each of the GPS antennas 12A and 12B calculated based on the attitude angle of the own vehicle, and the acquired satellite. The speed of each of the GPS antennas 12A and 12B is calculated based on the speed of the positioning target location determined by using the information. Further, the amount of change in the time difference between the receivers 14A and 14B of the GPS antennas 12A and 12B (hereinafter referred to as clock drift) is calculated.
  • the antenna speed/receiver time error change amount calculation unit 332 calculates the angular velocity of the host vehicle at that time by using the detection value of the gyro sensor 316 as the first step.
  • the antenna velocity/receiver time error change amount calculation unit 332 calculates the attitude angle of the host vehicle from the detection value of the attitude angle sensor 16 as the second step.
  • 9A and 9B show an example of the attitude angle of the host vehicle 50 at a certain time.
  • FIG. 9A shows the attitude angle of the host vehicle 50 from directly above the road surface
  • FIG. 9B shows the attitude angle of the host vehicle 50 from directly beside the road surface. In the following, as shown in FIGS.
  • the rotation is positive)
  • the pitch angle is ⁇
  • the roll angle is zero.
  • the antenna velocity/receiver time error change amount calculation unit 332 as a third step, based on the calculated attitude angle of the own vehicle and the Doppler frequency of the received signal from each GPS satellite, the GPS antenna 12A, For each of the 12B, the speed relationship between the installation location of the GPS antenna on the earth and the positioning target location is calculated.
  • the antenna speed/receiver time error change amount calculation unit 332 determines the distance between the installation location of each GPS antenna 12A, 12B on the earth and the positioning target location, which is obtained in advance, Based on the angles of the installation locations of the GPS antennas 12A and 12B and the detected attitude angles and angular velocities of the own vehicle, the speed relationship on the earth between the positioning target location (vehicle center) and each GPS antenna installation location is shown. calculate. More specifically, it is calculated by the following procedure. Note that, here, a case where the GPS antenna 12A is targeted will be described.
  • FIG. 10A to 10C show an example of the speed relationship between the position to be measured (vehicle center) and the installation position of the GPS antenna 12A.
  • FIG. 10A shows the speed relationship when viewed from directly above the road surface
  • FIG. 10B shows the speed relationship when viewed from just beside the road surface
  • FIG. 10C shows the ground surface (EN coordinate surface). The speed relation when the state projected on is seen is shown.
  • ⁇ is the long radius [m] of the earth
  • f is the oblateness
  • the antenna speed/receiver time error change amount calculation unit 332 uses the calculated speed relationship and the acquired satellite information to calculate the speed of the position to be measured on the earth and a plurality of positions. Calculate the clock drift for each receiver of the GPS antenna. Specifically, the antenna speed/receiver time error change amount calculation unit 332 sets the speed of the positioning target location and the time error of each of the plurality of GPS antennas 12A and 12B as unknowns, and determines the speed of the positioning target location and the positioning.
  • an equation describing the speed of the installation location of the plurality of GPS antennas 12A, 12B and each of the plurality of GPS antennas 12A, 12B According to the above, the velocity of the positioning target location and the clock drift of each receiver are calculated based on the relative velocity with the satellite obtained from the Doppler frequency observed at each installation location of the plurality of GPS antennas 12A and 12B. ..
  • the three-dimensional velocity vector (Vx, Vy, Vz) in the ECEF coordinate system of the position to be positioned and a total of five clock drifts, which are changes in the clock bias of the two receivers 14A and 14B, are included. Is an unknown number, and the three-dimensional velocity vector in the ECEF coordinate system at the installation location of each GPS antenna 12A, 12B is G A (Vx, Vy, Vz) and G B (Vx, Vy, Vz) Similar to the method (for example, speed calculation by one GPS antenna), formula (7) is established for each GPS antenna 12A, 12B and each satellite (here, only the GPS antenna 12A is described.
  • the velocities (Vx, Vy, Vz) of the position to be positioned are calculated using the observation results of a total of five or more satellites of the GPS antennas 12A and 12B.
  • An example of velocity calculation using one GPS antenna is described in Y. Kojima, "Proposal for a new localization method using tightly coupled integration based on a precise estimation of trajectory from GPS Doppler", Proceedings of AVEC2010, Laughborough UK, 2010. ).
  • the velocity (Vx, Vy, Vz) and the clock drift of the position to be measured are calculated using the observation results from a total of (N+3) or more satellites. ..
  • the speed of the GPS antenna 12A is represented by the following formula.
  • (Vx, Vy, Vz) is the velocity of the position to be measured
  • Cbv A is the clock drift [m/s] (converted to the velocity by multiplying the speed of light) of the receiver 14A of the GPS antenna 12A.
  • (X A , y A , z A ) is the position of the GPS antenna 12A.
  • D i is the Doppler frequency [Hz] observed for the satellite i
  • (X si , Y si , Z si ) is the position of the satellite i
  • r i is represented by the following formula.
  • f 1 is the carrier frequency (1575.42 ⁇ 10 6 ) [Hz]
  • C is the speed of light (2.99792458 ⁇ 10 8 ) [m/s]
  • (V xsi , V ysi , V zsi ) is the satellite i is the speed.
  • the speed of the positioning target location can be accurately measured. Can be calculated.
  • the antenna speed/receiver time error change amount calculation unit 332 determines, as a fifth step, the speed relationship between the installation location of the GPS antenna and the positioning target location obtained as described above, and the position of the positioning target location.
  • the respective velocities of the GPS antennas 12A and 12B are derived by using them. That is, by applying the speed of the positioning target point on the earth calculated in the fourth step to the speed relationship between the installation positions of the GPS antennas 12A and 12B and the positioning target position calculated in the third step, The speed of each of the GPS antennas 12A and 12B is derived.
  • the estimated Doppler frequency calculation unit 334 estimates the GPS antennas 12A and 12B for all the GPS satellites that commonly receive the radio waves among the GPS satellites that have received the radio waves.
  • the Doppler frequency (hereinafter referred to as the estimated Doppler frequency) is calculated. Specifically, the respective speeds of the GPS antennas 12A and 12B and the clock drifts of the receivers 14A and 14B derived by the antenna speed/receiver time error change amount calculation unit 332 are substituted into the equation (7). By doing so, the estimated Doppler frequency is calculated for each of the GPS antennas 12A and 12B.
  • the excluded satellite discriminating unit 337 is used when estimating the speed of the vehicle based on the difference between the Doppler frequency residuals of the GPS antennas 12A and 12B of all the GPS satellites calculated by the Doppler frequency residual calculating unit 335.
  • the exclusion target GPS satellites to be excluded from the GPS satellites are determined.
  • the excluded satellite determination unit 337 calculates the Doppler frequency of the GPS antenna 12A calculated by the Doppler frequency residual calculation unit 335 for each of all the GPS satellites commonly receiving radio waves by the GPS antennas 12A and 12B.
  • the difference between the residual and the Doppler frequency residual of the GPS antenna 12B (hereinafter referred to as the difference of the Doppler frequency residual) is calculated.
  • the GPS satellite of the GPS antenna whose absolute value of the difference between the Doppler frequency residuals calculated for each GPS satellite is greater than or equal to a threshold is determined as an exclusion target GPS satellite to be excluded from all the GPS satellites that have received radio waves in common. To do. In this way, the satellite affected by the multipath error can be excluded in advance by properly considering the speed relationship between the positioning target location and each GNSS antenna installation location.
  • the speed deriving unit 340 derives the speed of the position to be measured on the earth using the information of the GPS satellites. Specifically, for example, satellite information from GPS satellites other than the exclusion-targeted GPS satellites is used to calculate the speed of the positioning target location. Note that the speed of the positioning target location in the speed deriving unit 340 can be derived by, for example, the same processing as the calculation in the first to fourth steps in the antenna speed/receiver time error change amount calculating unit 332. , Detailed description is omitted.
  • FIG. 11 shows an example of the contents of the satellite selection processing routine in the computer of the satellite selection device 318 in the speed measurement device.
  • the attitude angle sensor 16 detects the geomagnetism
  • the gyro sensor 316 detects the angular acceleration
  • the GPS antennas 12A, 12B and the receivers 14A, 14B select satellites while receiving radio waves from a plurality of GPS satellites.
  • the speed measurement processing routine shown in FIG. 11 is repeatedly executed.
  • step S300 information on a plurality of GPS satellites is acquired from the GPS receivers 14A and 14B, and GPS pseudo range data, Doppler frequency, and position coordinates of the GPS satellites of the plurality of GPS satellites are calculated and acquired.
  • GPS information for a plurality of GPS satellites acquired at the same time is acquired as a GPS information group.
  • step S302 the speed of each installation location of the GPS antennas 12A and 12B is calculated. Specifically, in the first stage, the detected value of the gyro sensor 316 is used to calculate the angular velocity of the own vehicle at the time, and in the second stage, the detected value of the posture angle sensor 16 is used to determine the attitude angle of the own vehicle. To calculate. In the next third step, for each of the GPS antennas 12A and 12B, the speed relationship between the location on the earth where the GPS antenna is installed and the location to be measured is calculated. In the next fourth step, the velocity of the location on the earth is calculated using the calculated velocity relationship and the acquired satellite information. Moreover, the clock drift of each receiver 14A, 14B of GPS antenna 12A, 12B is calculated. Then, in a fifth step, the speed of each of the GPS antennas 12A and 12B is derived using the speed relationship between the installation location of the GPS antenna and the positioning target location and the position of the positioning target location that have been obtained.
  • the positions of the GPS antennas 12A and 12B, and the clock drift of the receivers 14A and 14B corresponding to the GPS antennas 12A and 12B, among the commonly received GPS satellites Set the excluded GPS satellites.
  • step S310 the residual value of the Doppler frequency is calculated by subtracting the estimated Doppler frequency calculated in step S308 from the observed Doppler frequency that is the observed Doppler frequency for each GPS antenna 12A, 12B. Is calculated (see equation (8)).
  • the difference of the Doppler frequency residual which is the difference between the residual of the Doppler frequency of the GPS antenna 12A calculated for the corresponding GPS satellite and the residual of the Doppler frequency of the GPS antenna 12B, is calculated. Then, in the next step S314, it is determined whether or not the absolute value of the difference between the Doppler frequency residuals is equal to or more than a threshold value. If the determination is affirmative, in step S316, the GPS satellite of the currently set GPS antenna It is set as an exclusion target GPS satellite to be excluded from all GPS satellites that have received the radio wave, and is output by the output unit 20. This makes it possible to exclude in advance the satellites affected by the multipath error by appropriately considering the positional relationship and speed relationship between the positioning target location and each GNSS antenna installation location.
  • the speed derivation unit 340 causes the satellite information from the GPS satellites other than the selected exclusion target GPS satellites. Is used to calculate the speed of the position to be measured. Accordingly, the GPS satellite estimated to have been affected by the multipath error is excluded in advance from the positioning target position different from the position where the plurality of GPS antennas are installed in the vehicle, thereby accurately calculating the speed on the earth. be able to.
  • the satellite selection device 318 appropriately considers the speed relationship between the position to be positioned and each GPS antenna installation position to reduce the multipath error. By preliminarily excluding GPS satellites that are estimated to have been affected, it is possible to accurately calculate the speed of the earth on the position of the positioning target in the vehicle.
  • the third embodiment is that the GPS satellites estimated to be affected by the multipath error are excluded in advance only when the calculated reliability of the clock drift of each receiver is high.
  • the form is mainly different.
  • FIG. 12 shows an example of the configuration of the speed measuring device according to the fourth embodiment.
  • the computer 430 of the satellite selection device 418 in the speed measurement device 410 according to the fourth embodiment includes a satellite information acquisition unit 31, an antenna speed/receiver time error change amount calculation unit 332, and an estimation.
  • a Doppler frequency calculation unit 334, a Doppler frequency residual calculation unit 335, a receiver clock drift reliability determination unit 436, and an excluded satellite determination unit 437 are provided.
  • the receiver clock drift reliability determination unit 436 is an example of the reliability determination unit of the present disclosure.
  • the receiver clock drift reliability determination unit 436 determines the reliability of the receiver clock drift calculated by the antenna speed/receiver time error change amount calculation unit 332. Specifically, the reliability of the clock drift of the receiver may be determined according to the fluctuation of the Doppler frequency residual in the GPS antenna. For example, if an error occurs in the clock drift of the receiver, it commonly affects the Doppler frequency residuals of all GPS satellites. For this reason, the fact that the Doppler frequency residuals for all GPS satellites are larger than a certain level indicates that there is a high possibility that the clock drift of the receiver is incorrectly calculated, that is, the reliability is low. On the other hand, if the residuals of the Doppler frequencies for all GPS satellites are less than a certain value, it is considered that there is little possibility that the calculation of the clock drift of the receiver is wrong, that is, the reliability is high.
  • the receiver clock drift reliability determination unit 436 uses the Doppler frequency residual calculated by the Doppler frequency residual calculation unit 335 and uses the Doppler frequency residual calculated by the GPS antennas 12A and 12B for all common reception. For GPS satellites, the residual Doppler frequency is calculated for each GPS antenna. Next, for all commonly received GPS satellites, if the residual of the Doppler frequency of one GPS antenna is larger than the residual of the Doppler frequency of the other GPS antenna by a predetermined threshold value or more, It is determined that the reliability of the clock drift of the receiver connected to the GPS antenna with the larger residual is low.
  • the calculation error of the clock drift of the receiver has a common effect on the residuals of the Doppler frequencies of all the GPS satellites that are commonly received, and thus the pseudorange residuals of all the GPS satellites. Is larger than a certain amount because it is considered that there is a high possibility that the calculation of the clock drift of the receiver is incorrect.
  • the residual of the Doppler frequency of one GPS antenna is less than the threshold with respect to the residual of the Doppler frequency of the other GPS antenna, the reliability of the clock drift of the receiver connected to the GPS antenna is high. Judge as high.
  • the excluded satellite discriminating unit 437 uses the GPS antenna of each GPS satellite calculated by the Doppler frequency residual calculating unit 335 based on the reliability of the clock drift of the receiver determined by the receiver clock drift reliability determining unit 436. From the difference between the Doppler frequency residuals of 12A and 12B, the GPS satellites to be excluded from the GPS satellites used when estimating the speed of the vehicle are determined.
  • the exclusion-targeted GPS satellite is determined based on the difference between the Doppler frequency residuals of the GPS antennas 12A and 12B of all the GPS satellites.
  • the exclusion target GPS satellites Is not performed.
  • the GPS satellites received by any of the GPS antennas 12A and 12B are output without being excluded from the GPS satellites.
  • the satellite selection similar to the third embodiment is performed. This makes it possible to exclude in advance the satellites affected by the multipath error in consideration of the reliability of the receiver clock drift determined based on the Doppler frequency residuals for all GPS satellites. ..
  • the speed of the positioning target point on the earth is calculated only when the reliability of the detected clock drift of the receiver of the own vehicle is high. By doing so, the speed on the earth can be stably calculated for the position to be measured.
  • the positioning device or the speed measuring device of the present disclosure is mounted on the mobile device.
  • the body is not limited to a vehicle.
  • the positioning device or the speed measuring device may be mounted on the robot.
  • the technology of the present disclosure is applied to the positioning device or the speed measuring device mounted on the vehicle has been described as an example, but the positioning device and the speed measuring device of the present disclosure are mounted to perform positioning. And the technique of the present disclosure may be applied when deriving the velocity.
  • GPS is used as the satellite navigation system
  • other satellite positioning systems GLONASS, BeiDou, Galileo, QZSS
  • GLONASS BeiDou, Galileo, QZSS

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  • 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)

Abstract

L'invention concerne un dispositif de sélection de satellite qui sélectionne des satellites devant être utilisés par un dispositif de positionnement pour calculer la position sur Terre d'un emplacement pour le positionnement d'un corps mobile, qui est différent des emplacements de montage d'une pluralité d'antennes satellites montées sur le corps mobile. Le dispositif de sélection de satellite: acquiert des informations de satellite comprenant des informations concernant les positions de satellites et les distances entre les satellites et le corps mobile; utilise les informations de satellite pour déduire des informations de pseudo-distances observées indiquant les distances entre les satellites et les antennes satellites observées au niveau de chacun des emplacements de montage d'antenne satellite; utilise des relations de positions prédéterminées entre les emplacements de montage d'antenne satellite et l'emplacement pour le positionnement et les informations de satellite pour estimer des informations de pseudo-distances estimées indiquant les distances entre la pluralité de satellites et la pluralité d'antennes satellites en fonction des positions à partir de l'emplacement pour le positionnement; pour chaque satellite de la pluralité de satellites, dérive des résidus entre les informations de pseudo-distances observées et des informations de pseudo-distances estimées pour chaque antenne satellite; et sélectionne un satellite à ne plus utiliser sur la base des différences entre les résidus pour la pluralité d'antennes satellites.
PCT/JP2019/045961 2019-01-15 2019-11-25 Dispositif de sélection de satellite et programme WO2020149014A1 (fr)

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WO2023135683A1 (fr) * 2022-01-12 2023-07-20 日本電信電話株式会社 Dispositif de réception de signal satellite, procédé de sélection de signal satellite et programme

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