WO2021064939A1 - 衛星信号受信装置及び位置測定装置 - Google Patents

衛星信号受信装置及び位置測定装置 Download PDF

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Publication number
WO2021064939A1
WO2021064939A1 PCT/JP2019/039115 JP2019039115W WO2021064939A1 WO 2021064939 A1 WO2021064939 A1 WO 2021064939A1 JP 2019039115 W JP2019039115 W JP 2019039115W WO 2021064939 A1 WO2021064939 A1 WO 2021064939A1
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WIPO (PCT)
Prior art keywords
satellite
antenna
phase difference
doppler
value
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Ceased
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PCT/JP2019/039115
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English (en)
French (fr)
Japanese (ja)
Inventor
知明 武輪
隆文 永野
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Priority to PCT/JP2019/039115 priority Critical patent/WO2021064939A1/ja
Priority to JP2021550879A priority patent/JP7154433B2/ja
Publication of WO2021064939A1 publication Critical patent/WO2021064939A1/ja
Anticipated expiration legal-status Critical
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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
    • G01S19/22—Multipath-related issues
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection

Definitions

  • the present invention relates to a satellite signal receiving device and a position measuring device.
  • GNSS Global Navigation Satellite System
  • a device for receiving a signal transmitted by each positioning satellite (hereinafter referred to as “satellite signal”) for receiving a signal transmitted by each positioning satellite (hereinafter referred to as “satellite signal”) for receiving a signal transmitted by each positioning satellite (hereinafter referred to as “satellite signal”) has been developed.
  • the satellite signal received by the satellite signal receiving device includes a signal corresponding to a so-called “direct wave” (hereinafter referred to as “direct wave signal”). Further, the satellite signal received by the satellite signal receiving device is a signal corresponding to a reflected wave or a diffracted wave by an object such as a building (hereinafter collectively referred to as "non-direct wave”) (hereinafter referred to as “non-direct wave signal”). .) Is included.
  • a measurement error occurs because the non-direct wave signal is used to measure the position of the moving body. From the viewpoint of suppressing the occurrence of such measurement error, it is preferable to exclude the non-direct wave signal from the measurement of the position of the moving body.
  • Patent Document 1 discloses a technique for determining whether or not an individual satellite signal is a non-direct wave signal (for example, paragraphs [0077] to [0113] and FIGS. 6 to 6 of Patent Document 1. See 9.).
  • a plurality of antennas including a first antenna and a second antenna
  • a plurality of positioning satellites transmit a plurality of satellite signals
  • the transmitted plurality of satellite signals are received by a plurality of antennas.
  • the positions of the plurality of positioning satellites are acquired and the positions of the vehicles are calculated.
  • the phase difference between the satellite signal received by the first antenna and the satellite signal received by the second antenna is acquired.
  • the Doppler frequency related to each of the received plurality of satellite signals is acquired.
  • the absolute direction of arrival of radio waves with respect to the vehicle is calculated for each of the plurality of positioning satellites. Further, based on the acquired phase difference, the relative arrival direction of the radio wave with respect to the vehicle is estimated for each of the plurality of positioning satellites. Further, the absolute traveling direction of the vehicle is estimated based on the acquired Doppler frequency.
  • the absolute arrival direction of radio waves with respect to the vehicle is estimated for each of the plurality of positioning satellites. For each of the plurality of positioning satellites, the estimated absolute arrival direction and the calculated absolute arrival direction are compared. Thereby, it is determined whether or not each of the plurality of received satellite signals is a non-direct wave signal.
  • Patent Document 1 the relative arrival direction of radio waves to a vehicle is based on the installation direction of a plurality of antennas in the vehicle (hereinafter referred to as "antenna installation direction") (Patent Document 1). See paragraph [0047], etc.).
  • antenna installation direction the installation direction of a plurality of antennas in the vehicle.
  • Patent Document 1 there is a problem that the above determination cannot be made unless the traveling direction of the vehicle matches the antenna installation direction.
  • the above determination cannot be made when the vehicle is stopped or when the vehicle is traveling in a direction different from the antenna installation direction.
  • the present invention has been made to solve the above problems, and individual satellite signals can be transmitted regardless of whether or not the moving body is moving and regardless of the moving direction of the moving body.
  • the purpose is to determine whether or not it is a direct wave signal.
  • the satellite signal receiving device of the present invention includes an antenna that receives a plurality of satellite signals transmitted by a plurality of positioning satellites, an antenna direction estimation unit that calculates an antenna velocity vector estimated value related to the antenna, and a plurality of antennas.
  • the Doppler residual calculation unit that calculates the Doppler frequency theoretical value using the antenna velocity vector estimated value and calculates the Doppler residual that indicates the difference between the Doppler frequency theoretical value and the Doppler frequency observed value
  • the Doppler threshold setting unit for setting the Doppler threshold for comparison with respect to the Doppler residual, and by comparing the Doppler residual with the Doppler threshold, each of the plurality of satellite signals is a direct wave signal. It is provided with a determination unit for determining whether or not the frequency is high.
  • each satellite signal is a direct wave signal regardless of whether or not the moving body is moving and regardless of the moving direction of the moving body. It can be determined whether or not.
  • FIG. 1 It is a block diagram which shows the main part of the satellite signal receiving apparatus which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the hardware configuration of the satellite signal determination apparatus in the satellite signal receiving apparatus which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the other hardware configuration of the satellite signal determination apparatus in the satellite signal receiving apparatus which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the operation of the satellite signal determination apparatus in the satellite signal receiving apparatus which concerns on Embodiment 1.
  • FIG. 1 It is explanatory drawing which shows the relationship of the satellite position vector, the satellite velocity vector, the antenna position vector, the antenna velocity vector, and the line-of-sight vector. It is a flowchart which shows the detailed operation of the Doppler residual calculation part in the satellite signal receiving apparatus which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the detailed operation of the Doppler threshold value setting part in the satellite signal receiving apparatus which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the detailed operation of the determination part in the satellite signal receiving apparatus which concerns on Embodiment 1.
  • FIG. It is a block diagram which shows the main part of the satellite signal receiving apparatus which concerns on Embodiment 2.
  • FIG. 1 It is explanatory drawing which shows the relationship of the satellite position vector, the satellite velocity vector, the antenna position vector, the antenna velocity vector, and the line-of-sight vector.
  • FIG. It is a flowchart which shows the operation of the satellite signal determination apparatus in the satellite signal receiving apparatus which concerns on Embodiment 2.
  • FIG. It is a flowchart which shows the detailed operation of the antenna posture estimation part in the satellite signal receiving apparatus which concerns on Embodiment 2.
  • FIG. It is explanatory drawing which shows the correspondence relation of the phase difference between antennas, the distance between antennas, the baseline vector and the signal arrival angle.
  • It is a flowchart which shows the detailed operation of the phase difference residual calculation part in the satellite signal receiving apparatus which concerns on Embodiment 2.
  • FIG. It is a flowchart which shows the detailed operation of the phase difference threshold setting part in the satellite signal receiving apparatus which concerns on Embodiment 2.
  • FIG. It is a flowchart which shows the detailed operation of the determination part in the satellite signal receiving apparatus which concerns on Embodiment 2.
  • FIG. It is a block diagram which shows the main part of the satellite signal receiving apparatus which concerns on Embodiment 3. It is a flowchart which shows the operation of the satellite signal determination apparatus in the satellite signal receiving apparatus which concerns on Embodiment 3.
  • FIG. It is a flowchart which shows the detailed operation of the reception timing correction part in the satellite signal receiving apparatus which concerns on Embodiment 3.
  • FIG. It is a block diagram which shows the main part of the position measuring apparatus which concerns on Embodiment 4.
  • FIG. It is a block diagram which shows the hardware structure of the position measuring apparatus which concerns on Embodiment 4.
  • FIG. 1 It is a block diagram which shows the other hardware configuration of the position measuring apparatus which concerns on Embodiment 4.
  • FIG. It is a flowchart which shows the operation of the satellite signal determination device and the position measurement part in the position measurement device which concerns on Embodiment 4.
  • FIG. It is a block diagram which shows the main part of another position measuring apparatus which concerns on Embodiment 4.
  • FIG. It is a block diagram which shows the main part of another position measuring apparatus which concerns on Embodiment 4.
  • FIG. 1 It is a block diagram which shows the main part of another position measuring apparatus which concerns on Embodiment 4.
  • the positions of these antennas are referred to as “antenna positions”.
  • the position vector related to these antennas is referred to as “antenna position vector”.
  • the velocity vector related to these antennas is referred to as “antenna velocity vector”.
  • the estimated value of the antenna speed vector is referred to as “antenna speed vector estimated value”.
  • the arrangement of a plurality of positioning satellites is referred to as "satellite arrangement”. That is, the satellite arrangement indicates the position of each of the plurality of positioning satellites. Further, the position vector related to each of the plurality of positioning satellites is referred to as “satellite position vector”. Further, the velocity vector related to each of the plurality of positioning satellites is referred to as “satellite velocity vector”.
  • the observed value of the carrier phase related to each of the plurality of satellite signals is referred to as “carrier wave”. It is called “phase observation value”.
  • the unit of the carrier phase is the wave number.
  • the observed value of the signal-to-noise ratio related to each of the plurality of satellite signals is referred to as “signal-to-noise ratio observed value”.
  • Doppler frequency observed value the observed value of the Doppler frequency related to each of the plurality of satellite signals.
  • the amount of change in the Doppler frequency related to each of the plurality of satellite signals is referred to as "the amount of Doppler shift”.
  • the theoretical value of the Doppler frequency related to each of the plurality of satellite signals is referred to as the “Doppler frequency theoretical value”.
  • Doppler residual the difference between the Doppler frequency observed value and the Doppler frequency theoretical value for each of the plurality of satellite signals.
  • Doppler threshold value the threshold value for comparison with respect to the Doppler residual.
  • each of the plurality of satellite signals and two of the plurality of antennas are used.
  • the difference between the carrier phase of the satellite signal received by one antenna and the carrier phase of the satellite signal received by the other antenna is called “inter-antenna phase difference”.
  • the observed value of the phase difference between the antennas related to each of the plurality of satellite signals is referred to as the “observed value of the phase difference between the antennas”.
  • the theoretical value of the phase difference between the antennas related to each of the plurality of satellite signals is referred to as the "theoretical value of the phase difference between the antennas”.
  • phase difference threshold value the threshold value for comparison with respect to the phase difference residual.
  • a vector indicating the line-of-sight direction by one antenna or a plurality of antennas for each of a plurality of positioning satellites is referred to as a "line-of-sight vector”.
  • the unit vector of the line-of-sight vector is called “unit line-of-sight vector”.
  • a vector connecting the antenna position vector related to one antenna and the antenna position vector related to the other antenna is called a "baseline vector”.
  • the unit vector of the baseline vectors is called a "unit baseline vector”.
  • the estimated value of the baseline vector is referred to as "baseline vector estimated value”.
  • the angle of the line-of-sight vector with respect to the horizontal plane is referred to as “satellite elevation angle”.
  • the identification information related to each of the plurality of positioning satellites is referred to as "identification information”.
  • the identification information includes, for example, information indicating the type of the corresponding positioning satellite and information indicating the PRN (Pseudo Random Noise) number of the corresponding positioning satellite.
  • one or more satellite signals out of the plurality of satellite signals are directly delivered.
  • it is a wave signal
  • one or more positioning satellites corresponding to the one or more satellite signals are referred to as "direct wave receiving satellites”.
  • one or more satellite signals among the plurality of satellite signals are non-direct wave signals
  • one or more positioning satellites corresponding to the one or more satellite signals are referred to as “non-direct wave”. It is called "reception satellite”.
  • one of the plurality of satellite signals is a candidate for a direct wave signal.
  • the above satellite signal is called a "direct wave candidate signal”.
  • one or more positioning satellites that are candidates for the direct wave receiving satellite among the plurality of positioning satellites are referred to as "direct wave receiving candidate satellites”.
  • phase difference threshold table a table showing the correspondence between a plurality of Doppler thresholds and a plurality of satellite elevation angle-signal-to-noise ratio pairs.
  • the code formed by adding the symbol “ ⁇ ” above the character “x” may be described as “x ( ⁇ )”. Further, a code formed by adding a symbol “ ⁇ ” above the character “x” may be described as “x ( ⁇ )”. In addition, a code formed by adding the symbol “ ⁇ ” and the symbol “ ⁇ ” above the character “x” may be described as “x ( ⁇ , ⁇ )”. In addition, a code having a symbol “ ⁇ ” above the character “ ⁇ ” may be described as “ ⁇ ( ⁇ )”. Further, a code formed by adding the symbol “ ⁇ ” above the character “f” may be described as “f ( ⁇ )”. Further, a symbol “ ⁇ ( ⁇ )” may be described by adding a symbol “ ⁇ ” above the character “ ⁇ ”.
  • N is an arbitrary integer of 2 or more.
  • FIG. 1 is a block diagram showing a main part of the satellite signal receiving device according to the first embodiment.
  • the satellite signal receiving device according to the first embodiment will be described with reference to FIG.
  • the mobile body 1 is composed of, for example, a vehicle, a ship, an aircraft, or a mobile information terminal.
  • the mobile body 1 has an antenna 2.
  • the antenna 2 receives the transmitted N satellite signals SS 1 to SS N.
  • Antenna 2 and outputs the received satellite signals SS 1 ⁇ SS N satellite signal processing unit 11.
  • the satellite signals SS 1 to SS N between the positioning satellites PS 1 to PS N and the antenna 2 are composed of radio waves.
  • the satellite signals SS 1 ⁇ SS N between the antenna 2 and the satellite signal processing unit 11 is composed of a high-frequency signal. That is, the antenna 2 converts radio waves into high-frequency signals.
  • the individual positioning satellites PS 1 to PS N are composed of GNSS satellites. Specifically, for example, the individual positioning satellite PS 1 ⁇ PS N, GPS ( Global Positioning System) satellites, GLONASS (Global Navigation Satellite System) satellite, BeiDou satellite, Galileo satellite or QZSS (Quasi-Zenith Satellite System) satellite It is composed of.
  • GPS Global Positioning System
  • GLONASS Global Navigation Satellite System
  • BeiDou satellite BeiDou satellite
  • Galileo satellite Galileo satellite
  • QZSS Quadasi-Zenith Satellite System
  • the number of satellite signals SS 1 ⁇ SS N received by the antenna 2 i.e., the number of satellite signals SS 1 ⁇ SS positioning satellite N transmitted the PS 1 ⁇ PS N
  • the total number of the positioning satellites contained in the GNSS The position of each positioning satellite included in the GNSS, the position of the moving body 1 on the earth, and the like. That is, the value of N varies depending on these factors.
  • Satellite signal processing unit 11 is for acquiring the satellite signals SS 1 ⁇ SS N outputted by the antenna 2. Satellite signal processing unit 11, with respect to the acquired satellite signals SS 1 ⁇ SS N, processing performed by a conventional GNSS receiver (satellite acquisition process, including satellite tracking processing and the demodulation processing.) And similar It executes the process. As a result, satellite arrangement, carrier phase observation value, Doppler frequency observation value, signal-to-noise ratio observation value, and the like are detected. The satellite signal processing unit 11 outputs data including the detected satellite arrangement (hereinafter referred to as “navigation message”). Further, the satellite signal processing unit 11 outputs data including the detected carrier wave phase observation value, Doppler frequency observation value, and signal-to-noise ratio observation value (hereinafter referred to as “observation data”).
  • observation data data including the detected carrier wave phase observation value, Doppler frequency observation value, and signal-to-noise ratio observation value
  • the satellite signal processing unit 11 uses the navigation message and the observation data to execute the same positioning process as the positioning process executed by the normal GNSS receiver. As a result, the antenna position is detected.
  • the positioning process executed by the satellite signal processing unit 11 is, for example, independent positioning, RTK (Real Time Kinetic) positioning, or PPP (Precise Point Positioning) positioning.
  • the satellite signal processing unit 11 outputs data including the detected antenna position (hereinafter referred to as “antenna position data”).
  • satellite signal processing unit 11 may be collectively referred to as "satellite signal processing".
  • the antenna direction estimation unit 12 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11.
  • the antenna direction estimation unit 12 calculates an antenna velocity vector estimated value by using the acquired navigation message, observation data, and antenna position data.
  • the antenna direction estimation unit 12 outputs the calculated antenna velocity vector estimated value.
  • antenna direction estimation process the processes executed by the antenna direction estimation unit 12 may be collectively referred to as "antenna direction estimation process". The details of the antenna direction estimation process will be described later with reference to the flowchart of FIG.
  • the Doppler residual calculation unit 13 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11, and also acquires the antenna velocity vector estimated value output by the antenna direction estimation unit 12. is there. Doppler residual calculating section 13, and calculates the acquired navigation message, observation data, using the antenna position data and antenna velocity vector estimate, a Doppler residual according to each of the satellite signals SS 1 ⁇ SS N is there. The Doppler residual calculation unit 13 outputs the calculated Doppler residual.
  • Doppler residual calculation process the processes executed by the Doppler residual calculation unit 13 may be collectively referred to as "Doppler residual calculation process". The details of the Doppler residual calculation process will be described later with reference to the flowchart of FIG.
  • the Doppler threshold setting unit 14 acquires navigation messages, observation data, and antenna position data output by the satellite signal processing unit 11. Doppler threshold setting unit 14 is configured such acquired navigation message, using the observed data and antenna position data, it sets the Doppler threshold according to each of the satellite signals SS 1 ⁇ SS N. The Doppler threshold setting unit 14 outputs the set Doppler threshold.
  • Doppler threshold setting process the processes executed by the Doppler threshold setting unit 14 may be collectively referred to as "Doppler threshold setting process". The details of the Doppler threshold setting process will be described later with reference to the flowchart of FIG. 7.
  • the determination unit 15 acquires the Doppler residual output by the Doppler residual calculation unit 13, and also acquires the Doppler threshold value output by the Doppler threshold value setting unit 14. Determination unit 15 uses the acquired Doppler residuals and Doppler residuals, each of the satellite signals SS 1 ⁇ SS N is one that determines whether the direct wave signal. That is, the determination unit 15 determines whether or not each of the positioning satellites PS 1 to PS N is a direct wave receiving satellite. The determination unit 15 outputs identification information indicating a direct wave receiving satellite based on the result of the determination.
  • determination processing the processes executed by the determination unit 15 may be collectively referred to as “determination processing”. Details of such determination processing will be described later with reference to the flowchart of FIG.
  • the main part of the satellite signal determination device 100 is composed of the satellite signal processing unit 11, the antenna direction estimation unit 12, the Doppler residual calculation unit 13, the Doppler threshold setting unit 14, and the determination unit 15.
  • the satellite signal determination device 100 is provided on, for example, the mobile body 1.
  • the antenna 2 and the satellite signal determination device 100 constitute a main part of the satellite signal receiving device 200.
  • the satellite signal determination device 100 has a processor 21 and a memory 22.
  • the memory 22 stores programs for realizing the functions of the satellite signal processing unit 11, the antenna direction estimation unit 12, the Doppler residual calculation unit 13, the Doppler threshold setting unit 14, and the determination unit 15.
  • the processor 21 reads out and executes such a program, the functions of the satellite signal processing unit 11, the antenna direction estimation unit 12, the Doppler residual calculation unit 13, the Doppler threshold setting unit 14, and the determination unit 15 are realized.
  • the satellite signal determination device 100 has a processing circuit 23.
  • the functions of the satellite signal processing unit 11, the antenna direction estimation unit 12, the Doppler residual calculation unit 13, the Doppler threshold setting unit 14, and the determination unit 15 are realized by the dedicated processing circuit 23.
  • the satellite signal determination device 100 has a processor 21, a memory 22, and a processing circuit 23 (not shown).
  • some of the functions of the satellite signal processing unit 11, the antenna direction estimation unit 12, the Doppler residual calculation unit 13, the Doppler threshold setting unit 14, and the determination unit 15 are realized by the processor 21 and the memory 22.
  • the remaining functions are realized by the dedicated processing circuit 23.
  • the processor 21 is composed of one or a plurality of processors.
  • processors for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor) is used.
  • CPU Central Processing Unit
  • GPU Graphics Processing Unit
  • DSP Digital Signal Processor
  • the memory 22 is composed of one or a plurality of non-volatile memories.
  • the memory 22 is composed of one or more non-volatile memories and one or more volatile memories. That is, the memory 22 is composed of one or a plurality of memories.
  • the individual memory uses, for example, a semiconductor memory or a magnetic disk. More specifically, each volatile memory uses, for example, a RAM (Random Access Memory).
  • the individual non-volatile memory is, for example, a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), an EEPROM (Ectrically Easy Erasable Programmory) drive, or a hard drive using a hard drive, a hard drive, or a hard drive. Is.
  • the processing circuit 23 is composed of one or a plurality of digital circuits. Alternatively, the processing circuit 23 is composed of one or more digital circuits and one or more analog circuits. That is, the processing circuit 23 is composed of one or a plurality of processing circuits.
  • the individual processing circuits are, for example, ASIC (Application Special Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field Programmable Gate Array), FPGA (Field Program Is.
  • the operation of the satellite signal receiving device 200 will be described focusing on the operation of the satellite signal determining device 100.
  • the satellite signal processing unit 11 executes satellite signal processing (step ST1).
  • the antenna direction estimation unit 12 executes the antenna direction estimation process (step ST2).
  • the Doppler residual calculation unit 13 executes the Doppler residual calculation process (step ST3).
  • the Doppler threshold setting unit 14 executes the Doppler threshold setting process (step ST4).
  • the determination unit 15 executes the determination process (step ST5).
  • the antenna direction estimation unit 12 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11 (step ST11).
  • the satellite position vector x i and the satellite velocity vector x ( .) I are detected based on the satellite arrangement included in the acquired navigation message.
  • the satellite velocity vector x (.) I is detected, for example, by time differentiation with respect to the satellite arrangement. Further, based on the Doppler frequency observed value f i dop_A_obs included in the obtained observation data, Doppler shift amount ⁇ f i dop_A is detected. Further, the antenna position vector x A is detected based on the antenna position included in the acquired antenna position data.
  • FIG. 5 shows the relationship between the satellite position vector x i , the satellite velocity vector x ( ⁇ ) i , the antenna position vector x A , the antenna velocity vector x ( ⁇ ) A, and the line-of-sight vector.
  • the following equation (1) holds for the Doppler shift amount ⁇ f i dop_A.
  • f car represents the center frequency of the carrier wave according to each of the satellite signals SS 1 ⁇ SS N.
  • c indicates the speed of light.
  • the vector value (u in the formula) in the above formula (2) is defined by the following formula (3).
  • the scalar value (S in the formula) in the above formula (2) is defined by the following formula (4).
  • the antenna direction estimation unit 12 uses the detected satellite position vector x i , satellite velocity vector x (.) I , Doppler shift amount ⁇ f i dop_A, and antenna position vector x A to obtain the above equation (2).
  • the antenna velocity vector x ( ⁇ ) A is calculated by the minimum square method based on the method.
  • the antenna velocity vector estimated value x ( ⁇ , ⁇ ) A is calculated (step ST12).
  • the antenna direction estimation unit 12 outputs the calculated antenna velocity vector estimated value x (., ⁇ ) A (step ST13).
  • the Doppler residual calculation unit 13 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11. Further, the Doppler residual calculation unit 13 acquires the antenna velocity vector estimated value x (., ⁇ ) A output by the antenna direction estimation unit 12 (step ST21).
  • the satellite position vector x i and the satellite velocity vector x ( .) I are detected based on the satellite arrangement included in the acquired navigation message.
  • the satellite velocity vector x (.) I is detected, for example, by time differentiation with respect to the satellite arrangement.
  • the antenna position vector x A is detected based on the antenna position included in the acquired antenna position data.
  • the Doppler residual calculation unit 13 determines the acquired antenna velocity vector estimated value x ( ⁇ , ⁇ ) A , the detected satellite position vector x i , the satellite velocity vector x ( ⁇ ) i, and the antenna position vector x. with a, and calculates the Doppler frequency theoretical value f ( ⁇ ) i dop_A according to each of the satellite signals SS 1 ⁇ SS N (step ST22). At this time, the Doppler residual calculation unit 13 calculates the Doppler frequency theoretical value f ( ⁇ ) i dop_A by the following equation (5).
  • a Doppler residual calculating unit 13 uses the Doppler frequency observed value f i dop_A_obs contained the calculated Doppler frequency theory f ( ⁇ ) to i Dop_A and the acquired observation data, satellite signals SS 1 ⁇ calculating a Doppler residual f i dop_A_resi according to each SS N (step ST23). At this time, Doppler residual calculating section 13 calculates the Doppler residual f i dop_A_resi by the following equation (6).
  • a Doppler residual calculating section 13 outputs the calculated Doppler residual f i dop_A_resi (step ST24).
  • the Doppler threshold setting unit 14 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11 (step ST31).
  • the satellite position vector x i is detected.
  • the antenna position vector x A is detected based on the acquired antenna position data.
  • the Doppler threshold setting unit 14 uses the detected satellite position vector x i and the antenna position vector x A, calculated satellite elevation angle ele according to each of the positioning satellite PS 1 ⁇ PS N (step ST32).
  • the Doppler threshold setting unit 14 uses the signal-to-noise ratio observed value SNR contained in the calculated satellite elevation ele and the acquired observed data, Doppler threshold according to each of the satellite signals SS 1 ⁇ SS N f i thre (ele, SNR) to set the (step ST33).
  • the Doppler threshold setting unit 14 has a Doppler threshold table.
  • Doppler threshold setting unit 14 for each of the positioning satellite PS 1 ⁇ PS N (i.e. for each of the satellite signals SS 1 ⁇ SS N), satellite elevation ele and signals of a plurality of Doppler threshold contained in the Doppler threshold table
  • One Doppler threshold corresponding to the satellite elevation-signal-to-noise ratio pair by signal-to-noise ratio observed value SNR is selected.
  • the Doppler threshold setting unit 14 outputs the set Doppler threshold f i thre (ele, SNR) ( step ST34).
  • the Doppler threshold setting unit 14 may select two or more Doppler thresholds corresponding to the satellite elevation-signal-to-noise ratio pair. Then, the Doppler threshold setting unit 14 executes interpolation processing for the selected two or more Doppler threshold, may be used to set the Doppler threshold f i thre (ele, SNR) .
  • the determination unit 15 acquires the Doppler residual f i dop_A_resi output by Doppler residual calculating section 13.
  • the determination unit 15 for each of the satellite signals SS 1 ⁇ SS N, compares the acquired Doppler residual f i dop_A_resi the acquired Doppler threshold f i thre (ele, SNR) (step ST42) .
  • each of the satellite signals SS 1 ⁇ SS N is determined whether a direct wave signal.
  • the determination unit 15 determines that the corresponding satellite signal SS i is the direct wave signal. In other words, in this case, the determination unit 15, the corresponding positioning satellite PS i is assumed to be direct wave receiving satellite.
  • the determination unit 15 determines that the corresponding satellite signal SS i is a non-direct wave signal. In other words, in this case, the determination unit 15 determines that the corresponding positioning satellite PS i is a non-direct wave receiving satellite.
  • the determination unit 15 outputs identification information indicating each direct wave receiving satellite based on the determination result in step ST42 (step ST43).
  • the satellite signal determination device 100 by comparing the Doppler residuals f i dop_A_resi Doppler threshold f i thre (ele, SNR) and, if each of the satellite signals SS 1 ⁇ SS N is the direct wave signal Judge whether or not. As a result, the determination can be made regardless of whether or not the moving body 1 is moving. Further, the determination can be made regardless of the moving direction of the moving body 1. As a result, for example, the determination can be made even when the moving body 1 is moving in a curve.
  • the Doppler threshold table is generated as follows, for example.
  • the same plurality of positioning satellites and positioning satellite PS 1 ⁇ PS N sends each a plurality of satellite signals similar to the satellite signal SS 1 ⁇ SS N.
  • the one antenna receives the plurality of satellite signals.
  • the same processing as the satellite signal processing by the satellite signal processing unit 11 the same processing as the antenna direction estimation processing by the antenna direction estimation unit 12, and the Doppler by the Doppler residual calculation unit 13.
  • the same process as the residual calculation process is executed.
  • the positioning processing time indicated by the internal clock (hereinafter referred to as "internal time”.) And with respect to the satellite signals SS 1 ⁇ SS N satellite signal processing unit 11 is executed As a result, the difference from the time calculated (hereinafter referred to as “positioning time") (hereinafter referred to as "clock error”) may be large.
  • positioning time the time calculated (hereinafter referred to as "clock error”.
  • clock error the Doppler shift amount ⁇ f i dop_A_obs the following is detected.
  • the Doppler shift amount ⁇ f i dop_A_obs is obtained by superimposing the time derivative amount ⁇ (.) A (t) on the Doppler shift amount ⁇ f i dop_A. Therefore, the Doppler shift amount ⁇ f i dop_A_obs is expressed by the following equation (7).
  • the antenna direction estimation unit 12 considers that the time derivative ⁇ ( ⁇ ) A (t) is unknown, and calculates the antenna velocity vector x ( ⁇ ) A by the least squares method based on the above equation (8). To do. As a result, the antenna velocity vector estimated value x ( ⁇ , ⁇ ) A is calculated. That is, even when the accuracy of the internal clock of the satellite signal processing unit 11 is low, the antenna velocity vector estimated value x ( ⁇ , ⁇ ) A can be calculated.
  • the Doppler residual calculating section 13 calculates the Doppler frequency theoretical value f ( ⁇ ) i dop_A_obs according to each of the satellite signals SS 1 ⁇ SS N. Then, a Doppler residual calculating section 13, by the following equation (10), to calculate a Doppler residual f i dop_A_resi according to each of the satellite signals SS 1 ⁇ SS N. Accordingly, even if the internal clock accuracy of a satellite signal processing unit 11 is low, it is possible to calculate the Doppler residual f i dop_A_resi.
  • the antenna direction estimation unit 12 may use the so-called "robust estimation" for calculating the antenna velocity vector estimated value.
  • the antenna direction estimation unit 12 may use the RANSAC (Random Sample Consensus) method, the minimum median method, or the M estimation method.
  • the RANSAC method is used as follows. That is, the antenna direction estimation unit 12 randomly selects k positioning satellites from the N positioning satellites PS 1 to PS N (k ⁇ N). The antenna direction estimation unit 12 calculates the antenna velocity vector estimated value by the least squares method based on the k satellite signals corresponding to the selected k positioning satellites. Using the calculated antenna velocity vector estimated value, the Doppler residuals for each of the N positioning satellites PS 1 to PS N are calculated. These Doppler residuals are calculated by, for example, the Doppler residual calculation unit 13. The antenna direction estimation unit 12 acquires the calculated Doppler residual.
  • the antenna direction estimation unit 12 adopts the antenna velocity vector estimated value at the time when the number of Doppler residuals equal to or less than the predetermined value among the N Doppler residuals is the largest, based on the acquired Doppler residuals for the predetermined times. To do.
  • the minimum median method is used as follows. That is, the antenna direction estimation unit 12 selects k pieces of positioning satellites of the N positioning satellite PS 1 ⁇ PS N randomly. The antenna direction estimation unit 12 calculates the antenna velocity vector estimated value by the least squares method based on the k satellite signals corresponding to the selected k positioning satellites. By using the calculated antenna velocity vector estimated value, Doppler residuals are calculated according to each of the N positioning satellite PS 1 ⁇ SS N. These Doppler residuals are calculated by, for example, the Doppler residual calculation unit 13. The antenna direction estimation unit 12 acquires the calculated Doppler residual.
  • the antenna direction estimation unit 12 adopts the antenna velocity vector estimation value at the time when the median value of N Doppler residuals is the largest, based on the acquired Doppler residuals for a predetermined number of times.
  • the M estimation method is used as follows. That is, the antenna direction estimation unit 12 uses the following equation (11) instead of the above equation (2).
  • the following equation (11) is formed by adding a weight W dop to the determinant according to the above equation (2).
  • the antenna direction estimation unit 12 calculates the antenna velocity vector by the least squares method based on the above equation (11), and the Doppler residual calculation unit 13 uses the calculated antenna velocity vector to calculate N satellite signals SS 1 to.
  • the process of calculating the Doppler residuals for each of the SS Ns and the process of updating the weight W dop by the antenna direction estimation unit 12 based on the calculated Doppler residuals are repeatedly executed a predetermined time.
  • the update of the weight W dop is, for example, by Tukey's Biglight estimation method. At this time, the weight W dop becomes small when it is given to the observation value related to the positioning satellite corresponding to the large Doppler residual, and when it is given to the observation value related to the positioning satellite corresponding to the small Doppler residual. Is something that grows.
  • the influence of the observed value including a large error can be reduced.
  • the error of the antenna velocity vector estimated value can be reduced.
  • the antenna direction estimation unit 12 may calculate the antenna velocity vector estimated value by the least squares method. In this case, observation data at a single time is used. On the other hand, the antenna direction estimation unit 12 may calculate the antenna velocity vector estimated value by the Kalman filter. In this case, observation data at multiple times is used.
  • the antenna velocity vector is modeled as a first-order Markov process by the following equation (12).
  • equation (12) is used in the equation of state.
  • ⁇ indicates a time constant.
  • ⁇ x ( ⁇ ) A indicates a process noise vector regarding the direction of the antenna 2.
  • the antenna velocity vector is included in the state quantity vector, but also the antenna position may be included in the state quantity vector. Further, the time derivative of the clock error or the like may be included in the state quantity vector.
  • Determining unit 15 if each of the satellite signals SS 1 ⁇ SS N is in place to determine whether the direct wave signal (i.e., each positioning satellite PS 1 ⁇ PS N is a direct wave received satellite not (Instead of determining whether or not the antenna 2 is installed), it may be used to determine whether or not the antenna 2 is installed in an open sky environment. Further, the determination unit 15 may output a signal indicating the result of the determination (hereinafter referred to as “determination result signal”) instead of outputting the identification signal indicating each direct wave receiving satellite. good.
  • the Doppler residual calculator 13 after calculating the Doppler residual f i dop_A_resi according to each of the satellite signals SS 1 ⁇ SS N, calculates the sum of squares RSS dop these Doppler residuals f i dop_A_resi.
  • the Doppler residual calculation unit 13 outputs the calculated sum of squares RSS dop to the determination unit 15.
  • the sum of squares RSS dop is calculated by the following formula (13).
  • Doppler threshold setting unit 14 the Doppler threshold f i thre (ele, SNR) according to each of the satellite signals SS 1 ⁇ SS N After setting, the sum of the squares of these Doppler threshold f i thre (ele, SNR) Calculate RSS dop_thre.
  • the Doppler threshold setting unit 14 outputs the calculated sum of squares RSS dop_thre to the determination unit 15.
  • the sum of squares RSS dop_thre is calculated by the following equation (14).
  • the determination unit 15 acquires the sum of squares RSS dop output by the Doppler residual calculation unit 13, and also acquires the sum of squares RSS dop_thre output by the Doppler threshold value setting unit 14. The determination unit 15 compares the acquired sum of squares RSS dop with the acquired sum of squares RSS dop_thre.
  • the determination unit 15 determines that the antenna 2 is installed in the open sky environment.
  • the determination unit 15 determines that the antenna 2 is installed in an environment different from the open sky environment (hereinafter referred to as "non-open sky environment").
  • the satellite signal reception apparatus 200 includes an antenna 2 for receiving a plurality of satellite signals SS 1 ⁇ SS N sent respectively by a plurality of positioning satellites PS 1 ⁇ PS N, antenna direction estimation unit 12 for calculating the antenna velocity vector estimated value of the antenna 2, for each of the plurality of satellite signals SS 1 ⁇ SS N, and calculates the Doppler frequency theoretical value using the antenna velocity vector estimate, and Doppler residual calculating section 13 for calculating a Doppler residual that indicates a difference between the Doppler frequency theoretical value and the Doppler frequency observed values, for each of the plurality of satellite signals SS 1 ⁇ SS N, Doppler for comparison of Doppler residuals a Doppler threshold setting unit 14 for setting a threshold value, by comparing the Doppler residuals and Doppler threshold, each determination section for determining whether or not a direct wave signal of a plurality of satellite signals SS 1 ⁇ SS N 15 And. As a result, the determination can be made regardless of whether or not
  • the satellite signal reception apparatus 200 uses a plurality of satellite signals SS 1 ⁇ SS N, satellite constellation according to a plurality of positioning satellites PS 1 ⁇ PS N, Doppler frequency observations, a plurality of satellite signals SS 1 each signal-to-noise ratio observed value according to the ⁇ SS N, and includes a satellite signal processing unit 11 for detecting the antenna position of the antenna 2, the antenna direction estimation unit 12, the satellite constellation, the Doppler frequency observations and antenna position Use to calculate the antenna velocity vector estimate. This makes it possible to calculate the antenna velocity vector estimate.
  • the antenna direction estimation unit 12 calculates the antenna velocity vector estimated value by the least squares method or the Kalman filter. This makes it possible to calculate the antenna velocity vector estimate.
  • the antenna direction estimation unit 12 calculates the antenna velocity vector estimated value by the RANSAC method, the minimum median method, or the M estimation method. That is, the antenna direction estimation unit 12 calculates the antenna velocity vector estimated value by robust estimation. Thus, even if it contains many Hijika transmitted wave signal to the satellite signal SS 1 ⁇ SS N, it is possible to accurately calculate the antenna velocity vector estimate.
  • the Doppler threshold setting unit 14 is a plurality of Doppler thresholds included in the Doppler threshold table.
  • One or more Doppler thresholds corresponding to the satellite elevation angle and the signal-to-noise ratio observed value are selected, and the Doppler threshold is set based on the selected one or more Doppler thresholds.
  • the Doppler threshold value can be set to an appropriate value according to the satellite elevation angle and the signal-to-noise ratio observed value.
  • FIG. 9 is a block diagram showing a main part of the satellite signal receiving device according to the second embodiment.
  • the satellite signal receiving device according to the second embodiment will be described with reference to FIG.
  • the same blocks as those shown in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.
  • the moving body 1 has a plurality of antennas 2.
  • the antenna 2a is composed of a plurality of antennas 2.
  • the satellite signal determination device 100a has a plurality of satellite signal processing units 11 having a one-to-one correspondence with the plurality of antennas 2.
  • the satellite signal processing unit 11a is composed of a plurality of satellite signal processing units 11. Each of the plurality of satellite signal processing units 11 executes the same satellite signal processing as that described in the first embodiment. That is, the satellite signal processing unit 11a executes the same satellite signal processing as that described in the first embodiment.
  • the satellite signal determination device 100a has two satellite signal processing units 11_A and 11_B. That is, the satellite signal processing units 11_A and 11_B have a one-to-one correspondence with the antennas 2_A and 2_B.
  • the antenna attitude estimation unit 16 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11a.
  • the antenna attitude estimation unit 16 calculates the baseline vector estimated values related to the antennas 2_A and 2_B by using the acquired navigation message, observation data, and antenna position data.
  • the antenna attitude estimation unit 16 outputs the calculated baseline vector estimated value.
  • antenna attitude estimation process the processes executed by the antenna attitude estimation unit 16 may be collectively referred to as "antenna attitude estimation process". The details of the antenna attitude estimation process will be described later with reference to the flowchart of FIG.
  • the phase difference residual calculation unit 17 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11a, and also acquires the baseline vector estimated value output by the antenna attitude estimation unit 16. is there. Phase residual calculating section 17, and calculates the acquired navigation message, observation data, using the antenna position data and baseline vector estimate, a phase difference residuals relating to each of the satellite signals SS 1 ⁇ SS N Is. The phase difference residual calculation unit 17 outputs the calculated phase difference residual.
  • phase difference residual calculation process the processes executed by the phase difference residual calculation unit 17 may be collectively referred to as "phase difference residual calculation process". The details of the phase difference residual calculation process will be described later with reference to the flowchart of FIG.
  • the phase difference threshold setting unit 18 acquires navigation messages, observation data, and antenna position data output by the satellite signal processing unit 11. Phase difference threshold setting section 18 is for the acquired navigation message, using the observed data and antenna position data, setting the phase difference threshold according to each of the satellite signals SS 1 ⁇ SS N. The phase difference threshold setting unit 18 outputs the set phase difference threshold.
  • phase difference threshold setting process the processes executed by the phase difference threshold setting unit 18 may be collectively referred to as "phase difference threshold setting process". The details of the phase difference threshold setting process will be described later with reference to the flowchart of FIG.
  • the determination unit 15a includes the Doppler residual output by the Doppler residual calculation unit 13, the Doppler threshold value output by the Doppler threshold value setting unit 14, the phase difference residual output by the phase difference residual calculation unit 17, and the phase difference.
  • the phase difference threshold value output by the threshold value setting unit 18 is acquired.
  • Determination unit 15a the acquired Doppler residuals, which Doppler threshold, by using the phase difference residuals and phase difference threshold, each of the satellite signals SS 1 ⁇ SS N to determine whether a direct wave signal Is. That is, the determination unit 15a determines whether or not each of the positioning satellites PS 1 to PS N is a direct wave receiving satellite.
  • the determination unit 15a outputs identification information indicating each direct wave receiving satellite based on the result of the determination.
  • determination processing the processes executed by the determination unit 15a may be collectively referred to as “determination processing". Details of such determination processing will be described later with reference to the flowchart of FIG.
  • satellite signal processing unit 11a By satellite signal processing unit 11a, antenna direction estimation unit 12, Doppler residual calculation unit 13, Doppler threshold setting unit 14, determination unit 15a, antenna attitude estimation unit 16, phase difference residual calculation unit 17, and phase difference threshold setting unit 18. ,
  • the main part of the satellite signal determination device 100a is configured.
  • the satellite signal determination device 100a is provided on the moving body 1, for example.
  • the antenna 2a and the satellite signal determination device 100a constitute a main part of the satellite signal receiving device 200a.
  • the hardware configuration of the main part of the satellite signal determination device 100a is the same as that described with reference to FIG. 2 in the first embodiment. Therefore, illustration and description will be omitted. That is, the satellite signal processing unit 11a, the antenna direction estimation unit 12, the Doppler residual calculation unit 13, the Doppler threshold value setting unit 14, the determination unit 15a, the antenna attitude estimation unit 16, the phase difference residual calculation unit 17, and the phase difference threshold value setting unit.
  • Each function of 18 may be realized by the processor 21 and the memory 22, or may be realized by the dedicated processing circuit 23.
  • the satellite signal processing unit 11a executes satellite signal processing (step ST1a).
  • the antenna direction estimation unit 12 executes the antenna direction estimation process (step ST2).
  • the Doppler residual calculation unit 13 executes the Doppler residual calculation process (step ST3).
  • the Doppler threshold setting unit 14 executes the Doppler threshold setting process (step ST4).
  • the antenna attitude estimation unit 16 executes the antenna attitude estimation process (step ST6).
  • the phase difference residual calculation unit 17 executes the phase difference residual calculation process (step ST7).
  • the phase difference threshold setting unit 18 executes the phase difference threshold setting process (step ST8).
  • the determination unit 15a executes the determination process (step ST5a).
  • the antenna attitude estimation unit 16 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11a (step ST51).
  • the satellite position vector x i is detected.
  • the antenna position vector x A is detected based on the antenna position included in the acquired antenna position data.
  • the antenna attitude estimation section 16 uses the carrier phase observations included in the acquired observational data, and calculates the phase difference observations phi i AB between the antennas according to each of the satellite signals SS 1 ⁇ SS N (Ste ST52). That is, the antenna posture estimation unit 16, for each of the satellite signals SS 1 ⁇ SS N, satellite signal processor 11_A, by taking the difference between the carrier phase observations included in the observed data outputted at the same time by 11_B, Calculate the phase difference observation value ⁇ i AB between the antennas.
  • the distance between the antennas 2_A and 2_B is referred to as “distance between antennas”.
  • the radio wave corresponding to each of the satellite signals SS 1 ⁇ SS N an angle of arrival direction with respect to the baseline vector referred to as “signal arrival angle”.
  • FIG. 12 shows the correspondence between the antenna-to-antenna phase difference ( ⁇ i AB in the figure), the antenna-to-antenna distance d, the baseline vector x uAB, and the signal arrival angle ⁇ related to the satellite signal SS i.
  • ⁇ indicates the wavelength of the carrier wave in the satellite signal SS i.
  • the unit eye vector for positioning satellite PS i by the antenna 2_A can be regarded as equal to the unit line-of-sight vector for positioning satellite PS i by the antenna 2_B.
  • the above equation (15) is an approximate equation based on such fiction.
  • cos ⁇ is equal to the inner product of the unit baseline vector and the fictitious unit line-of-sight vector. Therefore, the following equation (16) holds.
  • the antenna attitude estimation unit 16 uses the detected satellite position vector x i, the antenna position vector x A , and the calculated inter-antenna phase difference observation value ⁇ i AB to obtain the minimum based on the above equation (18).
  • the baseline vector x uAB is calculated by the square method.
  • the baseline vector estimated value x ( ⁇ ) uAB is calculated (step ST53).
  • the antenna attitude estimation unit 16 outputs the calculated baseline vector estimated value x ( ⁇ ) uAB (step ST54).
  • phase difference residual calculation unit 17 the details of the phase difference residual calculation process by the phase difference residual calculation unit 17 will be described.
  • the phase difference residual calculation unit 17 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11a. Further, the phase difference residual calculation unit 17 acquires the baseline vector estimated value x ( ⁇ ) uAB output by the antenna attitude estimation unit 16 (step ST61).
  • the satellite position vector x i is detected.
  • the antenna position vector x A is detected based on the antenna position included in the acquired antenna position data.
  • the phase difference residual calculating section 17 calculated using the carrier-phase observations included in the observation data the acquired inter-antenna phase difference observations phi i AB according to each of the satellite signals SS 1 ⁇ SS N (Step ST62).
  • the method of calculating the inter-antenna phase difference observation value ⁇ i AB by the phase difference residual calculation unit 17 is the same as the method of calculating the inter-antenna phase difference observation value ⁇ i AB by the antenna attitude estimation unit 16.
  • the phase difference residual calculation unit 17 uses the detected satellite position vector x i, the antenna position vector x A , and the acquired baseline vector estimated value x ( ⁇ ) uAB to display the satellite signals SS 1 to SS.
  • the theoretical value ⁇ ( ⁇ ) i AB between the antennas related to each of N is calculated (step ST63).
  • the phase difference residual calculation unit 17 calculates the theoretical value ⁇ ( ⁇ ) i AB of the phase difference between the antennas by the following equation (19).
  • the phase difference residual calculation unit 17 uses the calculated inter-antenna phase difference theoretical value ⁇ ( ⁇ ) i AB and the above-calculated inter-antenna phase difference observation value ⁇ i AB to use the satellite signals SS 1 to The phase difference residual ⁇ i resi for each of the SS N is calculated (step ST64). At this time, the phase difference residual calculation unit 17 calculates the phase difference residual ⁇ i resi by the following equation (20).
  • phase difference residual calculation unit 17 outputs the calculated phase difference residual ⁇ i risi (step ST65).
  • phase difference threshold setting process by the phase difference threshold setting unit 18 will be described with reference to the flowchart of FIG.
  • the phase difference threshold setting unit 18 acquires the navigation message, observation data, and antenna position data output by the satellite signal processing unit 11a (step ST71).
  • the satellite position vector x i is detected.
  • the antenna position vector x A is detected based on the acquired antenna position data.
  • the phase difference threshold setting unit 18 uses the detected satellite position vector x i and the antenna position vector x A, calculated satellite elevation angle ele according to each of the positioning satellite PS 1 ⁇ PS N (step ST72) ..
  • the phase difference threshold setting unit 18 uses the signal-to-noise ratio observed value SNR contained in the calculated satellite elevation ele and the acquired observed data, position according to each of the satellite signals SS 1 ⁇ SS N retardation threshold ⁇ i thre (ele, SNR) sets a (step ST73).
  • phase difference threshold setting unit 18 has a phase difference threshold table.
  • Phase difference threshold setting unit 18, for each of the positioning satellite PS 1 ⁇ PS N i.e. for each of the satellite signals SS 1 ⁇ SS N
  • satellite elevation angle of the plurality of phase difference threshold included in the phase difference threshold table Select one phase difference threshold corresponding to the satellite elevation-signal-to-noise ratio pair by ele and signal-to-noise ratio observations SNR.
  • Phase difference threshold setting section 18, using one of the phase difference threshold is the selected phase difference threshold ⁇ i thre (ele, SNR) .
  • phase difference threshold setting section 18 the set phase difference threshold ⁇ i thre (ele, SNR) and outputs a (step ST74).
  • phase difference threshold setting unit 18 may select two or more phase difference thresholds corresponding to the satellite elevation angle-signal-to-noise ratio pair. Then, the phase difference threshold setting unit 18 executes interpolation processing for the selected two or more phase difference threshold may be used to set the phase difference threshold ⁇ i thre (ele, SNR) ..
  • the determination unit 15a a Doppler residual f i dop_A_resi output by Doppler residual calculating section 13, the Doppler threshold f i thre output by Doppler threshold setting unit 14 (ele, SNR), the phase difference residual calculator output by 17 phase difference residual phi i resi, and output by the phase difference threshold setting section 18 phase difference threshold ⁇ i thre (ele, SNR) to get (step ST81).
  • each of the satellite signals SS 1 ⁇ SS N is compared with the acquired phase difference residual phi i resi is the acquired phase difference threshold ⁇ i thre (ele, SNR) (step ST82).
  • each of the satellite signals SS 1 ⁇ SS N is determined whether a direct wave candidate signals.
  • the determination unit 15a determines that the corresponding satellite signal SS i are direct waves received candidate satellites.
  • the determination unit 15a determines that the corresponding satellite signal SS i is a non-direct wave signal. That is, in this case, the determination unit 15a determines that the corresponding positioning satellite PS i is a non-direct wave receiving satellite.
  • the determination unit 15a based on the judgment result in step ST82, compared for each direct wave candidate signals, the Doppler threshold f i thre (ele, SNR) of the Doppler residual f i dop_A_resi which is the acquired is the acquisition and (Step ST83). As a result, it is determined whether or not each direct wave candidate signal is a direct wave signal.
  • the determination unit 15a determines that the corresponding satellite signal SS i is the direct wave signal. In other words, in this case, the determination unit 15a, the corresponding positioning satellite PS i is assumed to be direct wave receiving satellite.
  • the determination unit 15a determines that the corresponding satellite signal SS i is a non-direct wave signal. In other words, in this case, the determination unit 15a determines that the corresponding positioning satellite PS i is a non-direct wave receiving satellite.
  • the determination unit 15a outputs an identification signal indicating each direct wave receiving satellite based on the determination result in step ST83 (step ST84).
  • the satellite signal determining apparatus 100a the Doppler residual f i dop_A_resi Doppler threshold f i thre (ele, SNR) as well as compared to the phase difference threshold retardation residual ⁇ i resi ⁇ i thre (ele , by comparing the SNR), each of the satellite signals SS 1 ⁇ SS N determines whether the direct wave signal. As a result, the determination can be made regardless of whether or not the moving body 1 is moving. Further, the determination can be made regardless of the moving direction of the moving body 1. As a result, for example, the determination can be made even when the moving body 1 is moving in a curve.
  • the moving body 1 when the moving body 1 is composed of a vehicle, the reflected wave from the surface portion parallel to the traveling road surface may be received by the antenna 2a. Even in such a case, each of the satellite signals SS 1 ⁇ SS N can be accurately determined whether the direct wave signal.
  • phase difference threshold table is generated as follows, for example.
  • the same plurality of positioning satellites and positioning satellite PS 1 ⁇ PS N sends each a plurality of satellite signals similar to the satellite signal SS 1 ⁇ SS N.
  • the two antennas receive the plurality of satellite signals.
  • the same processing as the satellite signal processing by the satellite signal processing unit 11a, the same processing as the antenna attitude estimation processing by the antenna attitude estimation unit 16, and the phase difference residual calculation unit 17 are performed.
  • the same process as the phase difference residual calculation process is executed.
  • the antenna attitude estimation unit 16 may use the constraint condition shown in the following equation (21). As a result, a more accurate solution can be obtained. Further, in this case, the baseline vector estimated value x ( ⁇ ) uAB is calculated by the following equation (22).
  • the antenna attitude estimation unit 16 may use the following constraint conditions when calculating the baseline vector x uAB by the least squares method based on the above equation (18). That is, the antenna attitude estimation unit 16 may use the geometrical relationship between the moving direction of the antenna 2a and the installation positions of the antennas 2_A and 2_B as the constraint condition between the baseline vector and the antenna velocity vector.
  • the constraint condition when the antenna 2a is moving linearly that is, when the moving body 1 is moving linearly
  • ⁇ indicates the angle of the antenna 2a in the moving direction with respect to the baseline vector.
  • the antenna attitude estimation unit 16 may use the robust estimation for calculating the baseline vector estimated value. Specifically, for example, the antenna attitude estimation unit 16 may use the RANSAC method, the minimum median method, or the M estimation method.
  • the RANSAC method is used as follows. That is, the antenna posture estimation unit 16, a k-number of positioning satellites of the N positioning satellite PS 1 ⁇ SS N randomly selected (k ⁇ N).
  • the antenna attitude estimation unit 16 calculates the baseline vector estimated value by the least squares method based on the k satellite signals corresponding to the selected k positioning satellites. By using the calculated baseline vector estimate, the phase difference residuals relating to each of the N positioning satellite PS 1 ⁇ SS N are calculated. These phase difference residuals are calculated by, for example, the phase difference residual calculation unit 17.
  • the antenna attitude estimation unit 16 acquires the calculated phase difference residual.
  • N phase difference residuals are acquired for a predetermined number of times.
  • the antenna attitude estimation unit 16 is based on the acquired phase difference residuals for the predetermined times, and the baseline vector estimated value at the time when the number of the phase difference residuals equal to or less than the predetermined value among the N phase difference residuals is the largest. Is adopted.
  • the minimum median method is used as follows. That is, the antenna posture estimation unit 16 selects k pieces of positioning satellites of the N positioning satellite PS 1 ⁇ SS N randomly. The antenna attitude estimation unit 16 calculates the baseline vector estimated value by the least squares method based on the k satellite signals corresponding to the selected k positioning satellites. By using the calculated baseline vector estimate, the phase difference residuals relating to each of the N positioning satellite PS 1 ⁇ SS N are calculated. These phase difference residuals are calculated by, for example, the phase difference residual calculation unit 17. The antenna attitude estimation unit 16 acquires the calculated phase difference residual.
  • N phase difference residuals are acquired for a predetermined number of times.
  • the antenna attitude estimation unit 16 adopts the baseline vector estimation value at the time when the median value of N phase difference residuals is the largest, based on the acquired phase difference residuals for the predetermined times.
  • the M estimation method is used as follows. That is, the antenna attitude estimation unit 16 uses the following equation (24) instead of the above equation (18).
  • the following equation (24) is formed by adding a weight W phase to the determinant according to the above equation (18).
  • the antenna attitude estimation unit 16 calculates the baseline vector estimated value by the least squares method based on the above equation (24), and the phase difference residual calculation unit 17 uses the calculated baseline vector estimated value to generate N satellite signals.
  • the process of calculating the phase difference residuals for each of SS 1 to SS N and the process of updating the weight vector by the antenna attitude estimation unit 16 based on the calculated phase difference residuals are repeatedly executed a predetermined time.
  • the update of the weight W phase is, for example, by Tukey's Biweight estimation method. At this time, the weight W phase becomes smaller when it is given to the observed value related to the positioning satellite corresponding to the large phase difference residual, and is given to the observed value related to the positioning satellite corresponding to the small phase difference residual. When it happens, it gets bigger.
  • the influence of the observed value including a large error can be reduced.
  • the error of the baseline vector estimate can be reduced.
  • the antenna attitude estimation unit 16 may calculate the baseline vector estimated value by the least squares method. In this case, observation data at a single time is used. On the other hand, the antenna attitude estimation unit 16 may calculate the baseline vector estimated value by the Kalman filter. In this case, observation data at multiple times is used.
  • the baseline vector is modeled as a first-order Markov process by the following equation (25).
  • equation (25) is used in the equation of state.
  • ⁇ phase indicates a time constant.
  • ⁇ xuAB indicates a process noise vector related to the unit baseline vector.
  • the unit baseline vector is included in the state quantity vector, but also the antenna position may be included in the state quantity vector. Further, the moving speed of the antenna 2a and the like may be included in the state quantity vector.
  • the integer value may be determined in advance by using the method of least squares of an integer.
  • Various known methods can be used for the integer least squares method.
  • the LAMBDA Least-squares Ambiguity Decision Association
  • the integer value may be determined by utilizing the fact that the phase difference between the antennas is limited by setting the distance between the antennas to a small value. For example, it is utilized that the phase difference between antennas is limited within the range of ⁇ 0.5 wavelength to +0.5 wavelength by setting the distance between antennas to a value of 1/2 wavelength or less.
  • Determination unit 15a whether or not each of the satellite signals SS 1 ⁇ SS N is in place to determine whether the direct wave signal (i.e., each positioning satellite PS 1 ⁇ PS N is a direct wave received satellite Instead of determining whether or not the antenna 2a is installed in an open sky environment), it may be determined whether or not the antenna 2a is installed. Further, the determination unit 15a may output a signal (that is, a determination result signal) indicating the result of the determination instead of outputting the identification signal indicating each direct wave receiving satellite.
  • a signal that is, a determination result signal
  • the Doppler residual calculator 13 after calculating the Doppler residual f i dop_A_resi according to each of the satellite signals SS 1 ⁇ SS N, calculates the sum of squares RSS dop these Doppler residuals f i dop_A_resi.
  • the Doppler residual calculation unit 13 outputs the calculated sum of squares RSS dop to the determination unit 15a.
  • the sum of squares RSS dop is calculated by the above formula (13).
  • Doppler threshold setting unit 14 the Doppler threshold f i thre (ele, SNR) according to each of the satellite signals SS 1 ⁇ SS N After setting, the sum of the squares of these Doppler threshold f i thre (ele, SNR) Calculate RSS dop_thre.
  • the Doppler threshold setting unit 14 outputs the calculated sum of squares RSS dop_thre to the determination unit 15a.
  • the sum of squares RSS dop_thre is calculated by the above formula (14).
  • the phase difference residual calculating section 17 after calculating the phase difference residual phi i resi according to each of the satellite signals SS 1 ⁇ SS N, calculates the retardation residual phi i resi sum of squares RSS phase To do.
  • the phase difference residual calculation unit 17 outputs the calculated sum of squares RSS phase to the determination unit 15a.
  • the sum of squares RSS phase is calculated by the following equation (26).
  • the phase difference threshold setting section 18 a phase difference threshold phi i thre according to each of the satellite signals SS 1 ⁇ SS N (ele, SNR) After setting, the retardation threshold ⁇ i thre (ele, SNR) Calculate the sum of squares RSS phase_thre of.
  • the phase difference threshold setting unit 18 outputs the calculated sum of squares RSS phase_thre to the determination unit 15a.
  • the sum of squares RSS dop_thre is calculated by the following equation (27).
  • the determination unit 15a includes the sum of squares RSS dop output by the Doppler residual calculation unit 13, the sum of squares RSS dop_thre output by the Doppler threshold setting unit 14, the sum of squares RSS phase output by the phase difference residual calculation unit 17, and the sum of squares RSS phase.
  • the sum of squares RSS phase_thre output by the phase difference threshold setting unit 18 is acquired.
  • the determination unit 15a compares the acquired sum of squares RSS dop with the acquired sum of squares RSS dop_thre, and compares the acquired sum of squares RSS phase with the acquired sum of squares RSS phase_thre .
  • the determination unit 15a determines that the antenna 2a is installed in the open sky environment. In other cases, the determination unit 15a determines that the antenna 2a is installed in a non-open sky environment.
  • the phase difference residual calculation unit 17 may calculate the phase difference residual due to the double phase difference instead of the phase difference residual due to the phase difference between the antennas. Thereby, the initial phase component in the local oscillator (not shown) of each of the satellite signal processing units 11_A and 11_B can be canceled.
  • the antenna attitude estimation section 16 uses the carrier phase observations included in the outputted observation data by the satellite signal processor 11a, the satellite signals SS 1 ⁇ SS double phase difference observations relating to each of the N phi ij AB is calculated.
  • ⁇ ij AB indicates a double phase difference observation value related to each satellite signal SS i with respect to one reference satellite signal SS j.
  • the antenna attitude estimation unit 16 calculates the baseline vector x uAB by the least squares method based on the following equation (28). As a result, the baseline vector estimated value x ( ⁇ ) uAB is calculated.
  • the phase difference residual calculating section 17 using a carrier-phase observations included in the observed data outputted by the satellite signal processor 11a, the double position according to each of the satellite signals SS 1 ⁇ SS N Calculate the phase difference observation value ⁇ ij AB. Then, the phase difference residual calculating section 17, the following equation (29), is calculated double phase difference theory according to each of the satellite signals SS 1 ⁇ SS N value ⁇ a ( ⁇ ) ij AB.
  • the satellite signal determination device 100a can employ various modifications similar to those described in the first embodiment.
  • the antenna 2a may be composed of three or more antennas.
  • the same processing as the above processing may be executed for the baseline vector related to each of the two antennas out of the three or more antennas.
  • the antenna 2a is composed of a plurality of antennas 2_A and 2_B, and the satellite signal receiving device 200a is formed on the plurality of antennas 2_A and 2_B.
  • phase difference threshold setting units 18 for setting a phase difference threshold for comparison are provided, and a plurality of determination units 15a are provided by comparing the Doppler residual with the Doppler threshold and comparing the phase difference residual with the phase difference threshold.
  • each of the number of satellite signals SS 1 ⁇ SS N determines whether the direct wave signal. Therefore, for example, when the moving body 1 is composed of a vehicle, even if the reflected wave by the surface portion parallel to the traveling road surface is received by the antenna 2a, the satellite signals SS 1 to SS N It is possible to accurately determine whether or not each of the signals is a direct wave signal.
  • the antenna 2a is composed of a plurality of antennas 2_A and 2_B, and includes an antenna attitude estimation unit 16 for calculating a baseline vector estimated value related to the plurality of antennas 2_A and 2_B and a plurality of antennas.
  • phase difference residual calculating section 17 for calculating a phase difference residuals, for each of the plurality of satellite signals SS 1 ⁇ SS N, a phase difference threshold setting section 18 for setting a phase difference threshold for comparison to the phase difference residuals the provided, determination unit 15a, the phase difference residuals with comparing the Doppler residuals and Doppler threshold by comparing the phase difference threshold, each of the plurality of satellite signals SS 1 ⁇ SS N in direct wave signal Determine if it exists.
  • the moving body 1 when the moving body 1 is composed of a vehicle, even if the reflected wave by the surface portion parallel to the traveling road surface is received by the antenna 2a, the satellite signals SS 1 to SS N It is possible to accurately determine whether or not each of the signals is a direct wave signal.
  • the satellite signal reception device 200a each of using a plurality of satellite signals SS 1 ⁇ SS N, satellite constellation according to a plurality of positioning satellites PS 1 ⁇ PS N, a plurality of satellite signals SS 1 ⁇ SS N carrier phase observations of the, with Doppler frequency observations, the signal-to-noise ratio observed value according to each of the plurality of satellite signals SS 1 ⁇ SS N, and the satellite signal processing unit 11a for detecting the antenna position of the antenna 2a ,
  • the inter-antenna phase difference observation value is calculated using the carrier phase difference observation value
  • the antenna attitude estimation unit 16 calculates the baseline vector estimation value using the satellite arrangement and the inter-antenna phase difference observation value. This makes it possible to calculate the baseline vector estimate.
  • the phase difference residual calculation unit 17 calculates the theoretical value of the phase difference between antennas using the satellite position vector, the antenna position vector, and the baseline vector estimated value. This makes it possible to calculate the theoretical value of the phase difference between antennas.
  • the satellite signal reception device 200a each of using a plurality of satellite signals SS 1 ⁇ SS N, satellite constellation according to a plurality of positioning satellites PS 1 ⁇ PS N, a plurality of satellite signals SS 1 ⁇ SS N carrier phase observations of the, with Doppler frequency observations, the signal-to-noise ratio observed value according to each of the plurality of satellite signals SS 1 ⁇ SS N, and the satellite signal processing unit 11a for detecting the antenna position of the antenna 2a ,
  • the double phase difference observation value is calculated using the carrier phase difference observation value
  • the antenna attitude estimation unit calculates the baseline vector estimation value using the satellite arrangement and the double phase difference observation value. This makes it possible to calculate the baseline vector estimate.
  • the phase difference residual calculation unit 17 calculates the double phase difference theoretical value using the satellite position vector, the antenna position vector, and the baseline vector estimated value. This makes it possible to calculate the theoretical value of the double phase difference.
  • the antenna attitude estimation unit 16 calculates the baseline vector estimated value by the least squares method or the Kalman filter. This makes it possible to calculate the baseline vector estimate.
  • the antenna attitude estimation unit 16 calculates the baseline vector estimated value by the RANSAC method, the minimum median method, or the M estimation method. That is, the antenna attitude estimation unit 16 calculates the baseline vector estimated value by robust estimation. Thus, Hijika transmitted wave signal to the satellite signal SS 1 ⁇ SS N even when it contains a number, it is possible to accurately calculate the baseline vector estimate.
  • the satellite elevation angles for each of the plurality of positioning satellites PS 1 to PS N are calculated using the satellite arrangement, and the phase difference threshold setting unit 18 is used for a plurality of positions included in the phase difference threshold table.
  • One or more phase difference thresholds corresponding to the satellite elevation angle and the signal-to-noise ratio observed value among the phase difference thresholds are selected, and the phase difference thresholds are set based on the selected one or more phase difference thresholds.
  • the phase difference threshold value can be set to an appropriate value according to the satellite elevation angle and the signal-to-noise ratio observed value.
  • the antenna attitude estimation unit 16 determines the geometrical relationship between the moving direction of the antenna 2a and the installation positions of the plurality of antennas 2_A and 2_B with the velocity vector related to the antenna 2a. It is used as a constraint condition with the baseline vector related to the antennas 2_A and 2_B. This makes it possible to calculate a more accurate baseline vector estimate.
  • FIG. 16 is a block diagram showing a main part of the satellite signal receiving device according to the third embodiment.
  • the satellite signal receiving device according to the third embodiment will be described with reference to FIG.
  • the same blocks as those shown in FIG. 9 are designated by the same reference numerals, and the description thereof will be omitted.
  • the satellite signal determination device 100b has a reception timing correction unit 19.
  • the reception timing correction unit 19 acquires the navigation message and observation data output by the satellite signal processing unit 11a.
  • the reception timing correction unit 19 calculates the clock error in each of the satellite signal processing units 11_A and 11_B by using the acquired navigation message and the acquired observation data.
  • the reception timing correction unit 19 corrects the carrier phase observation value included in the acquired observation data by using the calculated clock error.
  • the reception timing correction unit 19 outputs the corrected carrier wave phase observation value.
  • reception timing correction processing the processes executed by the reception timing correction unit 19 may be collectively referred to as "reception timing correction processing". Details of such reception timing correction processing will be described later with reference to the flowchart of FIG.
  • the phase difference residual calculation unit 17 acquires the corrected carrier wave phase observation value output by the reception timing correction unit 19.
  • the correction output by the reception timing correction unit 19 is replaced with the carrier wave phase observation value included in the observation data output by the satellite signal processing unit 11a. Later carrier phase observations are used.
  • Satellite signal processing unit 11a, antenna direction estimation unit 12, Doppler residual calculation unit 13, Doppler threshold setting unit 14, determination unit 15a, antenna attitude estimation unit 16, phase difference residual calculation unit 17, phase difference threshold setting unit 18, and The reception timing correction unit 19 constitutes a main part of the satellite signal determination device 100b.
  • the satellite signal determination device 100b is provided on the moving body 1, for example.
  • the antenna 2a and the satellite signal determination device 100b constitute a main part of the satellite signal receiving device 200b.
  • the hardware configuration of the main part of the satellite signal determination device 100b is the same as that described with reference to FIG. 2 in the first embodiment. Therefore, illustration and description will be omitted. That is, the satellite signal processing unit 11a, the antenna direction estimation unit 12, the Doppler residual calculation unit 13, the Doppler threshold value setting unit 14, the determination unit 15a, the antenna attitude estimation unit 16, the phase difference residual calculation unit 17, and the phase difference threshold value setting unit.
  • Each function of 18 and the reception timing correction unit 19 may be realized by the processor 21 and the memory 22, or may be realized by the dedicated processing circuit 23.
  • the satellite signal processing unit 11a executes satellite signal processing (step ST1a).
  • the antenna direction estimation unit 12 executes the antenna direction estimation process (step ST2).
  • the Doppler residual calculation unit 13 executes the Doppler residual calculation process (step ST3).
  • the Doppler threshold setting unit 14 executes the Doppler threshold setting process (step ST4).
  • reception timing correction unit 19 executes the reception timing correction process (step ST9).
  • the antenna attitude estimation unit 16 executes the antenna attitude estimation process (step ST6).
  • the phase difference residual calculation unit 17 executes the phase difference residual calculation process (step ST7).
  • the phase difference threshold setting unit 18 executes the phase difference threshold setting process (step ST8).
  • the determination unit 15a executes the determination process (step ST5a).
  • the reception timing correction unit 19 acquires the navigation message and observation data output by the satellite signal processing unit 11a (step ST91).
  • the reception timing correction unit 19 calculates the clock error ⁇ t 1 in the satellite signal processing unit 11_A and calculates the clock error ⁇ t 2 in the satellite signal processing unit 11_B using the acquired navigation message and observation data. (Step ST92).
  • the reception timing correction unit 19 calculates the positioning time by executing the positioning process using the acquired navigation message and observation data.
  • the positioning process executed by the reception timing correction unit 19 is, for example, independent positioning, RTK positioning, or PPP positioning.
  • the reception timing correction unit 19 calculates the clock error ⁇ t 1 by taking the difference between the internal time in the satellite signal processing unit 11_A and the calculated positioning time.
  • the reception timing correction unit 19 calculates the clock error ⁇ t 2 by taking the difference between the internal time in the satellite signal processing unit 11_B and the calculated positioning time.
  • the reception timing correction unit 19 uses the calculated clock errors ⁇ t 1 , ⁇ t 2 and the Doppler frequency observation value included in the acquired observation data to observe the carrier phase phase included in the acquired observation data. Correct the value (step ST93).
  • the carrier phase observations detected by the satellite signal processor 11_A is phi 1
  • Doppler frequency observed values detected by the satellite signal processor 11_A is assumed to be f 1 .
  • the reception timing correction section 19 the following equation (30) to correct the carrier-phase observations phi 1.
  • ⁇ 1_rev indicates the corrected carrier phase observation value for ⁇ 1.
  • the carrier phase observations detected by the satellite signal processor 11_B is phi 2
  • Doppler frequency observed values detected by the satellite signal processor 11_B is assumed to be f 2 .
  • the reception timing correction section 19 corrects the carrier phase observations phi 2 according to the following equation (31).
  • ⁇ 2_rev indicates the carrier phase observation value after correction for ⁇ 2.
  • the reception timing correction unit 19 outputs the corrected carrier wave phase observation values ⁇ 1 and ⁇ 2 (step ST94).
  • the correction of the carrier phase observation values ⁇ 1 and ⁇ 2 by the reception timing correction unit 19 is performed by linear interpolation. Due to such interpolation, even if the time corresponding to the carrier phase observation values ⁇ 1 and ⁇ 2 included in the observation data is deviated, the carrier phase observation values ⁇ 1_rev and ⁇ 2_rev used for calculating the phase difference residual. It is possible to align the time corresponding to. Therefore, the satellite signal processor 11_A, even if the internal clock of 11_B are asynchronous to each other, each of the satellite signals SS 1 ⁇ SS N can be accurately determined whether the direct wave signal ..
  • the interpolation in the reception timing correction process is not limited to the above specific example.
  • the reception timing correction unit 19 may perform quadratic or higher linear interpolation using the carrier phase observation values ⁇ 1 and ⁇ 2 at a plurality of epoch times t.
  • the reception timing correction unit 19 and the carrier phase observation values ⁇ 1 detected at a certain epoch time t 1 by using the carrier phase observations phi 2 detected at time t 2 closest to the epoch time t 1, the clock error is, of course, the interpolation in consideration of the time difference between the epoch time t 1, t 2 It may be something to do.
  • the satellite signal receiving device 200b can employ various modifications similar to those described in the first embodiment. Further, as the satellite signal receiving device 200b, various modifications similar to those described in the second embodiment can be adopted.
  • the satellite signal processing unit 11a is composed of a plurality of satellite signal processing units 11_A and 11_B corresponding to the plurality of antennas 2_A and 2_B.
  • the satellite signal receiving device 200b calculates the clock error in each of the plurality of satellite signal processing units 11_A and 11_B, and corrects the carrier phase observed value by using the clock error and the Doppler frequency observed value. 19 is provided.
  • the satellite signal processor 11_A even if the internal clock of 11_B are asynchronous to each other, each of the satellite signals SS 1 ⁇ SS N can be accurately determined whether the direct wave signal ..
  • FIG. 19 is a block diagram showing a main part of the position measuring device according to the fourth embodiment.
  • the position measuring apparatus according to the fourth embodiment will be described with reference to FIG.
  • the position measuring device 300 includes an antenna 2 and a satellite signal determining device 100. That is, the position measuring device 300 has a satellite signal receiving device 200.
  • the satellite signal receiving device 200 is the same as that described in the first embodiment. Therefore, a detailed description of the satellite signal receiving device 200 will be omitted.
  • the processes executed by the satellite signal determination device 100 may be collectively referred to as "satellite signal determination process".
  • the individual processes included in the satellite signal determination process are the same as those described in the first embodiment. Therefore, detailed description of these processes will be omitted.
  • the position measurement unit 31 acquires the navigation message and observation data output by the satellite signal processing unit 11 of the satellite signal determination device 100.
  • the position measurement unit 31 executes a process of measuring the position of the moving body 1 (hereinafter referred to as “position measurement process”) using the acquired navigation message and observation data.
  • the position measurement unit 31 acquires the identification signal output by the determination unit 15 of the satellite signal determination device 100.
  • the position measurement unit 31 uses the acquired identification signal to use the navigation message and observation data related to the direct wave receiving satellite among the acquired navigation messages and observation data for the position measurement process. .. Further, the position measurement unit 31 excludes the navigation message and the observation data related to the non-direct wave receiving satellite from the acquired navigation message and the observation data from the position measurement process.
  • the direct wave signal of the satellite signals SS 1 ⁇ SS N is adapted to be used in the position measurement processing.
  • the non-direct wave signal of the satellite signals SS 1 ⁇ SS N is adapted to be excluded from the position measurement processing.
  • the satellite signal receiving device 200 and the position measuring unit 31 constitute the main part of the position measuring device 300.
  • the position measuring device 300 has an antenna 2, a processor 41, and a memory 42.
  • the memory 42 stores a program for realizing the functions of the satellite signal determination device 100 and the position measurement unit 31.
  • the processor 41 reads out and executes such a program, the functions of the satellite signal determination device 100 and the position measurement unit 31 are realized.
  • the position measuring device 300 has an antenna 2 and a processing circuit 43.
  • the functions of the satellite signal determination device 100 and the position measurement unit 31 are realized by the dedicated processing circuit 43.
  • the position measuring device 300 has an antenna 2, a processor 41, a memory 42, and a processing circuit 43 (not shown).
  • some of the functions of the satellite signal determination device 100 and the position measurement unit 31 are realized by the processor 41 and the memory 42, and the remaining functions are realized by the dedicated processing circuit 43.
  • the processor 41 is composed of one or a plurality of processors.
  • the individual processors use, for example, CPUs, GPUs, microprocessors, microcontrollers or DSPs.
  • the memory 42 is composed of one or a plurality of non-volatile memories.
  • the memory 42 is composed of one or more non-volatile memories and one or more volatile memories. That is, the memory 42 is composed of one or a plurality of memories.
  • the individual memory uses, for example, a semiconductor memory or a magnetic disk. More specifically, each volatile memory uses, for example, RAM. Further, each non-volatile memory uses, for example, a ROM, a flash memory, an EPROM, an EEPROM, a solid state drive, or a hard disk drive.
  • the processing circuit 43 is composed of one or a plurality of digital circuits. Alternatively, the processing circuit 43 is composed of one or more digital circuits and one or more analog circuits. That is, the processing circuit 43 is composed of one or a plurality of processing circuits.
  • the individual processing circuits use, for example, ASIC, PLD, FPGA, SoC or system LSI.
  • the operation of the position measuring device 300 will be described focusing on the operations of the satellite signal determination device 100 and the position measuring unit 31.
  • the satellite signal determination device 100 executes the satellite signal determination process (step ST101).
  • the position measurement unit 31 executes the position measurement process (step ST102).
  • the position measuring device 300 may have a satellite signal receiving device 200a instead of the satellite signal receiving device 200.
  • the satellite signal receiving device 200a is the same as that described in the second embodiment. Therefore, detailed description of the satellite signal receiving device 200a will be omitted.
  • the position measuring device 300 may have a satellite signal receiving device 200b instead of the satellite signal receiving device 200.
  • the satellite signal receiving device 200b is the same as that described in the third embodiment. Therefore, a detailed description of the satellite signal receiving device 200b will be omitted.
  • the determination unit 15 may determine whether or not the antenna 2 is installed in the open sky environment. Further, as described in the second embodiment, the determination unit 15a may determine whether or not the antenna 2a is installed in the open sky environment.
  • the position measurement unit 31 acquires the determination result signal output by the determination unit 15 (or the determination unit 15a).
  • the position measurement unit 31 executes the position measurement process when the antenna 2 (or the antenna 2a) is installed in the open sky environment by using the acquired determination result signal.
  • the position measurement unit 31 cancels the execution of the position measurement process.
  • the direct wave signal can be used for the position measurement process, and the non-direct wave signal can be excluded from the position measurement process.
  • satellite signal receiving device 200 in the position measuring device 300 various modifications similar to those described in the first embodiment can be adopted. Further, as the satellite signal receiving device 200a in the position measuring device 300, various modifications similar to those described in the first and second embodiments can be adopted. Further, as the satellite signal receiving device 200b in the position measuring device 300, various modifications similar to those described in the first to third embodiments can be adopted.
  • the position measuring device 300 is a plurality of position measuring devices 300 based on the satellite signal receiving device 200, the satellite signal receiving device 200a or the satellite signal receiving device 200b, and the determination result by the determination unit 15 or the determination unit 15a.
  • the position of the moving body 1 can be measured with high accuracy.
  • the satellite signal receiving device and the position measuring device of the present invention can be used, for example, for measuring the position of a vehicle, a ship, an aircraft, or a mobile information terminal.

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  • 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)
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