JP2001124840A - GPS receiver and positioning method - Google Patents

Abstract

(57) [Summary] (with correction) [Problem] To improve the positioning accuracy by detecting that a multipath or reflected wave has been received and removing abnormal positioning results.
It is intended to provide a PS receiver. SOLUTION: A signal from a GPS satellite is received (S
1) The positioning calculation unit calculates the velocity vector using the Doppler shift (S2), and calculates the position using the pseudorange (S3). The position displacement vector calculation unit calculates a position displacement vector from the previous measured position and the current measured position (S4). The angle calculation unit calculates an angle difference between the azimuth of the velocity vector calculated by the positioning calculation unit and the azimuth of the position displacement vector calculated by the position displacement vector calculation unit (S5), and detects an abnormality when the angle difference is a constant value abnormality. The unit is determined to be abnormal (S6). The positioning determination unit determines whether the positioning is valid or invalid based on the result of the abnormality detection by the abnormality detection unit (S7).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to a GPS receiver for measuring a position and a speed by receiving a signal from a GPS satellite.

[0002]

2. Description of the Related Art FIG. 11 shows a configuration of a conventional GPS receiver disclosed in Japanese Patent Application Laid-Open No. 6-66916.
In FIG. 11, 1 is a GPS antenna for receiving a satellite signal, 2 is a positioning operation unit that performs positioning operation, 3 is a positioning result storage unit that stores positioning results, 4 is an abnormality detection unit that detects abnormality of positioning results, Reference numeral 5 denotes a positioning determination unit that determines whether positioning is valid or invalid.

Next, the operation of the above conventional example will be described. The GPS antenna 1 receives radio waves from GPS satellites.
The positioning calculation unit 2 performs a positioning calculation based on the received radio wave to calculate a position and a speed. The positioning result storage unit 3 stores the positioning result calculated by the positioning calculation unit 2. The abnormality detection unit 4 compares the previous positioning result stored in the positioning result storage unit 3 with the positioning result newly calculated by the positioning calculation unit 2, and the comparison result shows a change greater than the exercise performance of the moving body. It is determined to be abnormal if any. The positioning determination unit 5 is an abnormality detection unit 4
The validity / invalidity of the positioning is determined on the basis of the result of the abnormality detection in step (1).

[0004]

However, the above-mentioned conventional GPS receiver cannot determine an abnormality below the limit of the moving performance of the moving object, and gradually changes as in the case of receiving a multipath during low-speed movement. There is a problem that such abnormalities cannot be detected.

The present invention solves such a problem. When a multipath or a reflected wave is received, the reception of the multipath or the reflected wave is detected to determine whether the positioning result is valid or invalid. It is an object of the present invention to provide a GPS receiver capable of removing abnormal positioning results and improving positioning accuracy.

Another object of the present invention is to provide a GPS receiver capable of detecting an abnormality even below the limit of the performance of a moving object.

Another object of the present invention is to provide a GPS receiver capable of detecting even an abnormality that gradually changes.

[0008]

A GPS receiver according to a first aspect of the present invention calculates a velocity vector using a GPS antenna for receiving satellite signals and a Doppler shift, and calculates a position using a pseudorange. Positioning calculation unit, a positioning position storage unit that stores the previous positioning position, a position displacement vector calculation unit that calculates a position displacement vector from the previous positioning position and the current positioning position, and a velocity calculated by the positioning calculation unit. An angle calculation unit that calculates the angle of the azimuth of the vector and the azimuth of the position displacement vector, an abnormality detection unit that detects an abnormality in positioning by the angle calculated by the angle calculation unit, and a positioning determination unit that determines whether the positioning is valid or invalid. It has a configuration provided. According to this configuration, even when a multipath or reflected wave is received, the abnormality detection unit compares the azimuth of the position displacement vector with the azimuth of the velocity vector to determine whether the positioning result is valid or invalid.
Eliminating abnormal positioning results can improve positioning accuracy.

A GPS receiver according to a second aspect of the present invention is the GPS receiver according to the first aspect, wherein the angle calculating section calculates a three-dimensional angle including the elevation angle of the velocity vector and the elevation angle of the position displacement vector. According to this configuration, the abnormality determination can be performed with higher accuracy by calculating the three-dimensional angle.

A GPS receiver according to a third aspect of the present invention is the GPS receiver according to any one of the first and second aspects, further comprising an azimuth sensor unit instead of the positioning position storage unit and the position displacement vector calculation unit.
An abnormality is detected by comparing the direction detected by the direction sensor unit with the direction of the velocity vector calculated by the positioning calculation unit. According to this configuration, the abnormality is detected by comparing the azimuth detected by the azimuth sensor unit with the azimuth of the velocity vector calculated by the positioning operation unit, so that the abnormality determination can be performed with higher accuracy.

A GPS receiver according to a fourth aspect of the present invention is the GPS receiver according to any one of the first and second aspects, further comprising an azimuth sensor unit, and comparing the azimuth detected by the azimuth sensor unit with the azimuth of the position displacement vector. It has a configuration for performing detection. According to this configuration, the abnormality is detected by comparing the azimuth detected by the azimuth sensor unit with the azimuth of the position displacement vector, so that the abnormality determination can be performed with higher accuracy.

A GPS receiver according to a fifth aspect of the present invention is the GPS receiver according to any one of the first and second aspects, further comprising a map data section storing road data instead of the positioning position storage section and the position displacement vector calculation section. And a configuration for performing abnormality detection by comparing the direction of the road in the map data section with the direction of the velocity vector calculated by the positioning operation section. According to this configuration,
Since abnormality detection is performed by comparing the direction of the road in the map data section with the direction of the velocity vector calculated by the positioning calculation section, the abnormality determination can be performed with higher accuracy.

A GPS receiver according to a sixth aspect of the present invention is the GPS receiver according to any one of the first and second aspects, further comprising a map data section in which road data is stored. To detect an abnormality by comparing with the azimuth. According to this configuration, the abnormality is detected by comparing the direction of the road in the map data section with the direction of the position displacement vector, so that the abnormality determination can be performed with higher accuracy.

A GPS receiver according to a seventh aspect of the present invention provides a GPS antenna for receiving a satellite signal, a positioning operation unit for calculating a velocity vector using Doppler shift, and calculating a position using a pseudorange, A direction sensor unit, a vehicle speed sensor unit, a speed vector generation unit that generates a speed vector from information of the direction sensor unit and the vehicle speed sensor unit, a speed vector from the speed vector generation unit, and a speed vector calculated by the positioning calculation unit. And a difference vector calculating unit for calculating the difference vector of the above. According to this configuration, the abnormality detection is performed based on the magnitude of the difference vector between the speed vector of the speed vector generation unit and the speed vector calculated by the positioning calculation unit, so that the abnormality determination can be performed with higher accuracy.

The GPS receiver according to an eighth aspect of the present invention is the GPS receiver according to the seventh aspect, further comprising: a positioning position storage section for storing a previous positioning position; and calculating a position displacement vector from the previous positioning position and the current positioning position. A position displacement vector calculation unit is provided, and abnormality detection is performed based on the magnitude of the difference vector between the speed vector from the speed vector generation unit and the displacement vector from the position displacement vector calculation unit. According to this configuration, the abnormality detection is performed based on the magnitude of the difference vector between the velocity vector of the velocity vector generation unit and the azimuth of the position displacement vector, so that the abnormality determination can be performed with higher accuracy.

A GPS receiver according to a ninth aspect of the present invention is the GPS receiver according to any one of the first to eighth aspects, wherein the validity and invalidity of the positioning are determined when the moving body is at a certain speed or higher. According to this configuration, by limiting the positioning validity / invalidity determination to a certain speed or more, it is possible to reduce erroneous determination at a low speed with low azimuth accuracy.

A GPS receiver according to a tenth aspect of the present invention is the GPS receiver according to any of the first to ninth aspects, wherein a filter having a large time constant is applied to the positioning result when an abnormality is detected. According to this configuration, when an abnormality is detected, a positioning result can be filtered with a large time constant to improve the positioning accuracy without reducing the positioning frequency.

The GPS receiver according to an eleventh aspect of the present invention is the GPS receiver according to any one of the first to tenth aspects, further comprising a display unit for displaying a result when an abnormality is detected.
According to this configuration, when the abnormality is detected, the user can surely confirm that the abnormality is abnormal.

A twelfth aspect of the present invention provides a lateral position method comprising: receiving a GPS signal from a GPS satellite; calculating a velocity vector by using a Doppler shift; and calculating a position by using a pseudorange. A step of calculating a position displacement vector based on a previous positioning position and a current positioning position; a step of calculating an angle between the direction of the velocity vector and the direction of the position displacement vector; and the magnitude of the calculated angle is equal to or greater than a certain value. And determining whether the angle is abnormal when the angle is equal to or more than a predetermined value and invalidating the positioning. According to this configuration, when a multipath or reflected wave is received, validity / invalidity determination of the positioning result is performed by comparing the azimuth of the position displacement vector with the azimuth of the velocity vector, and the positioning is performed by removing the abnormal positioning result. Accuracy can be improved.

A thirteenth aspect of the present invention provides a lateral position method comprising the steps of: receiving a GPS signal from a GPS satellite; calculating a velocity vector using a Doppler shift; and calculating a position using a pseudorange. Detecting the traveling azimuth of the moving body, calculating the angle between the detected azimuth and the azimuth of the velocity vector, and determining whether the magnitude of the calculated angle is equal to or greater than a predetermined value; Determining that the angle is abnormal when the angle is equal to or more than a predetermined value, and invalidating the positioning. According to this configuration, the abnormality is detected by comparing the traveling direction of the moving object with the direction of the velocity vector, so that the abnormality determination can be performed with higher accuracy.

A fourteenth aspect of the present invention provides a lateral position method comprising the steps of: receiving a GPS signal from a GPS satellite; calculating a velocity vector by using a Doppler shift; and calculating a position by using a pseudorange. Calculating a position displacement vector based on a previous positioning position and a current positioning position; detecting a traveling direction of the moving object; calculating an angle between the detected direction and the direction of the position displacement vector; It has a configuration including a step of determining whether or not the magnitude of the angle is equal to or more than a certain value, and a step of determining that the angle is abnormal and invalidating the positioning when the angle is equal to or more than a certain value. According to this configuration, the abnormality is detected by comparing the traveling azimuth of the moving body with the azimuth of the position displacement vector, so that the abnormality determination can be performed with higher accuracy.

According to a fifteenth aspect of the present invention, in the lateral position method, a step of receiving a GPS signal from a GPS satellite, a first velocity vector is calculated using a Doppler shift, and a position is calculated using a pseudorange. Detecting the traveling direction of the moving object; detecting the speed of the moving object; and determining the second direction based on the traveling direction of the moving object and the speed of the moving object.
Generating a speed vector, calculating a difference vector between the first and second speed vectors, determining whether the magnitude of the difference vector is greater than or equal to a predetermined value, Determining that the vector is abnormal when the vector is equal to or greater than a predetermined value, and invalidating the positioning. According to this configuration, abnormality detection is performed based on the magnitude of the difference vector between the first and second speed vectors, so that abnormality determination can be performed with higher accuracy.

According to a sixteenth aspect of the present invention, in the lateral position method, a step of receiving a GPS signal from a GPS satellite, a first velocity vector is calculated by using a Doppler shift, and a position is calculated by using a pseudorange. Calculating a displacement vector of the position based on the previous positioning position and the current positioning position; detecting a traveling direction of the moving object; detecting a speed of the moving object; Generating a second velocity vector based on the velocity of the moving object, calculating a difference vector between the position displacement vector and the second velocity vector, and determining whether the magnitude of the difference vector is equal to or greater than a predetermined value. And determining if the difference vector is equal to or greater than a predetermined value, and invalidating the positioning. According to this configuration, the abnormality is detected based on the magnitude of the difference vector between the azimuth of the position displacement vector and the second velocity vector, so that the abnormality determination can be performed with higher accuracy.

A seventeenth aspect of the present invention provides the lateral position method according to any one of the twelfth to fourteenth aspects, further comprising the step of determining whether or not the speed of the moving object is equal to or higher than a predetermined value. Has a configuration including a step of determining whether or not the magnitude of the angle is equal to or greater than a predetermined value, and a step of determining that the positioning is invalid when the angle is equal to or greater than a predetermined value and invalidating the positioning. I have. According to this configuration, by limiting the positioning validity / invalidity determination to a certain speed or more, it is possible to reduce erroneous determination at a low speed with low azimuth accuracy.

According to an eighteenth aspect of the present invention, in any one of the fifteenth and sixteenth aspects, a step of determining whether or not the speed of the moving object is equal to or higher than a predetermined value, And determining whether the magnitude of the difference vector is equal to or greater than a certain value, and determining that the difference vector is abnormal and invalidating the positioning when the difference vector is equal to or greater than a certain value. are doing. According to this configuration, by limiting the positioning validity / invalidity determination to a certain speed or more, it is possible to reduce erroneous determination at a low speed with low azimuth accuracy.

The side position method according to a nineteenth aspect of the present invention, according to any one of the twelfth and eighteenth aspects, has a configuration including a step of applying a filter having a large time constant to the positioning result when an abnormality is detected. According to this configuration, when an abnormality is detected, the positioning result is filtered with a large time constant so as not to be output, so that the positioning accuracy can be improved without lowering the positioning frequency.

According to a twentieth aspect of the present invention, in any one of the twelfth and nineteenth aspects, when the abnormality is detected, the method includes a step of displaying the result.
According to this configuration, when the abnormality is detected, the user can surely confirm that the abnormality is abnormal.

[0028]

(Embodiment 1) FIG. 1 shows a configuration of a GPS receiver according to a first embodiment of the present invention. In FIG. 1, 101 is a GPS antenna for receiving satellite signals, 102 is a positioning operation unit that calculates a velocity vector using Doppler shift, and calculates a position using a pseudorange, and 103 is a positioning operation unit 102 A positioning position storage unit that stores the calculated previous positioning position, 104 is a position displacement vector calculation unit that calculates a position displacement vector from the previous positioning position and the current positioning position, and 105 is a velocity vector calculated by the positioning calculation unit 102 An angle calculation unit that calculates the difference between the azimuth of the position displacement vector and the azimuth of the position displacement vector as a two-dimensional angle; This is a positioning determination unit that determines whether positioning is valid or invalid according to the detection result of.

Next, the operation of the GPS receiver according to the first embodiment shown in FIG. 1 will be described with reference to the flowchart of FIG.

In step (hereinafter referred to as S) 1, G
The PS antenna 101 receives a GPS signal from a GPS satellite. In S2, the positioning calculation unit 102 calculates the velocity vector using the Doppler shift, calculates the position using the pseudorange, and supplies the calculated position to the positioning position storage unit 103 and the position displacement vector calculation unit 104. The position displacement vector calculation unit 104 determines the positioning position storage unit 103 in S3.
A position displacement vector is calculated from the previous measured position and the current measured position stored in the. The angle calculation unit 105 calculates the difference between the azimuth of the velocity vector calculated by the positioning calculation unit 102 in S4 and the azimuth of the position displacement vector as an angle. The abnormality detection unit 106
In 5, it is determined whether or not the magnitude of the angle calculated by the angle calculation unit 105 is equal to or more than a certain value. If the angle is not less than a certain value, it is determined that the angle is abnormal in S6, and the display unit 130 is abnormal. Show that. This angle increases when multipath or reflected waves are received. If the result of the determination by the abnormality detection unit 106 is abnormal, the positioning determination unit 107 determines that the positioning is invalid in S7 and does not output the positioning result. On the other hand, when the determination result is not abnormal, the positioning is determined to be valid in S8, and the calculation result of the positioning calculation unit 102 is output as the positioning result.

As described above, according to the first embodiment,
When a multipath or reflected wave is received, the abnormality detector detects the reception of the multipath or reflected wave by comparing the azimuth of the position displacement vector and the azimuth of the velocity vector, and determines whether the positioning result is valid or invalid. By removing the abnormal positioning result, the positioning accuracy can be improved.

(Embodiment 2) FIG. 3 shows a configuration of a GPS receiver according to a second embodiment of the present invention. 3, a GPS antenna 101, a positioning calculation unit 102, a positioning position storage unit 103, a position displacement vector calculation unit 104, an abnormality detection unit 106, a positioning determination unit 107, and a display unit 130 are the same as corresponding units in FIG. It is. An angle calculation unit 108 calculates a three-dimensional angle including the elevation angle of the velocity vector and the elevation angle of the position displacement vector.

Next, the operation of the GPS receiver according to the second embodiment shown in FIG. 3 will be described with reference to the flowchart of FIG.

GPS antenna 101, positioning operation unit 10
2, positioning position storage unit 103, position displacement vector calculation unit 1
Each operation in 04 is the same as the operation in the corresponding section in FIG. 1, that is, the operation from S1 to S3 in FIG. Angle calculator 10
Numeral 8 calculates a three-dimensional angle in consideration of the elevation angle of the velocity vector and the elevation angle of the position displacement vector calculated by the positioning calculation unit 102. That is, in the first embodiment, a two-dimensional angle is calculated in S4 of FIG. 2, but in the second embodiment, a three-dimensional angle is calculated.

The operations of the abnormality detection unit 106, the positioning determination unit 107, and the display unit 130 are the same as those in FIG. 1, and the magnitude of the angle calculated by the angle calculation unit 108 is determined in S5 in FIG.
The validity / invalidity of the positioning is determined according to the result.

As described above, according to the second embodiment,
An angle calculation unit 108 that calculates a three-dimensional angle in consideration of the elevation angle of the velocity vector and the elevation angle of the position displacement vector,
By calculating the three-dimensional angle, the abnormality determination can be performed with higher accuracy.

(Embodiment 3) FIG. 4 shows the configuration of a GPS receiver according to a third embodiment of the present invention. 4, a GPS antenna 101, a positioning operation unit 102, an abnormality detection unit 106, a positioning determination unit 107, and a display unit 130 are the same as corresponding units in FIG.
Reference numeral 109 denotes an azimuth sensor unit using a gyro, a geomagnetic sensor, or the like. Reference numeral 110 denotes an angle calculation unit that calculates a difference between the azimuth detected by the azimuth sensor unit 109 and the azimuth of the velocity vector calculated by the positioning calculation unit 102.

Next, the operation of the GPS receiver according to the third embodiment shown in FIG. 4 will be described with reference to the flowchart of FIG.

In step 11, the GPS antenna 1
01 receives a GPS signal from a GPS satellite. S12
In, the positioning calculation unit 102 calculates the velocity vector using the Doppler shift, and calculates the position using the pseudorange.

On the other hand, the azimuth sensor unit 109 detects the traveling azimuth of the moving body using a gyro, a geomagnetic sensor or the like in S13, and the angle calculation unit 110 calculates the azimuth detected by the azimuth sensor unit 109 in S14 and the positioning calculation unit. The angle of the direction of the velocity vector calculated in step 102 is calculated. Abnormality detector 10
No. 6 determines in S15 whether or not the magnitude of the angle calculated by the angle calculation unit 110 is equal to or greater than a certain value. If the angle is equal to or more than the certain value, it is determined that the angle is abnormal in S16. Show that there is. When the result of the determination by the abnormality detecting unit 106 is above, the positioning determination unit 107 invalidates the positioning in S17 and does not output the positioning result. If the abnormality detection unit 106 has not determined that the positioning is abnormal, it determines in S18 that the positioning is valid.

As described above, according to the third embodiment,
The azimuth detected by the azimuth sensor unit 109 and the positioning calculation unit 10
By performing the abnormality detection by comparing with the direction of the velocity vector calculated in 2, the abnormality determination can be performed with higher accuracy.

(Embodiment 4) FIG. 6 shows a configuration of a GPS receiver according to a fourth embodiment of the present invention. 6, a GPS antenna 101, a positioning calculation unit 102, a positioning position storage unit 103, a position displacement vector calculation unit 104, an abnormality detection unit 106, a positioning determination unit 107, and a display unit 130 are the same as corresponding units in FIG. It is. The direction sensor unit 109 is the same as the direction sensor unit 109 in FIG. Reference numeral 111 denotes the azimuth detected by the azimuth sensor unit 109 and the position displacement vector calculation unit 104
Is an angle calculation unit that calculates the difference between the azimuths of the position displacement vectors calculated in step (1).

Next, the operation of the GPS receiver according to the fourth embodiment shown in FIG. 6 will be described with reference to the flowchart of FIG.

In step 21, the GPS antenna 1
01 receives a GPS signal from a GPS satellite. S22
In, the positioning calculation unit 102 calculates the velocity vector using the Doppler shift, and calculates the position using the pseudorange. The position displacement vector calculation unit 104 calculates a position displacement vector based on the previous measured position and the current measured position stored in the measured position storage unit 103 in S23, and supplies the calculated position displacement vector to the angle calculation unit 111. Direction sensor unit 10
In step S24, the traveling direction of the moving body is detected using a gyro, a geomagnetic sensor, or the like.

The angle calculator 111 calculates the azimuth detected by the azimuth sensor 109 in step S25 and the position displacement vector calculator 10.
The azimuth angle of the position displacement vector calculated in step 4 is calculated. The abnormality detection unit 106 determines in S26 that the angle calculation unit 1
It is determined whether or not the magnitude of the angle calculated in 11 is equal to or greater than a certain value. If the angle is equal to or greater than a certain value, it is determined that the angle is abnormal in S27, and the display unit 130 is displayed as abnormal,
Further, the positioning determination unit 107 determines that the positioning is invalid in S28 and does not output the positioning result. In S26, the abnormality detection unit 1
If 06 is not determined to be abnormal, positioning is determined to be valid in S29, and a positioning result is output.

As described above, according to the fourth embodiment,
By comparing the azimuth detected by the azimuth sensor unit 109 with the azimuth of the position displacement vector calculated by the position displacement vector calculation unit 104 and performing abnormality detection, the abnormality determination can be performed more accurately.

(Embodiment 5) FIG. 8 shows a configuration of a GPS receiver according to a fifth embodiment of the present invention. 8, a GPS antenna 101, a positioning operation unit 102, an abnormality detection unit 106, a positioning determination unit 107, and a display unit 130 are the same as corresponding units in FIG.
Reference numeral 112 denotes a map data unit such as a CD-ROM in which road data is stored. Reference numeral 113 denotes an angle calculation unit that calculates a difference between the direction of the road in the map data unit 112 and the direction of the velocity vector calculated by the positioning calculation unit 102. .

Next, the operation of the GPS receiver according to the fifth embodiment shown in FIG. 8 will be described with reference to the flowchart of FIG.

In step 11, the GPS antenna 1
01 receives a GPS signal from a GPS satellite. S12
In, the positioning calculation unit 102 calculates the velocity vector using the Doppler shift, and calculates the position using the pseudorange.

On the other hand, road data such as the direction of the road is stored in the map data unit 112. In S13, the traveling direction of the moving object is detected from the road direction of the road data. The angle calculation unit 113 calculates a difference between the azimuth detected by the map data unit 112 and the azimuth of the velocity vector calculated by the positioning calculation unit 102 in S14. The abnormality detection unit 106 includes an angle calculation unit 113
The magnitude of the angle calculated in step S15 is determined in step S15. If the angle exceeds a predetermined value, it is determined that the angle is abnormal in step S16.
An error message is displayed at 30. If the abnormality detection unit 106 determines in S15 that the abnormality is abnormal, the positioning determination unit 107 determines that the positioning is invalid in S17 and does not output the positioning result. If it is not determined in S15 that there is an abnormality, the positioning is determined to be valid in S18, and the positioning result is output.

As described above, according to the fifth embodiment,
By comparing the azimuth of the road in the map data section with the azimuth of the velocity vector calculated by the positioning calculation section, and performing abnormality detection, it is possible to perform abnormality determination with higher accuracy.

(Embodiment 6) FIG. 9 shows a configuration of a GPS receiver according to a sixth embodiment of the present invention. 9, a GPS antenna 101, a positioning operation unit 102, a positioning position storage unit 103, a position displacement vector calculation unit 104, an abnormality detection unit 106, a positioning determination unit 107, and a display unit 130 are the same as corresponding units in FIG. It is. The map data section 112 is the map data section 1 shown in FIG.
Same as 12. 114 is a map data section 112
An angle calculation unit that calculates a difference between the direction of the road and the direction of the position displacement vector calculated by the position displacement vector calculation unit 104.

Next, the operation of the GPS receiver according to the sixth embodiment shown in FIG. 9 will be described with reference to the flowchart of FIG.

In step 21, the GPS antenna 1
01 receives a GPS signal from a GPS satellite. S22
In, the positioning calculation unit 102 calculates the velocity vector using the Doppler shift, and calculates the position using the pseudorange. The position displacement vector calculation unit 104 calculates a position displacement vector based on the previous measured position and the current measured position stored in the measured position storage unit 103 in S23, and supplies the calculated position displacement vector to the angle calculation unit 105.

Road data such as the direction of the road is stored in the map data section 112. In S24, the traveling direction of the moving object is detected based on the road direction of the road data.

The angle calculator 114 calculates the angle between the direction of the road detected by the map data unit 112 and the direction of the position displacement vector calculated by the position displacement vector calculator 104 in S25. The abnormality detection unit 106 determines the magnitude of the angle calculated by the angle calculation unit 114 in S26, and when the angle becomes a certain value or more, determines that the angle is abnormal in S27, and displays the abnormality on the display unit 130. In the positioning determination unit 107, S27
If it is determined that is abnormal, the positioning is determined to be invalid in S28 and no positioning result is output. If it is not determined in S27 that the positioning is abnormal, the positioning is determined to be valid in S29, and the positioning result is output.

As described above, according to the sixth embodiment,
By comparing the azimuth detected by the map data unit 112 with the azimuth of the position displacement vector calculated by the position displacement vector calculation unit 104 and performing abnormality detection, the abnormality determination can be performed more accurately.

(Embodiment 7) FIG. 10 shows the configuration of a GPS receiver according to a seventh embodiment of the present invention. 10, in FIG. 10, a GPS antenna 101, a positioning calculation unit 102, a positioning determination unit 107, and a display unit 130 are the same as corresponding units in FIG.
The direction sensor unit 109 is the direction sensor unit 1 shown in FIG.
09 is the same. Reference numeral 115 denotes a vehicle speed sensor unit that detects the speed of an automobile or the like using a vehicle speed pulse, radar, or the like, and 116 denotes a speed vector generation that generates a speed vector from the azimuth measured by the azimuth sensor unit 109 and the vehicle speed measured by the vehicle speed sensor unit 115. And 117 are the velocity vector obtained by the velocity vector generation section 116 and the positioning operation section 10.
A difference vector calculation unit 118 that calculates a difference vector from the speed vector calculated in Step 2 is an abnormality detection unit that determines that an abnormality has occurred when the magnitude of the difference vector is greater than or equal to a certain value.

Next, the operation of the GPS receiver according to the seventh embodiment shown in FIG. 10 will be described with reference to the flowchart in FIG.

In step 31, the GPS antenna 1
01 receives a GPS signal from a GPS satellite. S32
In, the positioning calculation unit 102 calculates the velocity vector using the Doppler shift, and calculates the position using the pseudorange. The direction sensor unit 109 detects the traveling direction of the vehicle using a gyro, a geomagnetic sensor or the like in S33, and the vehicle speed sensor unit 115 detects the vehicle speed using a vehicle speed pulse or radar in S34. The speed vector generator 116 generates a speed vector in S35 based on the traveling direction of the vehicle detected by the direction sensor 109 and the speed of the vehicle detected by the speed sensor 115.

The difference vector calculation unit 117 calculates a difference vector between the speed vector generated by the speed vector generation unit 116 in S36 and the speed vector calculated by the positioning operation unit 102. The abnormality detection unit 118 is a difference vector calculation unit 1
In S37, it is determined whether or not the magnitude of the difference vector calculated in 17 is equal to or greater than a certain value. If the magnitude is equal to or greater than a certain value, it is determined that the difference is abnormal in S38. indicate. In the positioning determination unit 107, if the abnormality detection unit 118 determines that the abnormality is abnormal in S38, the process proceeds to S39.
Determines that positioning is invalid and does not output positioning results. S38
If the abnormality detection unit 118 does not determine that the
At 40, the positioning is determined to be valid and the positioning result is output.

As described above, according to the seventh embodiment,
Performing abnormality detection with higher accuracy by performing abnormality detection based on the magnitude of the difference vector between the speed vector generated by the outputs of the direction sensor unit 109 and the vehicle speed sensor 115 and the speed vector calculated by the positioning operation unit 102 Can be.

(Embodiment 8) FIG. 12 shows a configuration of a GPS receiver according to an eighth embodiment of the present invention. 12, the GPS antenna 101, the positioning calculation unit 102, the positioning position storage unit 103, the position displacement vector calculation unit 104, the positioning determination unit 107, and the display unit 30 are shown in FIG.
Are the same as the corresponding parts. The azimuth sensor unit 109, the vehicle speed sensor unit 115, the speed vector generation unit 116, and the detection unit 118 are the same as corresponding units in FIG. 119 is a velocity vector generation unit 1
A difference vector calculator that calculates a difference vector between the velocity vector generated in step 16 and the position displacement vector calculated by the position displacement vector calculator 104.

Next, the operation of the GPS receiver according to the seventh embodiment shown in FIG. 10 will be described with reference to the flowchart in FIG.

In step 41, the GPS antenna 1
01 receives a GPS signal from a GPS satellite. S42
In, the positioning calculation unit 102 calculates the velocity vector using the Doppler shift, and calculates the position using the pseudorange. The position displacement vector calculation unit 104 calculates a position displacement vector based on the previous measured position and the current measured position stored in the measured position storage unit 103 in S43, and supplies the calculated position displacement vector to the difference vector calculation unit 119.

The direction sensor unit 109 detects the traveling direction of the vehicle using a gyro, a geomagnetic sensor or the like in S44, and the vehicle speed sensor unit 115 detects the vehicle speed using a vehicle speed pulse or radar in S45. The speed vector generation unit 116 generates a speed vector in S46 based on the traveling direction of the vehicle detected by the direction sensor unit 109 and the speed of the vehicle detected by the speed sensor unit 115.

The difference vector calculator 119 calculates a difference vector between the speed vector generated by the speed vector generator 116 in S47 and the speed vector calculated by the positioning calculator 102. The abnormality detection unit 118 is a difference vector calculation unit 1
In S48, it is determined whether or not the magnitude of the difference vector calculated in step 19 is equal to or more than a certain value. If the magnitude is equal to or more than a certain value, it is determined that the difference is abnormal in S49. indicate. If the abnormality detection unit 118 determines in S49 that the positioning is abnormal, the positioning determination unit 107 determines that positioning is invalid in S50 and does not output a positioning result. If the abnormality detection unit 118 does not determine that an abnormality has occurred in S48, the process proceeds to S5.
In step 1, the positioning is determined to be valid, and the positioning result is output.

As described above, according to the eighth embodiment,
By performing abnormality detection based on the magnitude of the difference vector between the velocity vector generated by the outputs of the azimuth sensor unit 109 and the vehicle speed sensor 115 and the position displacement vector calculated by the position displacement vector calculation unit 104, the abnormality determination is more accurately performed. Can do well.

(Embodiment 9) FIG. 14 shows the configuration of a GPS receiver according to a ninth embodiment of the present invention. 14, a GPS antenna 101, a positioning calculation unit 102, a positioning position storage unit 103, a position displacement vector calculation unit 104, an angle calculation unit 105, an abnormality detection unit 106, and a display unit 130 are the same as corresponding units in FIG. It is. Reference numeral 120 denotes a positioning determination unit that determines whether the positioning is valid or invalid only when the speed calculated by the positioning calculation unit 102 is equal to or higher than a certain value.

Next, the operation of the GPS receiver according to the ninth embodiment shown in FIG. 14 will be described with reference to the flowchart in FIG.

GPS antenna 101, positioning operation unit 10
2, positioning position storage unit 103, position displacement vector calculation unit 1
04, each operation of the angle calculation unit 105 is the same as the operation in the corresponding unit in FIG. 1, that is, the operation from S1 to S4 in FIG. The abnormality detection unit 106 determines whether or not the speed of the moving object measured by the positioning calculation unit 102 in S55 is equal to or more than a certain value. If the speed is equal to or more than the certain value, the angle calculated by the angle calculation unit 105 in S56 is determined. It is determined whether the size is equal to or greater than a certain value. When the speed of the moving object is less than the certain value, and when the angle is more than the certain value even when it is more than the certain value, the abnormality detection unit 106 determines in S57 that the calculation result of the positioning calculation unit is abnormal, It is displayed on the display unit 130. Then, the positioning determination unit 120 determines that the positioning is invalid in S58, and does not output a positioning result.

If the speed of the moving body is equal to or higher than the predetermined value in S55 and the angle is lower than the predetermined value in S56, the abnormality detection unit 106 determines that the positioning of the positioning calculation unit 102 is normal, and the positioning determination unit 120 determines validity of the positioning result of the positioning calculation unit 102 in S59 and outputs the result.

As described above, according to the ninth embodiment,
By limiting the validity judgment of positioning to a certain speed or more,
This has the effect of reducing erroneous determinations at low speeds with poor azimuth accuracy.

Although the ninth embodiment has been described with reference to the case where the ninth embodiment is applied to the first embodiment of FIG. 1, it can be applied to any of the second to eighth embodiments.

(Embodiment 10) FIG. 16 shows a first embodiment of the present invention.
1 shows a configuration of a GPS receiver according to the embodiment of FIG. 16, a GPS antenna 101, a positioning calculation unit 102, a positioning position storage unit 103, a position displacement vector calculation unit 104, an angle calculation unit 105, and an abnormality detection unit 106
The display unit 130 is the same as each corresponding unit in FIG. Reference numeral 121 denotes a filter unit that applies a filter having a large time constant to the positioning information calculated by the positioning calculation unit 102 when an abnormality is detected by the abnormality detection unit 106.

Next, the operation of the GPS receiver according to the ninth embodiment shown in FIG. 16 will be described.

GPS antenna 101, positioning operation unit 10
2, positioning position storage unit 103, position displacement vector calculation unit 1
04, the operations of the angle calculation unit 105 and the abnormality detection unit 106 are the same as the operations of the corresponding units of FIG. 1, that is, the operations of S1 to S5 of FIG. When the abnormality detecting unit 106 detects an abnormality, the abnormality is displayed on the display unit 130 and the filtering unit 121 blocks the positioning information calculated by the positioning calculation unit 102 and does not output the positioning result. Abnormality detection unit 106
Does not detect any abnormality, the positioning information calculated by the positioning calculation unit 102 passes through the filter unit 121 and is output.

As described above, according to the tenth embodiment, when the abnormality detecting unit 106 detects an abnormality, the positioning result is cut off by the filter unit 121, thereby improving the positioning accuracy without reducing the positioning frequency. Can be.

Although the tenth embodiment has been described as applied to the first embodiment in FIG. 1, it can be applied to any of the second to ninth embodiments.

[0080]

As described above, according to the GPS receiver of the present invention, even when a multipath or a reflected wave is received, the abnormality detection unit detects whether the positioning result is normal or abnormal, and the result is determined. In this case, the positioning determination unit performs validity / invalidity determination of the positioning result in accordance with, and removes an abnormal positioning result, thereby improving the positioning accuracy.

Further, according to the GPS receiver of the present invention, abnormality detection is performed by detecting an abnormality based on the magnitude of a difference vector between the speed vector of the speed vector generation unit and the speed vector calculated by the positioning operation unit. Can be performed with higher accuracy.

Further, according to the GPS receiver of the present invention, the positioning valid / invalid judgment is limited to a certain speed or more,
This has the effect of reducing erroneous determinations at low speeds with low azimuth accuracy.

According to the GPS receiver of the present invention, by applying a filter having a large time constant to the positioning result when an abnormality is detected, the positioning accuracy can be improved without lowering the positioning frequency. .

[Brief description of the drawings]

FIG. 1 is a schematic block diagram of a GPS receiver according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating an operation of the GPS receiver according to the first embodiment of the present invention.

FIG. 3 is a schematic block diagram of a GPS receiver according to a second embodiment of the present invention.

FIG. 4 is a schematic block diagram of a GPS receiver according to a third embodiment of the present invention.

FIG. 5 is a flowchart illustrating the operation of a GPS receiver according to a third embodiment of the present invention.

FIG. 6 is a schematic block diagram of a GPS receiver according to a fourth embodiment of the present invention.

FIG. 7 is a flowchart illustrating the operation of a GPS receiver according to a fourth embodiment of the present invention.

FIG. 8 is a schematic block diagram of a GPS receiver according to a fifth embodiment of the present invention.

FIG. 9 is a schematic block diagram of a GPS receiver according to a sixth embodiment of the present invention.

FIG. 10 is a schematic block diagram of a GPS receiver according to a seventh embodiment of the present invention.

FIG. 11 is a flowchart illustrating the operation of a GPS receiver according to a seventh embodiment of the present invention.

FIG. 12 is a schematic block diagram of a GPS receiver according to an eighth embodiment of the present invention.

FIG. 13 is a flowchart illustrating the operation of a GPS receiver according to an eighth embodiment of the present invention.

FIG. 14 is a schematic block diagram of a GPS receiver according to a ninth embodiment of the present invention.

FIG. 15 is a flowchart illustrating the operation of a GPS receiver according to a ninth embodiment of the present invention.

FIG. 16 shows a GPS according to a tenth embodiment of the present invention.
Schematic block diagram of receiver

FIG. 17 is a schematic block diagram of a conventional GPS receiver.

[Explanation of symbols]

Reference Signs List 101 GPS antenna 102 Positioning calculation unit 103 Positioning position storage unit 104 Position displacement vector calculation unit 105, 108, 110, 111, 113, 114 Angle calculation unit 106, 118 Abnormality detection unit 107, 120 Positioning determination unit 109 Direction sensor unit 112 Map Data unit 115 Vehicle speed sensor unit 116 Speed vector generation unit 117, 119 Difference vector calculation unit 121 Filter unit

Continued on the front page (72) Inventor Masahiro Sasaki 4-3-1 Tsunashima Higashi, Kohoku-ku, Yokohama, Kanagawa Prefecture Inside Matsushita Communication Industrial Co., Ltd. (72) Inventor Manabu Tsuchiya 4-3-1 Tsunashima Higashi, Kohoku-ku, Yokohama, Kanagawa No. 1 Matsushita Communication Industrial Co., Ltd. F term (reference) 2F029 AA02 AB07 AC02 AC05 AC12 AC14 5H180 AA01 FF05 5J062 AA12 CC07 DD21 GG02 9A001 BB06 CC02 CC05 JJ78 KK37

Claims (20)

[Claims] 1. A GPS antenna that receives a satellite signal, a positioning operation unit that calculates a velocity vector using Doppler shift, and calculates a position using a pseudorange.
A positioning position storage unit that stores the previous positioning position, a position displacement vector calculation unit that calculates a position displacement vector from the previous positioning position and the current positioning position, and an azimuth and a position displacement of the velocity vector calculated by the positioning calculation unit. An angle calculation unit that calculates the angle of the vector azimuth, an abnormality detection unit that detects an abnormality in positioning by the angle calculated by the angle calculation unit, and a positioning determination unit that determines whether the positioning is valid or invalid. G
PS receiver. 2. The GPS receiver according to claim 1, wherein the angle calculation unit calculates a three-dimensional angle including an elevation angle of the velocity vector and an elevation angle of the position displacement vector. 3. An azimuth sensor unit is provided in place of the positioning position storage unit and the position displacement vector calculation unit, and abnormality is detected by comparing the azimuth detected by the azimuth sensor unit with the azimuth of the velocity vector calculated by the positioning calculation unit. The GPS receiver according to claim 1, wherein: 4. G according to claim 1 or 2
A GPS receiver, further comprising an orientation sensor unit, wherein the abnormality is detected by comparing the orientation detected by the orientation sensor unit with the orientation of the position displacement vector.
Receiving machine. 5. A map data section in which road data is stored in place of the positioning position storage section and the position displacement vector calculation section, wherein the direction of the road in the map data section and the direction of the velocity vector calculated by the positioning calculation section are stored. 3. The G according to claim 1, wherein an abnormality is detected by comparing the G.
PS receiver. 6. G according to claim 1 or 2
A GPS receiver, comprising: a PS receiver, further comprising a map data section in which road data is accumulated, and performing abnormality detection by comparing the direction of the road in the map data section with the direction of a position displacement vector. 7. A GPS antenna for receiving a satellite signal, a positioning calculation unit for calculating a velocity vector using Doppler shift and calculating a position using a pseudorange,
A direction sensor unit, a vehicle speed sensor unit, a speed vector generation unit that generates a speed vector from information of the direction sensor unit and the vehicle speed sensor unit, a speed vector from the speed vector generation unit, and a speed vector calculated by the positioning calculation unit. A difference vector calculation unit that calculates a difference vector of
A GPS receiver for performing abnormality detection based on the magnitude of the difference vector. 8. The GPS receiver according to claim 7, further comprising: a positioning position storage unit for storing a previous positioning position; and a position displacement vector for calculating a position displacement vector from the previous positioning position and the current positioning position. A GPS receiver, comprising: a calculating unit for detecting an abnormality based on a magnitude of a difference vector between a velocity vector from a velocity vector generating unit and a displacement vector from a position displacement vector calculating unit. 9. The method according to claim 1, wherein when the speed of the moving object is equal to or higher than a predetermined speed, validity and invalidity of the positioning are determined.
9. The GPS receiver according to any one of claims 1 to 8. 10. The method according to claim 1, wherein a filter having a large time constant is applied to the positioning result when an abnormality is detected.
The GPS receiver according to any one of claims 1 to 9. 11. The GPS receiver according to claim 1, further comprising a display unit for displaying a result when an abnormality is detected. 12. A step of receiving a GPS signal from a GPS satellite, a step of calculating a velocity vector by using a Doppler shift, and a step of calculating a position by using a pseudorange, and the previous positioning position and the current positioning. Calculating a position displacement vector based on the position; calculating an angle between the azimuth of the velocity vector and the azimuth of the position displacement vector; and determining whether the magnitude of the calculated angle is equal to or greater than a certain value. And determining that the angle is abnormal when the angle is equal to or greater than a predetermined value and invalidating the positioning. 13. A step of receiving a GPS signal from a GPS satellite, a step of calculating a velocity vector by using a Doppler shift and a step of calculating a position by using a pseudorange, and detecting a traveling direction of a moving object. Calculating the angle between the detected azimuth and the azimuth of the velocity vector; determining whether the magnitude of the calculated angle is equal to or greater than a certain value; and when the angle is equal to or greater than a certain value. Determining the abnormality and invalidating the positioning. 14. A step of receiving a GPS signal from a GPS satellite, a step of calculating a velocity vector by using a Doppler shift, and a step of calculating a position by using a pseudo distance; Calculating a position displacement vector based on the position; detecting a traveling direction of the moving body; calculating an angle between the detected direction and the direction of the position displacement vector; And a step of determining that the angle is abnormal and invalidating the position when the angle is equal to or greater than a predetermined value. 15. A step of receiving a GPS signal from a GPS satellite, a step of calculating a first velocity vector using a Doppler shift, and calculating a position using a pseudorange, Detecting
Detecting a speed of the moving object, generating a second speed vector based on the traveling direction of the moving object and the speed of the moving object, and calculating a difference vector between the first and second speed vectors. Determining whether the magnitude of the difference vector is greater than or equal to a certain value, and determining that the positioning is invalid when the difference vector is greater than or equal to a certain value. Positioning method. 16. A step of receiving a GPS signal from a GPS satellite, a step of calculating a first velocity vector using a Doppler shift, and a step of calculating a position using a pseudorange. Calculating the displacement vector of the position from the current positioning position, detecting the traveling direction of the moving body, detecting the speed of the moving body, and calculating the second based on the traveling direction of the moving body and the speed of the moving body. Generating a velocity vector, calculating a difference vector between the position displacement vector and the second velocity vector, determining whether the magnitude of the difference vector is equal to or greater than a fixed value, Determining that the difference vector is greater than or equal to a certain value and determining that the position is abnormal, and invalidating the positioning. 17. A step of determining whether or not the speed of the moving object is equal to or higher than a predetermined value, and determining whether or not the magnitude of the angle is equal to or higher than a predetermined value when the speed is equal to or higher than the predetermined value. The positioning method according to any one of claims 12 to 14, further comprising: a step; and determining that the angle is abnormal when the angle is equal to or more than a predetermined value and invalidating the positioning. 18. A step of determining whether or not the speed of the moving object is equal to or higher than a predetermined value, and determining whether or not the magnitude of the difference vector is equal to or higher than a predetermined value when the speed is equal to or higher than the predetermined value. 17. The positioning method according to claim 15, further comprising: performing a determination when the difference vector is equal to or greater than a predetermined value, and invalidating the positioning. 19. The positioning method according to claim 12, further comprising a step of applying a filter having a large time constant to the positioning result when an abnormality is detected. 20. The method according to claim 12, further comprising a step of displaying a result when an abnormality is detected.
The associative method according to any of the above.