JP3439827B2 - Positioning device and moving object with positioning device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device provided in a vehicle or the like or a moving body with a positioning device such as a vehicle.

[0002]

2. Description of the Related Art Generally, the position of a vehicle is detected based on a detection signal from a sensor or a receiver mounted on the vehicle, and based on the detected position, the position of the vehicle is displayed on a map displayed on a display. There is a known vehicle navigation device (Japanese Unexamined Patent Publication No. 2-257013).
In such a vehicular navigation device, as a position detecting device for detecting the position of the vehicle, a receiver provided in the vehicle receives radio waves from a plurality of satellites and detects the position of the vehicle based on the received radio waves. Positioning S
A system using a ystem (hereinafter abbreviated as GPS) is known. This vehicle-mounted navigation device using GPS measures the distances from a plurality of satellites whose positions are clear to the receiving point at the same time, and sets the intersection of a sphere centering on each satellite as the vehicle position. Accuracy can be obtained. However, even in the case of a vehicle-mounted navigation device using such a GPS, there is a difference between the orbit information transmitted from the GPS satellite and the actual orbit of the GPS satellite, the delay of radio waves in the ionosphere or the atmosphere, etc. A position error will occur. Various methods have been used to correct this measurement position error.

FIG. 22 is an explanatory diagram of a conventional GPS positioning device disclosed in, for example, Japanese Patent Laid-Open No. 5-66260. In this figure, 10 is a vehicle equipped with a GPS positioning device,
Reference numeral 30 is a transmitter installed on the road used for the road-vehicle information system. Vehicle 10 has GPS satellites 4 in the sky
A GPS receiver 11 and a GPS antenna 12 for receiving radio waves from 0a to 40h and calculating vehicle position coordinates are provided, and an azimuth sensor 13, a distance sensor 14, and an altitude sensor 15, which are used as sensors for self-contained navigation, further,
Receiver 16 and antenna 17 for receiving road-vehicle information data
And are provided. Also, a map database storage unit 18 such as a CD-ROM, an external input interface (external input I / F in the figure) 19 such as a keyboard, a controller 21 that collects position information sent from these devices and outputs display information, A display monitor 22 is installed in the vehicle 10.

Next, the operation will be described. GPS satellite 4
The GPS antenna 12 receives the radio waves of 0a to 40h,
The GPS receiver 11 calculates the GPS positioning position. Also,
In addition to the GPS positioning position, a position measured using the azimuth sensor 13, the distance sensor 14, and the altitude sensor 15,
Alternatively, the position calculated by the road-to-vehicle information receiver 16 from the radio wave from the road-to-vehicle information transmitter 30 received by the antenna 17, map matching by the map database storage unit 18, or an external input interface (external input I / F) The position of the moving body is obtained by using the input from 19. In the controller 21, this moving body position and GP
The difference from the S positioning position is calculated and stored in the memory as correction information at the time of GPS positioning, and the GPS positioning position data is corrected thereafter using this correction information and displayed together with the map information from the map database storage unit 18. The output is output to the monitor 22, and the display monitor 22 receives this output and displays it.

[0005]

The conventional G as described above is used.
In the PS positioning device, the position measured by the GPS positioning device is used as the azimuth sensor 13, the distance sensor 14, and the altitude sensor 1.
5, the position calculated by 5 and the position calculated by the road-to-vehicle information receiver 16, or the map database storage unit 18
The correction is performed based on the position calculated by the map matching by. Therefore, the direction sensor 13, the distance sensor 14, the altitude sensor 15, the road-vehicle information receiver 1
6 or a map database storage unit 18 for performing map matching is required, which causes an increase in the number of devices and makes the devices complicated.

The present invention has been made in order to solve the above problems, and an object thereof is to obtain a positioning device which can surely perform correction with a simple device.

[0007]

A positioning device according to the present invention includes receiving means for receiving radio waves from N satellites and outputting reception information corresponding to each of the N satellites, and N receiving means. Position information for extracting one satellite group composed of M satellites from each satellite and calculating position information of one positioning point from the received information corresponding to each satellite forming the extracted one satellite group A plurality of calculating means and a plurality of satellite groups formed by L satellites from the N satellites are extracted, and a plurality of received information corresponding to the satellites forming each satellite group of the plurality of extracted satellite groups are used. Multiple positioning for each satellite group
A correction information calculating means for calculating correction information based on the position information of the plurality of positioning points to calculate the position information of the point, one
A correction means for correcting the position information of the positioning point with the correction information is provided.

[0008] Further, a receiving means for receiving radio waves from N satellites and outputting reception information corresponding to each of the N satellites, and N satellites to M satellites. From the N satellites, the first extracting means for extracting the satellite group of 1), the first position information calculating means for calculating the position information of the one positioning point based on the reception information of the satellites constituting the one satellite group, Second extracting means for extracting a plurality of satellite groups each composed of L satellites and reception information of each satellite forming each satellite group of the plurality of satellite groups are used to determine each satellite group of the plurality of satellite groups. and a second position information calculation means for calculating the position information of the plurality of positioning points corresponding correction information to calculate a correction information based on the position information of the plurality of positioning points calculated by the second position information obtaining means and calculation means, corrected by the correction information the position information of one positioning point It is provided with a and that the correction means.

Further, the radio waves from the N satellites are received, the first reception information corresponding to each of the N satellites is output, and after a predetermined time, the radio waves from the R satellites are received. Receiving means for outputting the second received information and M from R satellites
First extraction means for extracting one satellite group composed of one satellite, and first position information for calculating one positioning point based on the second received information of each satellite forming one satellite group. Position information calculating means, second extracting means for extracting a plurality of satellite groups composed of L satellites out of N satellites, and first of each satellite forming each satellite group of the plurality of satellite groups. measuring a plurality of corresponding to each constellation of a plurality of satellites by the received information
Second position information calculating means for calculating position information of the position point ;
A plurality of measurements calculated by the second position information calculation means.
First calculating the first correction information based on the position information of the position
1 correction information calculation means and from R satellites to S satellites
Third extracting means for extracting a plurality of satellite groups each composed of
Of the satellites that make up each satellite group of the plurality of satellite groups
According to the second reception information and the first correction information,
Position information of multiple positioning points corresponding to each satellite group
Third position information calculating means for calculating, and the third position information
The position information of multiple positioning points calculated by the report calculation means
Second correction information calculation for calculating second correction information based on
Means and a correction means for correcting the position information of one positioning point by the second correction information are provided.

Further, the reception information or the first reception information or the second reception information indicates coordinate information indicating coordinates of each satellite of N satellites or R satellites and a distance between each satellite and a positioning point. It includes distance information.

Further, the reception information or the first reception information or the second reception information includes identification information for identifying each of N satellites or R satellites.

The correction information calculating means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correcting means calculates one positioning point when one satellite group is included in the plurality of satellite groups. The position information is corrected by the correction information corresponding to one satellite group.

The correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means performs one positioning when one satellite group is not included in the plurality of satellite groups. point
The position information of is corrected by the correction information corresponding to a predetermined satellite group of the plurality of satellite groups.

Further, a reference position calculating means for calculating a reference position on the basis of position information of a plurality of positioning points corresponding to each satellite group of the plurality of satellite groups, and each satellite group of the plurality of satellite groups are supported. Correction information calculation means for calculating correction information corresponding to each satellite group of a plurality of satellite groups based on position information of a plurality of positioning points and a reference position is provided, and one satellite group becomes a plurality of satellite groups. When included, the position information of one positioning point is corrected by the correction information corresponding to one satellite group of the correction information.

Further, the reference position calculating means uses the average value of the position information of a plurality of positioning points corresponding to each satellite group of the plurality of satellite groups as the reference position.

Further, the difference between the position information of the plurality of positioning points corresponding to each satellite group of the plurality of satellite groups and the reference position is used as correction information corresponding to each satellite group of the plurality of satellite groups. .

Further, the position information of the positioning point is at least measured.
Includes altitude information indicating an altitude of position points, L is at least is intended to include P and P + 1, altitude of the position information of the positioning point corresponding to each satellite group constituted by P number of satellites of a plurality of satellites As information, an average value of altitude information of position information of a plurality of positioning points corresponding to a satellite group formed by P + 1 satellites of a plurality of satellite groups is used.

The position information of the positioning point is at least the position
It includes altitude information indicating the altitude of a point , L is assumed to include at least P and P + 1, and is obtained from the arrangement of P + 1 satellites in a satellite group composed of P + 1 satellites of a plurality of satellite groups. A satellite composed of P satellites out of a plurality of satellites for the altitude of the position information of the positioning point corresponding to the satellite group having the best index for indicating the positioning accuracy in the altitude direction, such as VDOP. It is used as the altitude of the position information of the positioning point corresponding to the group.

Further, the reference position calculating means uses the average value of the position information of a plurality of positioning points corresponding to each satellite group constituted by Q satellites of the plurality of satellite groups as a reference position. .

Further, among a plurality of satellite groups, an index indicating the positioning accuracy in the latitude direction and the longitude direction obtained from the arrangement of the satellites, for example, HDOP, is a measurement corresponding to the best satellite group.
The position information of the position is used as the reference position.

Furthermore, an index indicating the positioning accuracy obtained from the arrangement of satellites of each satellite group of a plurality of satellite groups, for example, HD
OP, etc. are within a predetermined range.

Further, correction information storage means for storing the correction information is provided, and the correction means performs correction based on the correction information or the output of the correction information storage means.

Further, the position information calculation means, the first position information calculation means or the second position information calculation means repeatedly calculates the position information of the positioning point a predetermined number of times within a predetermined time.

Further, the position information or correction information of the positioning point is only altitude information indicating the altitude of the positioning point .

Further, if N or R is smaller than a predetermined value, the correction based on the correction information is not performed.

An index indicating the positioning accuracy obtained from the arrangement of the satellites of each satellite group of the plurality of satellite groups, for example, HDO
If P and the like are within a predetermined range, the correction is not performed based on the correction information.

Further, the correction information calculating means is provided for each satellite when the reference position calculated by the reference position calculating means is taken as a true value.
Error between the pseudorange and the pseudorange of each satellite actually positioned
Is calculated as the correction information .

Further, N is set to be larger than R.

Further, M or S is N-1 or R
-1.

Further, a correction information storage means for storing the correction information and a second correction means for correcting the position information of the positioning point based on the output of the correction information storage means are provided, and the correction information is corrected by the second correction means. The position information of the measured positioning point is used in the correction information calculation means and the correction means.

The moving body with a positioning device according to the present invention does not perform correction based on the correction information if the speed of the moving body is higher than a predetermined value.

[0032]

In the positioning device according to the present invention, receiving means for receiving radio waves from N satellites and outputting reception information corresponding to each of the N satellites, and M receiving from the N satellites.
Position information calculation means for extracting one satellite group composed of individual satellites and calculating position information of one positioning point based on reception information corresponding to each satellite forming the extracted one satellite group, A plurality of satellite groups composed of L satellites are extracted from N satellites, and each of the plurality of satellite groups is identified by the reception information corresponding to the satellites forming each satellite group of the extracted plurality of satellite groups. Correction information calculating means for calculating position information of a plurality of positioning points corresponding to the satellite group and calculating correction information based on the position information of the plurality of positioning points, and position information of one positioning point is corrected by the correction information. The position information of one positioning point calculated from the received information by the position information calculation unit is corrected by the correction information calculated from the received information by the correction information calculation unit. .

Further, a receiving means for receiving radio waves from N satellites and outputting reception information corresponding to each satellite of the N satellites, and a receiver constituted by N satellites to M satellites. From the N satellites, the first extracting means for extracting the satellite group of 1), the first position information calculating means for calculating the position information of the one positioning point based on the reception information of the satellites constituting the one satellite group, Second extracting means for extracting a plurality of satellite groups each composed of L satellites and reception information of each satellite forming each satellite group of the plurality of satellite groups are used to determine each satellite group of the plurality of satellite groups. and a second position information calculation means for calculating the position information of the plurality of positioning points corresponding correction information to calculate a correction information based on the position information of the plurality of positioning points calculated by the second position information obtaining means and calculation means, corrected by the correction information the position information of one positioning point Since those provided and that correction means, one calculated by the received information by the position information calculating means
The position information of the positioning point is corrected by the correction information calculating means using the correction information calculated from the received information.

Further, the radio waves from the N satellites are received, the first reception information corresponding to each of the N satellites is output, and after a predetermined time, the radio waves from the R satellites are received. Receiving means for outputting the second received information and M from R satellites
First extraction means for extracting one satellite group composed of one satellite, and first position information for calculating one positioning point based on the second received information of each satellite forming one satellite group. Position information calculating means, second extracting means for extracting a plurality of satellite groups composed of L satellites out of N satellites, and first of each satellite forming each satellite group of the plurality of satellite groups. measuring a plurality of corresponding to each constellation of a plurality of satellites by the received information
Second position information calculating means for calculating position information of the position point ;
A plurality of measurements calculated by the second position information calculation means.
First calculating the first correction information based on the position information of the position
1 correction information calculation means and from R satellites to S satellites
Third extracting means for extracting a plurality of satellite groups each composed of
Of the satellites that make up each satellite group of the plurality of satellite groups
A plurality of the above-mentioned plurality according to the second reception information and the first correction information.
Position information of multiple positioning points corresponding to each satellite group of the satellite group
And third position information calculating means for calculating
Position information of a plurality of positioning points calculated by the information calculation means
A second correction information calculation for calculating the second correction information based on
Means out, so is provided with a correction means for correcting the position information of the one positioning point second correction information, one calculated by the second reception information at the first position information obtaining means The position information of the positioning point is first calculated by the second correction information calculation means .
It is to first correction information by the reception information of the correction by the second correction information calculated from <br/> and a second received information.

The reception information or the first reception information or the second reception information indicates coordinate information indicating the coordinates of each satellite of N satellites or R satellites and the distance between each satellite and the positioning point. Since the distance information is included, the position information or the correction information of the positioning point is calculated using the coordinate information and the distance information.

Further, since the received information or the first received information or the second received information includes identification information for identifying each satellite of N satellites or R satellites, the satellite group is identified using the identification information. To extract.

The correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means calculates one positioning point when one satellite group is included in the plurality of satellite groups. Since the position information is corrected by the correction information corresponding to one satellite group, the position information is corrected by the correction information corresponding to the position information of one positioning point .

Further, the correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means performs one positioning when one satellite group is not included in the plurality of satellite groups.
Since the position information of the point is corrected by the correction information corresponding to the predetermined satellite group of the plurality of satellite groups, it is corrected by the correction information corresponding to the predetermined satellite group of the plurality of satellite groups. is there.

Further, a reference position calculating means for calculating a reference position on the basis of position information of a plurality of positioning points corresponding to each satellite group of the plurality of satellite groups, and each satellite group of the plurality of satellite groups are supported. Correction information calculation means for calculating correction information corresponding to each satellite group of a plurality of satellite groups based on position information of a plurality of positioning points and a reference position is provided, and one satellite group becomes a plurality of satellite groups. When included, the position information of one positioning point is corrected by the correction information corresponding to one satellite group of the correction information, so the correction obtained from the reference position and the position information of a plurality of positioning points. The position information of one positioning point is corrected by the information.

Further, since the reference position calculating means uses the average value of the position information of the plurality of positioning points corresponding to each satellite group of the plurality of satellite groups as the reference position, the plurality of satellite groups can be used for the plurality of satellite groups. Corresponding to each satellite group of the plurality of satellite groups by the reference position which is the average value of the position information of the positioning points and the position information of the plurality of positioning points corresponding to each satellite group of the plurality of satellite groups The corrected information is obtained.

Further, the difference between the position information of the plurality of positioning points corresponding to each satellite group of the plurality of satellite groups and the reference position is used as correction information corresponding to each satellite group of the plurality of satellite groups. Therefore, the position information of one positioning point is corrected by the correction information that is the difference between the position information of a plurality of positioning points and the reference position.

Further, at least the position information of the positioning point is measured.
The altitude information indicating the altitude of the position point is included, and the altitude information of the position information of the positioning point corresponding to each satellite group composed of P satellites of the plurality of satellite groups is included in the plurality of satellite groups. Since the average altitude of the position information of the plurality of positioning points corresponding to the satellite group composed of P + 1 satellites is used, the number of positioning points corresponding to the satellite group composed of P + 1 satellites is calculated . The average value of altitude information of position information is P
The position information other than the altitude information is calculated by using the altitude information of the position information of the positioning point corresponding to the satellite group composed of individual satellites.

Further, the position information of the positioning point is at least the positioning.
It includes altitude information indicating the altitude of a point , and an index indicating the positioning accuracy in the altitude direction obtained from the arrangement of P + 1 satellites in a satellite group consisting of P + 1 satellites of a plurality of satellite groups The altitude of the position information of the positioning point corresponding to the best satellite group is used as the altitude of the position information of the positioning point corresponding to the satellite group composed of P satellites of the plurality of satellite groups. , P + 1 of the position information of the positioning point corresponding to the satellite group having the best index indicating the positioning accuracy in the altitude direction obtained from the arrangement of P + 1 satellites in the satellite group composed of P + 1 satellites. The altitude of the position information of the positioning point corresponding to the satellite group composed of satellites,
The position information other than the altitude is calculated.

Further, the reference position calculating means uses the average value of the position information of a plurality of positioning points corresponding to each satellite group constituted by Q satellites of the plurality of satellite groups as the reference position. Therefore, the correction information is calculated by using the average value of the position information of the plurality of positioning points corresponding to the satellite group formed by Q satellites as the reference position.

The position information of the positioning point corresponding to the satellite group having the best index indicating the positioning accuracy in the latitude direction and the longitude direction obtained from the arrangement of the satellites included in the plurality of satellite groups is used as the reference position. Therefore, the correction information is calculated with the position information of the positioning point corresponding to the satellite group having the best index indicating the positioning accuracy in the latitude direction and the longitude direction obtained from the arrangement of the constituent satellites as the reference position. is there.

Further, since the index showing the positioning accuracy obtained from the arrangement of the satellites of each satellite group of the plurality of satellite groups is set within a predetermined range, the index showing the positioning accuracy obtained from the arrangement of the constituent satellites. The correction information is calculated from the position information of the positioning point corresponding to the satellite group within the predetermined range.

Further, since the correction information storage means for storing the correction information is provided and the correction means performs the correction based on the correction information or the output of the correction information storage means, the correction means is the correction information or the correction information storage means. The position information of one positioning point is corrected based on the output.

Further, since the position information calculating means, the first position information calculating means or the second position information calculating means repeatedly calculates the position information of the positioning point a predetermined number of times within a predetermined time, the position information is within the predetermined time. The position information or the correction information of one positioning point is calculated based on the position information of the positioning point obtained by repeatedly repeating the predetermined times.

Further, since the position information or correction information of the positioning point is only the altitude information indicating the altitude of the positioning point, the position information of only one positioning point is corrected,
Alternatively, the position information of one positioning point is corrected by the correction information of only the altitude information.

Further, if N or R is smaller than a predetermined value, the correction information is not corrected. Therefore, if N or R is smaller than the predetermined value , the position information of one positioning point is corrected by the correction information. It is output without.

Further, if the index indicating the positioning accuracy obtained from the arrangement of the satellites of each satellite group of the plurality of satellite groups is within the predetermined range, the correction is not performed based on the correction information, so that one positioning is performed. The point position information is output without being corrected by the correction information if the index indicating the positioning accuracy obtained from the arrangement of the satellites constituting each satellite group of the plurality of satellite groups is within the predetermined range.

Further, the correction information calculating means is provided for each satellite when the reference position calculated by the reference position calculating means is a true value.
Error between the pseudorange and the pseudorange of each satellite actually positioned
Since the it is to calculate as the correction information, and calculates the correction information from <br/> the pseudorange.

Further, since N is larger than R, the first received information has a larger amount of information than the second received information.

Further, M or S is N-1 or R
-1, so that one satellite group has at least N
-1 or R-1 or more satellites.

Further, a correction information storage means for storing the correction information and a second correction means for correcting the position information of the positioning point based on the output of the correction information storage means are provided, and the correction information is corrected by the second correction means. Since the position information of the measured positioning point is used in the correction information calculation means and the correction means,
Correction information is calculated by the correction information calculation means from the position information of the positioning point corrected by the correction means, and the position information of one positioning point corrected by the second correction means is calculated by this correction information. Is to correct.

The moving body with a positioning device according to the present invention does not perform correction based on the correction information if the speed of the moving body is larger than a predetermined value. Therefore, when the speed of the moving body is larger than the predetermined value. The position information of one positioning point is output without being corrected based on the correction information.

[0057]

EXAMPLES Example 1. It is explanatory drawing which shows Example 1 of this invention in FIG. In this figure, reference numeral 100 denotes a vehicle as a moving body equipped with a GPS navigation system. This vehicle 100 has
GPS receiver 101 and GP that receive radio waves from GPS satellites 400a to 400h in the sky and calculate vehicle position coordinates
An S antenna 102 is provided, and a map database storage unit 108 such as a CD-ROM, a controller 110 that aggregates position information sent from these devices and outputs display information, and a display monitor 111 are installed.

Next, the operation will be described. In the vehicle 100, the radio waves of the GPS satellites 400a to 400h are received by the GPS antenna 102, and the GPS receiver 101 calculates the reference position and the correction value as described later. The correction information is stored in a memory provided in the GPS receiver 101 together with its effective time and used as a correction value for the subsequent GPS positioning data. The position information corrected by this correction value is transmitted from the controller 110 to the map database. It is input to the display monitor 111 together with the map information in the storage unit 108 and displayed on the map on the screen.

FIG. 2 shows a flowchart of the GPS positioning position calculation process and the reference position / correction value calculation process in the GPS receiver 101 of the first embodiment. In this flowchart, in step 1010, it is determined whether GPS positioning is possible from the number of GPS satellites that can be received. For example, if the number of receivable GPS satellites is n, it is determined that GPS positioning is possible when n ≧ 3, or PDOP (described later).
If the maximum value of is less than or equal to a predetermined value, it is determined that GPS positioning is possible. In step 1020, the GPS receiver 101 calculates the positioning point (X, Y, Z). Here, G
The PS receiver 101 has the lowest PDOP described later,
That is, PDOP (described later) performs positioning with the best combination, and X at the positioning point (X, Y, Z) is latitude and Y.
Is longitude and Z is altitude. If there is a previous correction value in steps 1030 and 1040 and it is within its valid time, it is corrected in step 1050 with the previous correction value (ΔX, ΔY, ΔZ) stored in the memory of the GPS receiver 101. The position (HX, HY, HZ) is output to the controller 110.

If there is no correction value in steps 1030 and 1040 or if the correction value is out of its valid time, arrow A
Then, the process advances to the reference position and correction value calculation process. In steps 2010 and 2020, the GPS antenna 10
GPS positioning points (Xi, Yi, Zi) for I combinations ( _n C ₃ + _n C ₄ = I) of all combinations of 3 or 4 GPS satellites out of n GPS satellites that can be received by 2 (I = 1,
,, I) are all calculated. Here, a predetermined value is used as the value of Zi at the GPS positioning point obtained by combining the three GPS satellites. This is because, when trying to obtain the position in three dimensions by GPS positioning, one unknown number that is the difference between the receiver clock and the satellite clock (hereinafter referred to as offset time) is added to the three unknown numbers related to the three-dimensional position. Four unknowns have to be determined and a minimum of four GPS satellites have to be used. Therefore, GP using three GPS satellites
This is because only two-dimensional positioning can be performed in S positioning, and the latitude, longitude, and offset time are calculated by giving a predetermined value to the altitude.

Here, for example, the number of receivable GPS satellites is 5
If there are three, three or four G out of these five GPS satellites
All combinations of PS satellites will ways _{5 C 3 + 5 C 4 =} 15.
Next, in step 2030, step 2010 and step 2
The average value of all GPS positioning points (Xa, Y
Let a, Za) be the reference position (Xo, Yo, Zo). Here, the average value (Xa, Ya, Za) is Xi (i = 1,
, N), Yi (i = 1, ..., N), Zi (i = 1,
, N), and then divided by n to obtain the arithmetic mean value. Here, an average value other than the arithmetic average, such as a weighted average, a geometric average, or a harmonic average, may be used.

Next, at step 2040, the GP which can be received
Offset amount (Xi-Xo, Yi-Yo, Zi-Z) which is the difference between all the positioning points and the reference position by all combinations of S satellites.
o) (i = 1, ..., N) are stored in the memory as respective correction values (ΔXi, ΔYi, ΔZi) for the combination of GPS satellites. Here, in step 2050, the process proceeds to step 1050, the correction value is updated, and the position corrected by the correction value corresponding to the combination of GPS satellites used to calculate the GPS positioning point in step 1020 is set as the GPS positioning position in the controller 110. Will be output to.

Example 2. As a second embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 3 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 of the second embodiment. In this flowchart, in step 2030a, among all the positioning points calculated in step 2020, the positioning points with HDOP equal to or less than a specified value G given in advance are selected.

Here, HDOP is a constant for associating the magnitude of the error with the actual distance included in the pseudo-range and the error of GPS positioning, and Position Dilution of Precision (hereinafter, P
DOP) in the horizontal direction. Therefore, the smaller the HDOP, the smaller the horizontal error. If there are J positioning points by the combination of GPS satellites whose HDOP is equal to or less than the specified value G, the average value (X) of these J positioning points (Xj, Yj, Zj) (j = 1, ..., J).
a, Ya, Za), and the reference position (Xo, Yo, Z
o). Here, if the specified value G is reduced, the accuracy of each of the J positioning points will be improved, and if the specified value G is increased, J will be increased. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 3. As a third embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 4 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 of the third embodiment. J calculated in step 2021 by combining four GPS satellites out of n receiving satellites.
All the positioning points (Xj, Yj, Zj) (j = 1, ..., J) are obtained. Here, the number J of positioning points calculated by the combination of four GPS satellites is obtained by _n C ₄ . In step 2022, the positioning point (Xj, Yj, Zj) (j = 1,
, J) average altitude Z4 is used to calculate K positioning points (Xk, Yk, Z) calculated by combining three GPS satellites.
k) (k = 1, ..., K) are all obtained. Here, the number K of positioning points calculated by the combination of three GPS satellites is
_{It is calculated by n} C ₃ . The values of Zk (k = 1, ..., K) are all the same as Z4.

At step 2030b, all the positioning points (Xi, Yi,
Zi) (i = 1, ..., I) (I = J + K) average value (X
a, Ya, Za) is the reference position (Xo, Yo, Zo). In the third embodiment, the average altitude Z4 of the altitude Zj calculated by the combination of the four GPS satellites is used when calculating the positioning point by the combination of the three GPS satellites to improve the accuracy. Other configurations and operations are in the first embodiment.
Since it is similar to the above, the same reference numerals are given and the description is omitted.

Example 4. As a fourth embodiment, an example in which the reference position and correction value calculation process is different from that of the first embodiment will be described. FIG. 5 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 according to the fourth embodiment. In this flowchart, VDO among the positioning points (Xj, Yj, Zj) (j = 1, ..., J) located in step 2021 in step 2022a.
Altitude Z of positioning point by combination of GPS satellites with minimum P
Let j be the altitude Zv. Here, VDOP is a vertical component of PDOP. Therefore, the smaller the VDOP, the smaller the vertical error of the positioning point due to the combination of GPS satellites. Using this altitude Zv, all K positioning points (Xk, Yk, Zk) (k = 1, ..., K) calculated by combining three GPS satellites are obtained. Here, K is calculated by _n C ₃ and Zk is Zv. In the fourth embodiment, the altitude Zv calculated by the combination of the GPS satellites having the smallest VDOP value among the combinations of the four GPS satellites is used when calculating the positioning point by the combination of the three GPS satellites, and the accuracy is improved. To raise. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

Example 5. As a fifth embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 6 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 according to the fifth embodiment. In this flowchart, K positioning points (Xk, Yk, Zk) (k = 1, k) calculated by a combination of three GPS satellites in step 2022b.
…, K) are all calculated. Here, a predetermined value is used as the altitude Zk. As the predetermined value Zk, a value stored in the map database storage unit 108 or a fixed value is used. In step 2030c, the three-dimensional positioning point (Xj, Y) using the four GPS satellites calculated in step 2021 is used.
The average value of j, Zj) is used as a reference position, and the reference position is obtained from a highly accurate three-dimensional positioning point. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

Example 6. As Example 6, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 7 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 of the sixth embodiment. In this flowchart, the three Gs obtained in step 2022 in step 2030d
The average value of the two-dimensional positioning points (Xk, Yk, Zk) using the PS satellite is used as the reference position, and the reference position is obtained from the two-dimensional positioning point that can increase the number of samples. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

Example 7. As Example 7, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 8 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 of the seventh embodiment. In this flowchart, positioning points (Xio, Yio, Zio) calculated by all the combinations selected in step 2010 in step 2020a.
Find all (j = 1, ..., I). Step 2022c
At step 2020a, the positioning point (Xi, Yi, Zi) corrected by the previous correction value (ΔXio, ΔYio, ΔZio) is obtained for all the combinations selected at step 2010. In step 2030, the average value of all corrected positioning points corrected by the previous correction value obtained in step 2022c is set as the reference position. Step two
In 040a, all positioning points obtained by the combination of all receivable GPS satellites obtained in step 2020a and step 203
The offset amount, which is the difference from the reference position obtained by 0, is G
Each correction value (ΔX
i, ΔYi, ΔZi) in the memory. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 8. As an eighth embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 9 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 according to the eighth embodiment. In this flowchart, in step 2030e, the best HDO of the combination of GPS satellites among the positioning points determined in step 2010 is selected.
GP with P (ie HDOP with the smallest value)
The positioning point (Xp, Yp, Zp) by the combination of S satellites is set as the reference position (Xo, Yo, Zo). The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 9. As a ninth embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 10 shows a flowchart for calculating the reference position and the correction value in the GPS receiver 101 according to the ninth embodiment. In this flowchart, the HDOP best point is set as the reference position among the three-dimensional positioning points (Xj, Yj, Zj) positioned by using four GPS satellites out of all the positioning points positioned in step 2010 in step 2030f. In addition, the accuracy of the reference position is increased by using a three-dimensional positioning point that is positioned using four GPS satellites with relatively high accuracy. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 10. As a tenth embodiment, an example in which the process of calculating the reference position and the correction value is different from that of the first embodiment will be described. FIG. 11 is the GPS of the tenth embodiment.
7 shows a flowchart of calculating a reference position and a correction value in the receiver 101. In this flowchart,
In step 2030g, the two-dimensional positioning point (Xk, Y) using the three GPS satellites positioned in step 2022 is used.
k, Zk) the best HDOP (ie the smallest HD
Positioning point (X) using a combination of GPS satellites
Since p, Yp, Zp) is set as the reference position (Xo, Yo, Zo), it is possible to obtain a reference position with excellent accuracy especially in the altitude direction. Other configurations and operations are the same as those of the first and fourth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 11. As Example 11, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 12: GPS of Example 11
7 shows a flowchart of calculating a reference position and a correction value in the receiver 101. In this flowchart,
In step 2022a, all the positioning points (Xk, Yk, Zk) calculated by combining three GPS satellites are obtained using the altitude Zv of the positioning point having the best VDOP among the positioning points positioned in step 2021. Step 2030
In g, the combination of the two-dimensional positioning points (Xp, Yp, Zp) that provides the best HDOP among the two-dimensional positioning points calculated in step 2022a is set to the reference position (Xo, Yo, Zo).
Therefore, it is possible to obtain a reference position with excellent accuracy especially in the altitude direction. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

Example 12 As a twelfth embodiment, an example will be described in which the reference position and correction value calculation process in the first embodiment is replaced with the reference altitude and correction value calculation process. FIG. 13 is a GPS receiver 101 of the twelfth embodiment.
7 shows a flowchart of a process of calculating a reference altitude and a correction value in FIG. In this flowchart, in step 2110, I combinations (I = _n C ₄ ) for selecting four GPS satellites from n receivable GPS satellites of the GPS satellites 400a to 400h are selected for all combinations. In step 2120, the positioning point altitude Zi calculated by all the combinations selected in step 2110
Find all (i = 1, ..., I). In step 2130, the average value Za of all the positioning point altitudes Zi is set as the reference altitude Zo. Next, in step 2140, all GPS satellite combinations I
The offset amount between the positioning point altitude and the reference altitude is stored as a correction value ΔZi in the memory together with the combination of satellite numbers. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 13 As Example 13, an example in which the process of calculating the reference altitude and the correction value is different from that of Example 12 will be described. FIG. 14: GP of Example 13
7 shows a flowchart of a process of calculating a reference altitude and a correction value in the S receiver 101. In this flow chart, among the GPS positioning altitudes Zi calculated in step 2120a in step 2130a, J positioning point altitudes Z whose VDOP by the combination of the four satellites is a specified value G or less.
Since the average value Za of j (j = 1, ..., J) is used as the reference altitude Zo, it is possible to obtain a reference position with excellent accuracy in the altitude direction. Other configurations and operations are the same as those of the first and twelfth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 14. As Example 14, an example in which the process of calculating the reference altitude and the correction value is different from that of Example 12 will be described. FIG. 15: GP of Example 14
7 shows a flowchart of a process of calculating a reference altitude and a correction value in the S receiver 101. In this flowchart, in step 2010, a case where three GPS satellites with n receivable GPS satellites are combined and four G satellites are combined.
Select all combinations with the combination of PS satellites.
Here, there are I combinations ( _n C ₃ + _n C ₄ ). This step 2010 is step 201 in the first embodiment.
The same as 0. Step 201 in Step 2120a
All positioning altitudes Zio calculated by the combination of four GPS satellites out of the combination of 0 are obtained. In step 2121 the positioning altitude Zio calculated in step 2120a is corrected by the previous reference altitude and the correction value ΔZio calculated in the correction value calculation process to obtain the positioning point altitude Zi. Here, when the correction value ΔZio is not stored, the correction value ΔZio = 0. Step two
Positioning point altitude Z obtained in step 2121 in 130b
The average value of i is used as the reference altitude. In step 2140a, the offset amount, which is the difference between the GPS positioning altitude Zio obtained in step 2120a and the reference altitude Zo, is stored in the memory as a correction value ΔZi together with the combination of GPS satellite numbers. Other configurations and operations are similar to those of the first and twelfth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 15. As a fifteenth embodiment, an example in which the process of calculating the reference altitude and the correction value is different from that of the twelfth embodiment will be described. FIG. 16: GP of Example 15
7 shows a flowchart of a process of calculating a reference altitude and a correction value in the S receiver 101. In this flowchart, since the VDOP has the best positioning point altitude Zv among the GPS positioning point altitudes calculated in step 2120 in step 2130c as the reference altitude, it is possible to obtain a reference position with excellent accuracy especially in the altitude direction. Other configurations and operations are the same as those of the first and twelfth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 16. As Example 16, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 17: GPS of Example 16
6 shows a flowchart of calculating a reference position and a corrected position in the receiver 101. In this flowchart, in step 2005, the correction value calculation count j is reset. In step 2010, all combinations of three or four GPS satellites out of n GPS satellites receivable by the GPS antenna 102 are selected. Positioning points (Xij, Yij, Z calculated by all combinations in step 2020b)
ij) (i = 1, ..., I) (j = 1, ..., J) are all obtained. In step 2030h, the average value (Xaj, Yaj, Zaj) of all the positioning points obtained in step 2020b is set as the reference position (Xoj, Yoj, Zoj). Step 20
In step 40b, the offset amount, which is the difference between the positioning point and the reference position for all GPS satellite combinations obtained in step 2020b, is stored in the memory as the j-th correction value (ΔXij, ΔYij, ΔZij) together with the combination of GPS satellite numbers. The above steps of calculating the reference position and the correction value are repeated J times in steps 2041 and 2042. In step 2043, the average value of the correction values for J times is calculated for each combination of GPS satellites, and these are calculated as correction values (ΔXi, ΔYi,
ΔZi) is stored in the memory. The correction values (ΔXi, ΔYi, ΔZi) stored in the memory become more accurate as the number J of repetitions increases. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 17 As Example 17, an example in which the process of calculating the reference altitude and the correction value is different from that of Example 12 will be described. FIG. 18: GP of Example 17
9 shows a flowchart of reference altitude and correction value calculation in the S receiver 101. In this flowchart, the correction value calculation count j is reset in step 2105. All combinations I Street four GPS satellites of the n GPS satellites received by the GPS antenna 102 at step 2110 the (I = _n C ₄₎ to select. Step 21
Positioning point altitude Z calculated by all combinations in 20b
Find all ij. In step 2130d, the average value Zaj of all the positioning point altitudes Zij is set as the reference altitude Zoj. All GPS selected in step 2110 in step 2140b
The offset amount, which is the difference between the positioning altitude and the reference altitude according to the satellite combination I, is stored in the memory as the j-th correction value ΔZij together with the combination of the GPS satellite numbers. The above-described correction value calculation process is repeated J times by steps 2141 and 2142. Each GP in step 2143
The average value of the correction values for J times is calculated for each S satellite combination, and these are stored in the memory as the correction value ΔZi. Other configurations and operations are the same as those of the first and twelfth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 18 As Example 18, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 19 is the GPS of the eighteenth embodiment.
7 shows a flowchart of calculating a reference position and a correction value in the receiver 101. In this flowchart,
In step 2000, if the number n of GPS satellites that can be received by the GPS antenna 102 is less than the specified value Ns, the process proceeds to step 2050, and if n is the specified value Ns or more, the process proceeds to step 2010. The larger the specified value Ns, the more accurate the reference position and the correction value can be obtained, and the smaller the specified value Ns, the higher the possibility of calculating the reference position and the correction value. The other configurations and operations are similar to those of the first embodiment, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 19 As Example 19, an example in which the movement speed is limited to Example 16 will be described. FIG. 20 shows a flowchart of the reference position and correction value calculation process in the GPS receiver 101 of the nineteenth embodiment. In this flowchart, if the moving speed V of the vehicle 100 as a moving body is greater than the specified value Vo in step 2000a, the process proceeds to step 2050, and if the moving speed is less than or equal to the specified value Vo, step 200
Go to 5. Here, the higher the moving speed of the moving body, the larger the moving distance within the valid time of the correction information of the moving body.
Since the reference position and the correction information are calculated in a state where the moving speed is smaller as the specified value Vo is smaller, the reference position and the correction information with higher accuracy can be used. Other configurations and operations are the same as those of the first and sixteenth embodiments, and therefore, the same reference numerals are given and the description thereof is omitted.

Example 20. As Example 20, an example in which the process of calculating the reference position and the correction value is different from that of Example 1 will be described. FIG. 21: GPS of Example 20
7 shows a flowchart of calculating a reference position and a correction value in the receiver 101. In this flowchart,
In step 2022d, the altitude information Zm at the position where no correction is applied is read from the map database storage unit 108 via the controller 110, and the altitude information Zm is used to determine 3
Positioning points (X
k, Yk, Zk) are all obtained. Here, Zk = Zm. This enables accurate positioning even when the number of GPS satellites is not sufficient. Other configurations and operations are the same as those in the first and third embodiments, and thus the same reference numerals are given and the description thereof is omitted.

In each of the above embodiments, the offset amount between the positioning point and the reference position by the combination of all the satellites is used as the correction value, but the pseudo distance of each GPS satellite when the reference position is the true value. An error between the pseudo distance of each GPS satellite and the actually measured GPS satellite may be used as a correction value. Here, the pseudo distance is a distance between a positioning point in GPS positioning (here, the position of the vehicle) and the GPS satellite.

Further, in each of the above embodiments, the correction is made by the correction value corresponding to the combination of GPS satellites used when calculating the positioning point to be corrected.
It is also possible to use other correction values, such as by using correction values corresponding to combinations of GPS satellites having similar satellite arrangements.

In each of the above embodiments, the correction information for the offset time can be calculated by the same method.

Furthermore, in the above embodiment, the positioning using GPS satellites was described, but it goes without saying that positioning using other satellites may be used.

[0088]

In the positioning device according to the present invention, one positioning point calculated from the received information by the position information calculating means.
Since the position information of 1 is corrected by the correction information calculated by the correction information calculation means by the reception information , the position information and the correction information of one positioning point can be calculated only from the reception information. The device can perform accurate positioning.

Further, since the position information of one positioning point calculated by the position information calculation means by the reception information is corrected by the correction information calculated by the correction information calculation means by the reception information, it is possible to correct the position information from the reception information. Since the position information of the positioning point and the correction information can be calculated, accurate positioning can be performed with a simple device.

[0090] Further, the first position information of the positioning point calculated by the second reception information at the first position information obtaining means, the
The second correction information calculation means is used for the first correction by the first reception information.
Since the correction is performed by the second correction information calculated from the correct information and the second received information, the device can be further simplified with a simple device.
It is possible to perform precise positioning to.

Positioning is also performed using coordinate information and distance information.
Since the position information or the correction information of the point is calculated , the position information or the correction information of the positioning point can be easily calculated, and more accurate positioning can be performed with a simple device.

Further, since the satellite group is extracted using the identification information, the satellite group can be easily extracted, and more accurate positioning can be performed with a simple device.

Further, since the correction is made by the correction information corresponding to the position information of one positioning point, the correction information corresponding to the position information of one positioning point can be used.
More accurate positioning can be performed with a simple device.

Furthermore, positioning calculated by one satellite group
Since the position information of a point is corrected by the correction information calculated by a plurality of satellite groups including one satellite group, the position information of one positioning point can be corrected by more accurate correction information. More accurate positioning can be performed with a simple device.

Further, when one satellite group is included in a plurality of satellite groups, the position information of one positioning point is corrected by the correction information corresponding to one satellite group of the correction information. Since the position information of one positioning point is corrected by the correction information obtained from the reference position and the position information of the positioning point , more accurate correction information can be obtained and more accurate positioning with a simple device. It can be performed.

Further, a plurality of positioning by a plurality of satellite groups
Obtaining correction information corresponding to each satellite group of a plurality of satellite groups based on a reference position which is an average value of position information of points and position information of a plurality of positioning points corresponding to each satellite group of a plurality of satellite groups Therefore, correction information can be obtained more accurately, and positioning can be performed more accurately with a simple device.

Further, since the position information of one positioning point is corrected by the correction information which is the difference between the position information of the positioning point and the reference position, the correction information can be obtained more accurately and a simple device More accurate positioning can be performed with.

[0098] Further, the average <br/> position of the positioning point corresponding to the satellite group constituted by high P number of satellite position information of the plurality of positioning points corresponding to the satellite group constituted by P + 1 satellites Since the position information other than the altitude is calculated as the altitude of the information, more accurate altitude information can be used, and more accurate positioning can be performed with a simple device.

Further, in the satellite group composed of P + 1 satellites, the measurement corresponding to the satellite group having the best index indicating the positioning accuracy in the altitude direction, which is obtained from the arrangement of the P + 1 satellites.
Since the altitude of the position information of the position point is the position information other than the altitude as the altitude of the position information of the positioning point corresponding to the satellite group composed of P satellites, more accurate altitude information should be used. It is possible to perform positioning more accurately with a simple device.

Further, since the correction information is calculated by using the average value of the position information of a plurality of positioning points corresponding to the satellite group composed of Q satellites as the reference position, a more accurate reference position is used. Since a more accurate correction value can be calculated, more accurate positioning can be performed with a simple device.

Further, the correction information is calculated with the position information of the positioning point corresponding to the satellite group having the best index indicating the positioning accuracy in the latitude direction and the longitude direction obtained from the arrangement of the constituent satellites as the reference position. Therefore, more accurate correction information can be obtained using a more accurate reference position, and more accurate positioning can be performed with a simple device.

Furthermore, the index indicating the positioning accuracy obtained from the arrangement of the constituent satellites corresponds to a satellite group within a predetermined range.
Since the correction information is calculated from the position information of the positioning point, the accuracy of the position information of the positioning point is improved, and more accurate positioning can be performed with a simple device.

Further, since the correction means corrects the position information of one positioning point based on the correction information or the output of the correction information storage means, when the correction information cannot be obtained, the output from the correction information storage means The correction can be performed based on, and more accurate positioning can be performed with a simple device.

Furthermore, since the position information or the correction information of one positioning point is calculated by the position information of the positioning point which is repeatedly obtained a predetermined number of times within the predetermined time, more accurate position information of the positioning point can be obtained. It is possible to obtain more accurate positioning with a simple device.

[0105] Further, the correction position information of one positioning point only altitude information, or the position information of the one positioning point is intended to be corrected by the correction information of only the altitude information, a more simple apparatus be able to.

Further, since the position information of one positioning point is output without being corrected by the correction information when N or R is smaller than a predetermined value, it may be corrected by incorrect correction information. Without using a simple device, more accurate positioning can be performed.

Further, the position information of one positioning point is output without being corrected by the correction information if the positioning accuracy obtained from the arrangement of the satellites constituting each satellite group of the plurality of satellite groups is outside the predetermined range. Therefore, it is possible to perform more accurate positioning with a simple device without being corrected by incorrect correction information.

Further, the correction information calculation means is arranged so that the reference position calculated by the reference position calculation means becomes the true value of each satellite.
Error between the pseudorange and the pseudorange of each satellite actually positioned
Because and calculates as the correction information, the pseudorange
The correction information can be calculated more , and more accurate positioning can be performed with a simple device.

Furthermore, since the first received information has a larger amount of information than the second received information, more accurate correction information can be calculated, and more accurate positioning can be performed with a simple device. You can

Furthermore, since one satellite group is composed of at least N-1 or R-1 or more satellites, a more accurate one satellite group can be calculated, and a simple apparatus can be used. Accurate positioning can be performed.

The measurement corrected by the second correction means
The correction information is calculated from the position information of the position point by the correction information calculation unit, and the position information of one positioning point corrected by the second correction unit is corrected by this correction information. It is possible to calculate the position information more accurately, and it is possible to perform more accurate positioning with a simple device.

In the moving body with a positioning device according to the present invention, when the speed of the moving body is larger than a predetermined value , the position information of one positioning point is output without being corrected based on the correction information. Further, it is possible to perform more accurate positioning with a simple device without performing correction based on incorrect correction information.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing a first embodiment of the present invention.

FIG. 2 is a flowchart showing a GPS positioning position calculation process and a reference position / correction value calculation process according to the first embodiment of the present invention.

FIG. 3 is a flowchart showing a reference position and a correction value calculation process in Embodiment 2 of the present invention.

FIG. 4 is a flowchart showing a reference position and a correction value calculation process in Embodiment 3 of the present invention.

FIG. 5 is a flowchart showing a reference position and a correction value calculation process in Embodiment 4 of the present invention.

FIG. 6 is a flowchart showing a reference position and a correction value calculation process in Embodiment 5 of the present invention.

FIG. 7 is a flowchart showing a reference position and a correction value calculation process in Embodiment 6 of the present invention.

FIG. 8 is a flowchart showing a reference position and a correction value calculation process in Embodiment 7 of the present invention.

FIG. 9 is a flowchart showing a reference position and a correction value calculation process in Embodiment 8 of the present invention.

FIG. 10 is a flow chart showing a reference position and correction value calculation process in embodiment 9 of the present invention.

FIG. 11 is a flowchart showing a reference position and a correction value calculation process in Embodiment 10 of the present invention.

FIG. 12 is a flow chart showing a reference position and correction value calculation process in embodiment 11 of the present invention.

FIG. 13 is a flowchart showing a process of calculating a reference altitude and a correction value according to Embodiment 12 of the present invention.

FIG. 14 is a flow chart showing a process of calculating a reference altitude and a correction value in Embodiment 13 of the present invention.

FIG. 15 is a flowchart showing a process of calculating a reference altitude and a correction value in Embodiment 14 of the present invention.

FIG. 16 is a flow chart showing a reference altitude and a correction value calculation process in embodiment 15 of the present invention.

FIG. 17 is a flow chart showing a reference position and correction value calculation process in embodiment 16 of the present invention.

FIG. 18 is a flow chart showing a reference altitude and correction value calculation process in Embodiment 17 of the present invention.

FIG. 19 is a flow chart showing a reference position and correction value calculation process in embodiment 18 of the present invention.

FIG. 20 is a flow chart showing a reference position and correction value calculation process in Embodiment 19 of the present invention.

FIG. 21 is a flow chart showing a reference position and correction value calculation process in Embodiment 20 of the present invention.

FIG. 22 is an explanatory diagram showing a conventional GPS positioning device.

[Explanation of symbols] 100 vehicles 101 GPS receiver 108 map database storage unit 110 controller 111 Display monitor

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Claims (25)

(57) [Claims] 1. Receiving means for receiving radio waves from N (N is a natural number of 4 or more) satellites and outputting reception information corresponding to each satellite of the N satellites. M from the N satellites. A satellite group composed of (M is 3 or more and a natural number smaller than N) satellites is extracted, and the received information corresponding to each satellite forming the extracted satellite group is used to determine one positioning point. Position information calculating means for calculating position information, extracting a plurality of satellite groups composed of L (L is 3 or more and a natural number smaller than N) satellites from the N satellites,
The received information corresponding to the satellite constituting each constellation of the extracted plurality of constellation calculates the position information of the plurality of positioning points corresponding to each constellation of the plurality of satellites, this double
A positioning device comprising: a correction information calculation unit that calculates correction information based on position information of a number of positioning points; and a correction unit that corrects the position information of the one positioning point with the correction information. 2. Receiving means for receiving radio waves from N (N is a natural number of 4 or more) satellites and outputting reception information corresponding to each satellite of the N satellites, and M from the N satellites. First extracting means for extracting one satellite group composed of (M is 3 or more and a natural number smaller than N) satellites, and
First position information calculating means for calculating the position information of the positioning point, second extracting a plurality of satellite groups composed of L (L is 3 or more and a natural number smaller than N) satellites from the N satellites multiple corresponding to each constellation of the plurality of constellation by the reception information of each satellite constituting the extraction means, the satellites of the plurality of satellites
Second position information calculating means for calculating position information of a number of positioning points, and a plurality of measurement points calculated by the second position information calculating means.
A positioning device comprising: a correction information calculation unit that calculates correction information based on position information of a position point; and a correction unit that corrects position information of the one positioning point by the correction information. 3. Radio waves from N (N is a natural number of 4 or more) satellites are received, first reception information corresponding to each of the N satellites is output, and R (R Is a natural number greater than or equal to 4) receiving means for receiving radio waves from the satellites and outputting the second received information. The R satellites are composed of M (M is 3 or more and a natural number smaller than R) satellites. Extracting means for extracting one satellite group, first position information calculating means for calculating position information of one positioning point based on second received information of each satellite which constitutes the one satellite group, Second extracting means for extracting a plurality of satellite groups composed of L (L is 3 or more and a natural number smaller than N) satellites from the N satellites, and each satellite group of the plurality of satellite groups is configured. First of each satellite
Measuring the second position information calculation means for calculating the position information of the plurality of positioning points corresponding to each constellation of the plurality of constellation by the reception information, a plurality of which are calculated by the second position information obtaining means
First calculating the first correction information based on the position information of the position
1 correction information calculation means , S (S is 3 or more and less than R
Extract a plurality of satellite groups consisting of several satellites
A third extracting means, a second one of the satellites constituting each satellite group of the plurality of satellite groups,
Of the plurality of received information and the first correction information.
Position information of multiple positioning points corresponding to each satellite group
Third position information calculation means for calculating, measuring a plurality of calculated by the third position information calculating means
A second correction information is calculated based on the position information of the position point.
2. A positioning device comprising: a second correction information calculation means; and a correction means that corrects the position information of the first positioning point by the second correction information. 4. The reception information or the first reception information or the second reception information indicates coordinate information indicating coordinates of each satellite of N satellites or R satellites and distance between each satellite and a positioning point. The positioning device according to any one of claims 1 to 3, further comprising distance information. 5. The reception information or the first reception information or the second reception information includes identification information for identifying each of the N satellites or the R satellites.
The positioning device according to claim 4. 6. The correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means is one when the one satellite group is included in the plurality of satellite groups.
The positioning device according to any one of claims 1 to 5 , wherein position information of the positioning point is corrected by correction information corresponding to the one satellite group. 7. The correction information calculation means calculates correction information corresponding to each satellite group of the plurality of satellite groups, and the correction means determines when one satellite group is not included in the plurality of satellite groups. 6. The positioning device according to claim 1 , wherein the position information of the positioning point is corrected by the correction information corresponding to a predetermined satellite group among the plurality of satellite groups. 8. A compound corresponding to each satellite group of a plurality of satellite groups.
Reference position calculating means for calculating a reference position based on the position information of the plurality of positioning points , and the correction information calculating means includes position information of a plurality of positioning points corresponding to each satellite group of the plurality of satellite groups and the reference point. Calculating correction information corresponding to each satellite group of the plurality of satellite groups based on the position and the position information of one positioning point when one satellite group is included in the plurality of satellite groups. 8. The correction according to the correction information corresponding to the one satellite group in the correction information.
The positioning device according to the item. 9. The positioning device according to claim 8, wherein the reference position calculation means sets an average value of position information of a plurality of positioning points corresponding to each satellite group of the plurality of satellite groups as a reference position. 10. Corresponding to each satellite group of a plurality of satellite groups
The positioning device according to claim 8 or 9, wherein the difference between the position information of the plurality of positioning points and the reference position is used as correction information corresponding to each satellite group of the plurality of satellite groups. 11. The position information of the positioning point includes at least altitude information indicating the altitude of the positioning point, and L is at least P (P
Is a natural number greater than or equal to 3 and smaller than N-1) and P + 1, and as the altitude information of the position information of the positioning point corresponding to each satellite group composed of P satellites of the plurality of satellite groups, The average value of altitude information of position information of a plurality of positioning points corresponding to a satellite group formed by P + 1 satellites of the plurality of satellite groups is used.
The positioning device according to claim 10. 12. The position information of the positioning point includes at least altitude information indicating the altitude of the positioning point, and L is at least P (P
Is a natural number greater than or equal to 3 and smaller than N-1) and P + 1, and the altitude direction obtained from the arrangement of the P + 1 satellites in the satellite group composed of P + 1 satellites of the plurality of satellite groups. Index indicating the positioning accuracy of, for example, VDO
P (Vertical Dilution of Pr)
Positioning corresponding to the best satellite group
The altitude of the position information of the point is used as the altitude of the position information of the positioning point corresponding to a satellite group constituted by P satellites of the plurality of satellite groups. 11. The positioning device according to any one of 11 above. 13. The reference position calculating means is an average value of position information of a plurality of positioning points corresponding to each satellite group formed by Q (Q is the maximum value of L) satellites of the plurality of satellite groups. Is set as a reference position.
The positioning device according to claim 1. 14. The reference position calculating means is an index indicating positioning accuracy in a latitude direction and a longitude direction, which is obtained from the arrangement of satellites in a plurality of satellite groups, for example, HDOP (Horizon).
tal Direction of Precisio
The positioning device according to any one of claims 8 to 12, wherein position information of a positioning point corresponding to a satellite group having the best n) is used as a reference position. 15. An index, for example, GDOP, indicating positioning accuracy obtained from the arrangement of satellites of each satellite group of a plurality of satellite groups.
(Geometric Dilution of Prec
Ison) etc. is within a predetermined range. The positioning device according to any one of claims 1 to 14. 16. The method according to claim 1, further comprising a correction information storage unit that stores the correction information, wherein the correction unit performs the correction based on the correction information or the output of the correction information storage unit. The positioning device according to the item. 17. The position information calculating means, the first position information calculating means, or the second position information calculating means repeatedly calculates the position information of the positioning point a predetermined number of times within a predetermined time. 1 to claim 1
The positioning device according to the item. 18. The position information or correction information of the positioning point
18. The positioning device according to claim 1, wherein only the altitude information indicating the altitude of the positioning point is included. 19. The positioning device according to claim 1, wherein if N or R is smaller than a predetermined value, the correction based on the correction information is not performed. 20. An index, for example HDOP, which indicates the positioning accuracy obtained from the arrangement of satellites of each satellite group of a plurality of satellite groups.
20. The positioning device according to any one of claims 1 to 19, wherein correction is not performed based on the correction information when is within a predetermined range. 21. The correction information calculation means is a pseudo of each satellite when the reference position calculated by the reference position calculation means is a true value.
Compensate for the error between the distance and the pseudorange of each satellite actually measured.
The positioning device according to any one of claims 8 to 20, which is calculated as positive information . 22. The positioning device according to claim 3, wherein N is larger than R. 23. M or S is N-1 or R-.
23. The positioning device according to claim 1, wherein the positioning device is 1. 24. A correction information storage means for storing correction information and a second correction means for correcting the position information of the positioning point based on the output of the correction information storage means, and the correction information is corrected by the second correction means. 24. The positioning device according to claim 1, wherein the position information of the positioning point is used in the correction information calculation unit and the correction unit. 25. A moving body provided with the positioning device according to any one of claims 1 to 24, and if the speed of the moving body is higher than a predetermined value, correction is not performed based on the correction information. A mobile body with a positioning device characterized by the above.