JP4518096B2 - Mobile positioning device - Google Patents

Description

  The present invention relates to a mobile body positioning apparatus that measures the position of a mobile body and the like.

Conventionally, when selecting a satellite to be used to calculate the angle of the velocity vector of the moving object from the horizontal plane, the satellite with a large elevation angle of the satellite position obtained from the satellite information or the azimuth angle of the satellite position is the progression of the moving object. A technique for preferentially selecting a satellite closer to a direction or a direction opposite to 180 degrees is known (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 10-111137

  By the way, in GPS positioning, in general, positioning of a moving body is performed based on reception results of signals from a plurality of satellites. At this time, since the propagation path of the radio wave from the satellite to the moving body is different for each satellite, the measurement value (for example, pseudo distance) measured based on the signal from each satellite may include an error different for each satellite. For this reason, when the number of observable satellites is larger than the number of satellites necessary for positioning, it is effective to increase the positioning accuracy to select a satellite with few errors as a satellite used for positioning. Conventionally, factors such as a residual at the time of the previous positioning calculation, a difference in elevation angle of each satellite, and a difference in received intensity of signals from each satellite are often used as an index used for such selection. However, since such an index value does not accurately reflect an error that differs for each satellite, there is a possibility that an inappropriate satellite having a large error factor may be selected when such an index value is used. .

  Therefore, an object of the present invention is to provide a mobile positioning device that can appropriately select a satellite to be used for positioning using an index value that accurately reflects an error that differs for each satellite.

In order to achieve the above object, a first invention is a positioning device for a moving body that is mounted on a moving body and measures the position of the moving body.
A moving body stop determining means for determining whether or not the moving body is stopped by an output signal of a sensor mounted on the moving body;
Mobile body speed deriving means for deriving the speed of the mobile body for each satellite using observation values of satellite radio waves observed while the mobile body is determined to be stopped by the mobile body stop determining means; ,
Satellite selecting means for selecting a satellite to be used for positioning based on the moving body speed for each satellite derived by the moving body speed deriving means;
Positioning means for positioning the position of the moving body during movement of the moving body after stopping using the satellite selected by the satellite selecting means ;
Based on the moving body speed derived by the moving body speed deriving means at a plurality of times while the moving body is determined to be stopped by the moving body stop determining means, the derived moving body speed is calculated. An error index value calculating means for calculating an index value representing an error for each satellite;
The satellite selecting means selects a satellite to be used for positioning according to the error index value for each satellite calculated by the error index value calculating means .

2nd invention is the positioning apparatus for moving bodies which concerns on 1st invention,
The satellite selecting means preferentially selects a satellite having a small error index value calculated by the error index value calculating means.

3rd invention is the positioning apparatus for moving bodies based on 1st invention,
The error index value is an average value of the moving body speed derived by the moving body speed deriving means at a plurality of times while the moving body is determined to be stopped by the moving body stop determining means. It is an index value composed of dispersion of body speed, standard deviation of the same body speed, low-pass value obtained by applying the same body speed to the low-pass filter, rate of change of the low-pass value, or any combination thereof. .

  ADVANTAGE OF THE INVENTION According to this invention, the mobile body positioning apparatus which can select appropriately the satellite used for a positioning using the index value which reflects an error different for every satellite accurately is obtained.

  The best mode for carrying out the present invention will be described below with reference to the drawings.

  FIG. 1 is a system configuration diagram showing an overall configuration of a GPS (Global Positioning System) to which a mobile body positioning device according to the present invention is applied. As shown in FIG. 1, the GPS is composed of a GPS satellite 10 that orbits the earth and a vehicle 90 that is located on the earth and can move on the earth. The vehicle 90 is merely an example of a moving body, and other moving bodies include motorcycles, railways, ships, airplanes, hawk lifts, robots, information terminals such as mobile phones that move with the movement of people, and the like. There can be.

  The GPS satellite 10 constantly broadcasts navigation messages (satellite signals) toward the earth. The navigation message includes satellite orbit information (ephemeris and almanac) regarding the corresponding GPS satellite 10, a clock correction value, and an ionosphere correction coefficient. The navigation message is spread by the C / A code, is carried on the L1 wave (frequency: 1575.42 MHz), and is constantly broadcast toward the earth. The L1 wave is a combined wave of a Sin wave modulated with a C / A code and a Cos wave modulated with a P code (Precision Code), and is orthogonally modulated. The C / A code and the P code are pseudo noise codes, and are code strings in which -1 and 1 are irregularly arranged periodically.

  Currently, 24 GPS satellites 10 orbit the earth at an altitude of about 20,000 km, and each of the four GPS satellites 10 is evenly arranged on six Earth orbit planes inclined by 55 degrees. ing. Therefore, as long as the sky is open, at least five GPS satellites 10 can be observed at any time on the earth.

  The vehicle 90 is equipped with the vehicle-mounted device 1 as a mobile body positioning device.

  FIG. 2 is a block diagram showing the main configuration of the vehicle-mounted device 1. As shown in FIG. 2, the vehicle-mounted device 1 includes a GPS receiver 20 and a vehicle stop determination unit 40 as main components. The main functions of the GPS receiver 20 will be described later.

  The vehicle stop determination unit 40 determines whether or not the vehicle 90 is stopped. There are a wide variety of such determination methods, and any appropriate method may be adopted. For example, the vehicle stop determination unit 40 may determine whether or not the vehicle is stopped based on an output signal (differential value or the like) of an acceleration sensor or an angular velocity sensor mounted on the vehicle 90. Alternatively, the vehicle stop determination unit 40 may determine whether or not the vehicle is stopped based on an output signal of a wheel speed sensor mounted on the vehicle 90. The vehicle stop determination unit 40 may output signals from other in-vehicle sensors that can output a physical quantity related to the vehicle speed, such as a sensor that measures the rotation speed of the output shaft of the transmission instead of or in addition to the wheel speed sensor. Further, it may be determined whether or not the vehicle is stopped by using an output signal of a sensor that detects an operation state of the brake pedal, a shift position, or the like.

FIG. 3 shows an example of the internal configuration of the GPS receiver 20. Hereinafter, to avoid complicating the description, it will be described as a representative signal processing relating satellite signals from one single GPS satellite 10 ₁ (1-channel signal processing). The signal processing described below is executed in parallel (simultaneously) with respect to the satellite signals from the observable GPS satellites 10 ₁ , 10 ₂ , 10 _3, etc. for each observation period (for example, 1 ms).

  The GPS receiver 20 includes a GPS antenna 21, a high-frequency circuit 22, an A / D (analog-to-digital) conversion circuit 24, a DLL (Delay-Locked Loop) 110, a PLL (Phase-Locked Loop) 120, and a satellite position calculation unit. 124 and a filter 130. The DLL 110 includes a cross-correlation calculation units 111 and 112, a phase advancement unit 113, a phase delay unit 114, a phase shift calculation unit 115, a phase correction amount calculation unit 116, a replica C / A code generation unit 117, a pseudo distance calculation unit 118, and The positioning unit 50 is included.

GPS antenna 21 receives a hygienic signal transmitted from the GPS satellite 10 _1, the voltage signal satellite signal received (in this example, frequency 1.5 GHz) is converted to. A voltage signal of 1.5 GHz is referred to as an RF (radio frequency) signal.

  The high-frequency circuit 22 amplifies a weak RF signal supplied via the GPS antenna 21 to a level at which A / D conversion can be performed later, and at the same time, an intermediate frequency (typically 1 MHz to 20 MHz). A signal obtained by down-converting the RF signal in this way is referred to as an IF (Intermediate frequency) signal.

  The A / D conversion circuit 24 converts the IF signal (analog signal) supplied from the high frequency circuit 22 into a digital IF signal so that digital signal processing can be performed. The digital IF signal is supplied to the DLL 110, the PLL 120, and the like.

The replica C / A code generation unit 117 of the DLL 110 generates a replica C / A code. The replica C / A code with respect to the C / A code, which is put on the satellite signals from the GPS satellites 10 _1, + 1, the arrangement of -1 is the same code.

The replica C / A code generated by the replica C / A code generation unit 117 is input to the cross correlation calculation unit 111 via the phase advancement unit 113. That is, an early replica code is input to the cross correlation calculation unit 111. In the phase advancer 113, the replica C / A code is advanced by a predetermined phase. Let the phase advance amount advanced by the phase advancer 113 be θ ₁ .

  In addition, the digital correlation signal is input to the cross-correlation calculation unit 111 after being multiplied by a replica carrier generated by the PLL 120 by a mixer (not shown).

The cross-correlation calculation unit 111 calculates a correlation value (Early correlation value E _CA ) using the input digital IF signal and the Early replica code of the phase advance amount θ ₁ . The Early correlation value E _CA is calculated by the following equation, for example.
Early correlation value E _CA = Σ {(digital IF) × (Early replica code)}
The replica C / A code generated by the replica C / A code generation unit 117 is input to the cross correlation calculation unit 112 via the phase delay unit 114. That is, the late replica code is input to the cross-correlation calculation unit 112. In the phase delay unit 114, the replica C / A code is delayed by a predetermined phase. The phase delay amount delayed by the phase delay unit 114 is the same as the phase advance amount θ ₁ but has a different sign.

  Further, the digital correlation signal is input to the cross-correlation calculation unit 112 after being multiplied by a replica carrier generated by the PLL 120 by a mixer (not shown).

The cross-correlation calculation unit 112 calculates a correlation value (Late correlation value L _CA ) using the input digital IF signal and the Late replica code of the phase delay amount −θ ₁ . The Late correlation value L _CA is calculated by the following equation, for example.
Late correlation value L _CA1 = Σ {(digital IF) × (Late replica code)}
In this way, the cross-correlation calculation units 111 and 112 execute the correlation value calculation with the correlator interval d ₁ (also referred to as “spacing”) being 2θ ₁ . The Early correlation value E _CA and the Late correlation value L _CA calculated by the cross correlation calculation units 111 and 112 are input to the phase shift calculation unit 115.

The phase shift calculation unit 115 calculates the degree of phase shift between the digital IF signal and the replica C / A code generated by the replica C / A code generation unit 117. That is, the phase shift calculation unit 115 calculates (estimates) the phase shift amount Δφ of the replica C / A code with respect to the received C / A code. The phase shift amount Δφ of the replica C / A code is calculated by the following equation, for example.
(Phase shift amount Δφ) = (E _CA −L _CA ) / 2 (E _CA + L _CA )
The phase shift amount Δφ calculated in this way is input to the phase correction amount calculation unit 116.

In the phase correction amount calculation unit 116, an appropriate phase correction amount is calculated so as to eliminate the phase shift amount Δφ. An appropriate phase correction amount is calculated, for example, according to the following arithmetic expression.
(Phase correction amount) = (P gain) × (phase shift amount Δφ) + (I gain) × Σ (phase shift amount Δφ)
This equation is an equation representing feedback control using PI control, and the P gain and the I gain are experimentally determined from the balance between variation and response, respectively. The phase correction amount calculated in this way is input to the replica C / A code generation unit 117.

  In the replica C / A code generation unit 117, the phase of the generated replica C / A code is corrected by the phase correction amount calculated by the phase correction amount calculation unit 116. That is, the tracking point of the replica C / A code is corrected. The replica C / A code thus generated is input to the cross-correlation calculation units 111 and 112 via the phase advance unit 113 and the phase delay unit 114 as described above, and also to the pseudo distance calculation unit 118. In the cross-correlation calculators 111 and 112, the replica C / A code generated in this way is used for correlation value calculation for the IF digital signal input in the next observation cycle.

In pseudorange calculation unit 118, based on the phase information of the replica C / A code generated by the C / A code replica generator 117, pseudo-range [rho _'1 is, for example, is calculated by the following equation. As the meaning of the code, “′” added to the pseudorange ρ indicates that the filtering process described later is not executed, and the subscript “ ₁ ” indicates the C / A code related to the GPS satellite 10 _1. The pseudo distance ρ calculated based on
ρ ′ ₁ = N ₁ × 300
Here, _{N 1} is, C / A code corresponds to the number of bits, the phase and the reception of the replica C / A code generated by the C / A code replica generation unit 117 between the GPS satellite 10 ₁ and the vehicle 90 It is calculated based on the receiver clock inside the machine 1. The numerical value 300 is derived from the fact that the C / A code has a 1-bit length of 1 μs and a length corresponding to 1 bit of about 300 m (1 μs × light speed). A signal representing the pseudo distance ρ ′ ₁ calculated in this way is input from the DLL 110 to the filter 130.

In the PLL 120, the Doppler frequency Δf _{1 of} the Doppler-shifted received carrier wave (received carrier) is measured using a carrier replica signal generated inside. In other words, the PLL 120 measures the Doppler frequency Δf ₁ (= fr−f _L1 ) based on the replica carrier frequency fr and the known carrier frequency f _L1 (1575.42 MHz). The digital IF signal input to the PLL 120 is obtained by multiplying the replica C / A code supplied from the DLL 110 by a mixer (not shown). A signal representing the Doppler frequency Δf ₁ from the PLL 120 is input to the filter 130 and the positioning unit 50.

In the filter 130, the filter processing of the pseudo distance ρ ′ ₁ is executed using the Doppler frequency Δf ₁ . In the filter 130, for example according to the following arithmetic expression, pseudorange [rho ₁ after filtering are computed.

ここで、（ｉ）は今回値を表し、（ｉ−１）は前回値を表し、Ｍは、重み係数である。Ｍの値は、精度と応答性を考慮しつつ適切に決定される。また、ΔＶは、ＧＰＳ衛星１０_１と車両９０との間の相対速度（ドップラ速度）であり、例えば以下の関係式を用いて、算出される。
Δｆ_Ｌ１＝ΔＶ・ｆ_Ｌ１／（ｃ−ΔＶ）
尚、ｃは光速である。数１で示すフィルタ処理は、本分野で知られているキャリアスムージングと呼ばれる処理であってよく、上記のハッチフィルタの他、カルマンフィルタを用いても実現可能である。フィルタ１３０からの擬似距離ρ_１を表す信号は、測位部５０に入力される。

Here, (i) represents the current value, (i-1) represents the previous value, and M is a weighting factor. The value of M is appropriately determined in consideration of accuracy and responsiveness. Further, [Delta] V is the relative velocity between the GPS satellite 10 ₁ and the vehicle 90 (Doppler velocity), for example using the following equation is calculated.
Δf _L1 = ΔV · f _L1 / (c−ΔV)
C is the speed of light. The filter processing expressed by Equation 1 may be processing known as carrier smoothing known in this field, and can be realized by using a Kalman filter in addition to the hatch filter described above. A signal representing the pseudo distance ρ ₁ from the filter 130 is input to the positioning unit 50.

Satellite position calculation unit 124, based on the satellite orbit information of the navigation message, the GPS satellite 10 _1, the current position in the world coordinate system _{S 1 = (X 1, Y} 1, Z 1) and the moving speed _V 1 = ( V ₁ , V ₁ , V ₁ ) are calculated. The satellite moving speed vector V ₁ = (V ₁ , V ₁ , V ₁ ) may be calculated by dividing the difference between the calculated current value and the previous value of the satellite position S ₁ by the time width of the calculation cycle. The satellite position S ₁ and the satellite moving speed vector V ₁ derived by the satellite position calculation unit 124 in this way are input to the positioning unit 50.

  Next, the detail of the positioning part 50 of a present Example is demonstrated.

  FIG. 4 is a block diagram illustrating a main configuration of the positioning unit 50 according to the present embodiment. As shown in FIG. 4, the positioning unit 50 of the present embodiment includes a vehicle speed calculation unit 42, a memory 44 that stores the vehicle speed calculated by the vehicle speed calculation unit 42, an error index value calculation unit 46, a satellite, A selection unit 48 and a positioning calculation unit 49 are provided. The function of each part 42,44,46,48,49 is demonstrated referring FIG. 5 thru | or FIG.

  FIG. 5 is a flowchart illustrating an example of the positioning process realized by the positioning unit 50 according to the present embodiment. The processing routine shown in FIG. 5 is repeatedly executed at predetermined intervals, for example, from when the ignition switch of the vehicle 90 is turned on to when it is turned off. The predetermined period may correspond to the observation period described above.

  In step 600, the counter and memory 44 are initialized. That is, the value of the counter is set to “1”, and the data in the memory 44 is initialized (cleared).

  In step 602, it is determined whether the vehicle 90 is currently stopped based on the determination result from the vehicle stop determination unit 40. If the vehicle is stopped, the process proceeds to step 604. As such a situation, typically, a situation before the start of vehicle travel after engine start, or a situation where the vehicle 90 temporarily stops due to a signal waiting after the start of vehicle travel is assumed. On the other hand, if the vehicle 90 is moving, the process proceeds to step 614.

  In step 604, it is determined whether or not the current counter value is "1". If the counter value is “1”, the process proceeds to step 606; otherwise (ie, if the counter value is greater than 1), the process proceeds to step 608.

In step 606, the position (X _u , Y _u , Z _u ) of the vehicle 90 based on the latest positioning result is stored as the vehicle position u ₀ = (X _u0 , Y _u0 , Z _u0 ) immediately after the stop. The vehicle position u ₀ = (X _u0 , Y _u0 , Z _u0 ) immediately after the stop may be derived by the positioning calculation in the positioning calculation unit 49 or may be derived by another positioning method (for example, inertial navigation). It may be what was done. In addition, when inertial navigation is used, the inertia using the vehicle position corrected by matching the map data including the known position information of the road sign and the image recognition result of the road sign using the in-vehicle camera as the initial position. Navigation is preferred.

  In step 608, the value of the counter is incremented by “1”.

In step 610, the vehicle speed calculation unit 42 calculates the vehicle speed V _{u — j in} the line-of-sight direction of the vehicle 90 with respect to the GPS satellite 10 _{j for} each GPS satellite 10 _{j with} respect to the GPS satellite 10 _j that can be observed at present. The subscript “ _j ” corresponds to the satellite number (j = 1, 2, 3, 4,...) Of the GPS satellite 10 that can be observed at present and represents a value for each GPS satellite 10. . Here, it should be noted that the vehicle speed _{V U_j} is a vehicle speed _{V U_j} in stop state. Vehicle velocity _{V u_j} (i) includes a Doppler range dp _j (i) about the GPS satellite 10 _j, the unit vector in the viewing direction of the vehicle 90 with respect to the GPS satellites 10 _{j l j} (i), satellite mobile GPS satellites 10 _j Using the relationship with the velocity vector V _j = (V _j (i), V _j (i), V _j (i)), for example, it is calculated as follows. Note that (i) represents each value in the i-th cycle, where the first cycle in which a stop is detected is the first.

ここで、ドップラレンジｄρ_ｊ（ｉ）は、搬送波の波長λ（既知）と、周期（ｉ）で得られるＧＰＳ衛星１０_ｊに関するドップラ周波数Δｆ_ｊ（ｉ）を用いて、例えばｄρ_ｊ（ｉ）＝λ・Δｆ_ｊ（ｉ）により、算出される。また、上記の式において、ｌ_ｊ・Ｖ_ｊは、単位ベクトルｌ_ｊと衛星移動速度ベクトルＶ_ｊとの内積である。単位ベクトルｌ_ｊは、上記のステップ６０６で記憶された停止直後の車両位置ｕ_０＝（Ｘ_ｕ０，Ｙ_ｕ０，Ｚ_ｕ０）と、ＧＰＳ衛星１０_ｊの位置Ｓ（ｉ）＝（Ｘ_ｊ（ｉ），Ｙ_ｊ（ｉ），Ｚ_ｊ（ｉ））と、車両９０とＧＰＳ衛星１０_ｊとの間の距離ｒ_ｊ（ｉ）とを用いて、例えば以下のようにして算出される。

Here, the Doppler range dρ _j (i) is obtained by using, for example, dρ _j (i) using the wavelength λ (known) of the carrier wave and the Doppler frequency Δf _j (i) related to the GPS satellite 10 _j obtained in the period (i). = Λ · Δf _j (i). In the above equation, l _j · V _j is an inner product of the unit vector l _j and the satellite moving velocity vector V _j . Unit vector _{l j} is the vehicle position _u immediately after stopping stored in the above step _{606 0 = (X u0, Y} u0, Z u0) and the position S of the GPS satellites _{10 j (i) = (X} j (i ), Y _j (i), Z _j (i)) and the distance r _j (i) between the vehicle 90 and the GPS satellite 10 _j are calculated as follows, for example.

尚、ｒ_ｊ（ｉ）は、以下のとおりである。

_{Incidentally, r} j (i) are as follows.

或いは、車両速度Ｖ_ｕ＿ｊ（ｉ）は、今回周期でフィルタ１３０から入力される擬似距離ρ_ｊ（ｉ）と、前回周期でフィルタ１３０から入力される擬似距離ρ_ｊ（ｉ−１）とを用いて、例えば以下のようにして近似して算出されてもよい。

Alternatively, the vehicle speed V _{u —} j (i) uses the pseudo distance ρ _j (i) input from the filter 130 in the current cycle and the pseudo distance ρ _j (i−1) input from the filter 130 in the previous cycle. For example, it may be calculated by approximation as follows.

尚、Δｔは、擬似距離ρ_ｊのサンプリング周期（観測周期）である。

Note that Δt is a sampling period (observation period) of the pseudorange ρ _j .

Alternatively, the vehicle speed V _{u —} j (i) uses the carrier phase integrated value Φ _j (i) observed in the current cycle and the carrier phase integrated value Φ _j (i−1) observed in the previous cycle. For example, it may be calculated by approximation as follows.

尚、搬送波位相の積算値Φ_ｊ（ｉ）の正確な値を観測するのには、適切な方法（例えば干渉測位方法）により推定される整数値バイアスを用いる必要があるが、ここでは、周期間での積算値Φ_ｊの差分だけが問題となるので、適当な整数値バイアスが用いられてもよい。

In order to observe an accurate value of the integrated value Φ _j (i) of the carrier phase, it is necessary to use an integer value bias estimated by an appropriate method (for example, an interference positioning method). Since only the difference of the integrated value Φ _j in the period becomes a problem, an appropriate integer value bias may be used.

Preferably, one common calculation method among the above three calculation methods of the vehicle speed V _{u — j} is used for each GPS satellite 10 _j . This is because the vehicle speed V _{u — j} related to each GPS satellite 10 _j should be relatively evaluated under the same conditions. At this time, for each GPS satellite 10 _j , the vehicle speeds V _{u — j} calculated by all the above-described three types of calculation methods or any two methods are combined using an appropriate weighting factor to obtain the final result. A typical vehicle speed V _{u — j} may be calculated. In addition, considering the characteristics of the three types of calculation methods as shown in Table 1 below, the three types of calculation methods for the vehicle speed V _{u_j} described above may be switched depending on the situation for each stop. . For example, in a situation where multipath is detected, the calculation method of Equation 2 or Equation 6 that is strong against multipath may be employed, and the calculated value of Equation 2 or Equation 6 is given a large weight. Also good. In addition, for example, in a situation that is easily affected by the ionosphere based on GIM (Global Ionoshere Map) or the like, the calculation method of the number 2 that is not easily affected by the ionosphere may be adopted. A large weight may be applied.

このようにして車両速度算出部４２において導出される車両速度Ｖ_ｕ＿ｊ（ｉ）は、メモリ４４に記憶される。したがって、車両９０が停止している間、ステップ６０８及びステップ６１０の処理が繰り返され、車両９０が停止している間に随時観測されるデータに基づいて、速度標準偏差値σ_ｖ＿ｊがＧＰＳ衛星１０_ｊ毎に所定周期毎に算出され、随時メモリ４４に記憶されていくことになる。尚、明らかであるが、車両速度Ｖ_ｕ＿ｊは、車両９０が停止している間の周期数ｉが増加するにつれて、標本数が増加するが故に信頼性が高くなる。このようにして車両９０が停止している間に算出される車両速度Ｖ_ｕ＿ｊは、以下で説明するステップ６１４〜６１８において、当該停止後に車両９０が移動し始めた後の車両９０の位置等の測位に有効に利用される。

The vehicle speed V _{u —} j (i) derived in the vehicle speed calculation unit 42 in this way is stored in the memory 44. Therefore, the processing of step 608 and step 610 is repeated while the vehicle 90 is stopped, and the speed standard deviation value σ _{v_j} is determined based on the data observed at any time while the vehicle 90 is stopped. _It is calculated every predetermined period every _j and is stored in the memory 44 as needed. Obviously, the vehicle speed V _{u —} j becomes more reliable because the number of samples increases as the number of periods i while the vehicle 90 is stopped increases. Vehicle velocity V _{U_j} calculated during this manner the vehicle 90 is stopped at step 614-618 to be described below, the position of the vehicle 90 after the vehicle 90 starts to move after the stop It is effectively used for positioning.

In step 614, it is determined whether the counter is greater than a predetermined threshold. This determination is to determine whether the vehicle speed V _{u — j} calculated while the vehicle 90 is stopped is reliable, and the predetermined threshold may be set appropriately from this viewpoint. For example, the predetermined threshold value may be any value between 11 and 21 corresponding to the number of samples of 10 to 20 or more. If the counter is greater than the predetermined threshold, the process proceeds to step 616. When the counter is equal to or smaller than a predetermined threshold (for example, when the stop time is very short), it is determined that the reliability of the vehicle speed V _{u — j} calculated while the vehicle 90 is stopped is low, and this time The cycle processing routine ends (return to step 600).

In step 616, the error index value calculating unit 46 indicates an error of the vehicle speed V _{u — j} based on the vehicle speed (stored data in the memory 44) calculated as described above while the vehicle 90 is stopped. A value q _j is calculated for each GPS satellite 10 _j . Here, it should be noted that since the vehicle speed V _{u — j} is a speed while the vehicle 90 is stopped as described above, the true value is zero. Therefore, the value of the vehicle speed _{V U_j} will represent the error itself of the vehicle speed _{V u_j.} Therefore, the index value _{q j} representing an error of the vehicle speed _{V U_j,} for example, as follows, may be calculated as an average value _{V Ave_j} vehicle speed _{V u_j.}

ここで、ｎは、データ数であり、この例では、ｎ＝（カウンタ値）である。

Here, n is the number of data, and in this example, n = (counter value).

Alternatively, the error index value _{q j,} for example, as follows, may be calculated as a variance _σ v_j ² of the vehicle speed _{V u_j.}

ここで、Ｖ_{ａｖｅ＿ｊ}は、上記の数７の式で導出されてもよいし、車両９０が停止状態であることを考慮して、固定値ゼロが用いられてもよい。

Here, V _{ave — j} may be derived from the above equation 7, or a fixed value of zero may be used in consideration of the fact that the vehicle 90 is in a stopped state.

Alternatively, the error index value q _j may be calculated as the standard deviation σ _{v_j} of the vehicle speed V _{u_j} . That is, it may be calculated as q _j = σ _{v_j} .

Alternatively, the error index value q _j may be a low-pass value LPF _{v_j} obtained by _applying a vehicle speed V _{u_j} to a low-pass filter. For the derivation of the low-pass value LPF _{v_j} (i) in the period (i), for example, a general low-pass filter having a time constant τ represented by the following equation may be used.

尚、ＳＴは、車両速度Ｖ_ｕ＿ｊのデータのサンプリング間隔を表す。このローパスフィルタには、停車中に得られる各周期（ｉ＝１，２，３，．．．，ｎ）の車両速度Ｖ_ｕ＿ｊ（ｉ）が順次又は一括で適用され、最終的なローパス値ＬＰＦ_ｖ＿ｊ（ｎ）が誤差指標値ｑ_ｊとして扱われる。

Note that ST represents a sampling interval of data of the vehicle speed V _{u — j} . The vehicle speed V _{u —} j (i) of each period (i = 1, 2, 3,..., N) obtained while the vehicle is stopped is sequentially or collectively applied to the low-pass filter, and the final low-pass value LPF _{v_j} (n) are treated as the error index value _{q j.}

Alternatively, the error index value q _j may be calculated as a change rate ΔLPF _{v_j} of the low-pass value LPF _{v_j} (i) as follows, for example.

ここで、ｍは、所定の正の数であり、実験的に求めておく。数１０の式は、ｍ＞ｎのときに用いられてよい。尚、数１０の式は、周期（ｍ）でのローパス値ＬＰＦ_ｖ＿ｊ（ｍ）と最終周期（ｎ）でのローパス値ＬＰＦ_ｖ＿ｊ（ｎ）との間のローパス値変化率ΔＬＰＦ_ｖ＿ｊを求めるものであるが、複数の周期間で同様のローパス値変化率を複数個求めて、これらを平均化してもよい。

Here, m is a predetermined positive number and is obtained experimentally. Equation 10 may be used when m> n. Incidentally, the numerical formula 10, and requests the low-pass value change rate _ΔLPF v_j between the periodic low pass value _{LPF V_j} of a low-pass value _{LPF v_j} (m) the final cycle (n) in (m) (n) However, a plurality of similar low-pass value change rates may be obtained between a plurality of periods, and these may be averaged.

Alternatively, the error index value q _j is a combination of any two or more index values of the above average value V _{ave — j} , variance σ _{v — j} ² , standard deviation σ _{v — j} , low pass value LPF _{v — j} and low pass value change rate ΔLPF _{v — j.} May be derived. In this case, for example, in consideration of the characteristics of each error index value as shown in Table 2 below, each index value may be appropriately weighted and combined depending on the situation. Alternatively, in consideration of the characteristics of each error index value as shown in Table 2 below, each error index value may be properly used depending on the situation. For example, when the stop time is short and data of 10 samples or more is not acquired, the low-pass value LPF _{v_j} or the low-pass value change rate ΔLPF _{v_j} may be used, or the low-pass value LPF _{v_j} and / or the low-pass value change rate ΔLPF _{v_j. May} be combined with other error index values, a relatively large weight may be given to the low-pass value LPF _{v_j} and / or the low-pass value change rate ΔLPF _{v_j} . When the low-pass value LPF _{v_j} or the low-pass value change rate ΔLPF _{v_j} is used as the error index value q _j , the threshold value used in step 614 in FIG. 5 can be reduced. On the other hand, when the stop time is long and data of 10 samples or more is acquired, the average value V _{ave — j} , variance σ _{v — j} ^2, or standard deviation σ _{v — j} may be used, and relatively large weights may be used. It may be granted.

いずれにしても、好ましくは、各ＧＰＳ衛星１０_ｊに対しては、共通の誤差指標値ｑ_ｊが用いられる。これは、各ＧＰＳ衛星１０_ｊに係る誤差指標値ｑ_ｊは、同等の条件で相対的に評価されるべきであるからである。

In any case, a common error index value q _j is preferably used for each GPS satellite 10 _j . This is because the error index value q _j related to each GPS satellite 10 _j should be relatively evaluated under the same conditions.

  In step 618, positioning calculation processing is executed. Details of this processing will be described later with reference to FIGS.

In step 620, it is determined whether or not the vehicle 90 has changed from the moving state to the stopped state based on the determination result from the vehicle stop determination unit 40. If the vehicle 90 changes from the moving state to the stopped state, the process returns to Step 600. Otherwise (ie, when the vehicle 90 is moving), the process proceeds to Step 618. That is, the positioning calculation process in step 618 is continuously executed based on the pseudo distance ρ _j and the satellite position (X _j , Y _j , Z _j ) that are observed as needed while the vehicle 90 is moving. .

  FIG. 6 is a flowchart showing an example of the positioning calculation process (step 618) of FIG.

In step 700, the number of GPS satellites 10 _j that is currently observed (number of visible satellites) is, whether more than the number of satellites required for positioning is determined. The number of satellites necessary for positioning is a number to be determined according to the positioning method, but may be 3, for example, or may be 4 or more as long as it is a positioning method excluding a clock error. If the number of visible satellites is larger than the required number of satellites, the process proceeds to step 702. Otherwise, the process proceeds to step 704.

In step 702, the satellite selection unit 48 determines the position from the currently observed GPS satellites 10 _j based on the error index value q _j for each GPS satellite 10 _j calculated in step 616 of FIG. The GPS satellite _10k used for is selected. At this time, the satellite selection unit 48 preferentially selects the GPS satellite 10 _j having a small absolute value of the error index value q _j . For example, when the required number of satellites is “4”, the satellite selection unit 48 selects the four GPS satellites 10 _j as the GPS satellites 10 _k used for positioning in ascending order of the absolute value of the error index value q _j . In other words, the satellite selection unit 48 excludes the GPS satellites 10 _{j in} descending order of the error index value q _j until the required number of satellites is reached.

In step 704, the satellite selecting unit 48, all of the GPS satellites 10 _j that is currently observed, is selected as the GPS satellite 10 _k used for positioning.

In step 706, the positioning operation unit 49 selects the GPS satellite 10 _k selected in step 702 or 704 from among the pseudoranges ρ _j (i) related to each GPS satellite 10 _j input from the filter 130 in the current cycle. Current position of the vehicle 90 on the basis of the pseudorange ρ _k (i) related to and the satellite position (X _k (i), Y _k (i), Z _k (i)) related to the GPS satellite 10 _k. (X _u (i), Y _u (i), Z _u (i)) is measured. The positioning of the position of the vehicle 90 may be executed using, for example, the least square method based on the following relational expression.

尚、ｃ・ΔＴは、ＧＰＳ受信機２０における時計誤差を表わす。この場合、例えば選択されたＧＰＳ衛星１０_ｋの数が４つである場合には、数１１の式が４つ立つので、時計誤差ｃ・ΔＴを除去した測位が実現される。また、この際、上述の選択されたＧＰＳ衛星１０_ｋに係る誤差指標値ｑ_ｋを重み付け行列の対角成分に用いて、重み付け測位演算が実行されてもよい。

Note that c · ΔT represents a clock error in the GPS receiver 20. In this case, for example, when the number of selected GPS satellites 10 _k is four, since four equations of Formula 11 are established, positioning without the clock error c · ΔT is realized. At this time, the weighted positioning calculation may be performed using the error index value q _k related to the selected GPS satellite 10 _k as a diagonal component of the weighting matrix.

In this step 706, the positioning calculator 49 selects the GPS selected in step 702 or 704 from among the pseudoranges ρ _j (i) related to the GPS satellites 10 _j input from the filter 130 in the current cycle. and Doppler range dp _k (i) according to the satellite 10 _k, the GPS satellite 10 according to the _k satellite moving velocity vector _V k ₌ a and _{(V k (i), V} k (i), V k (i)) or the like Based on the current speed of the vehicle 90, v = (v _u (i), v _u (i), v _u (i)) may be determined. The positioning of the speed of the vehicle 90 may be executed using a least square method or the like based on the following relational expression, for example. The symbol black circle on the letter represents a dot (time differentiation), for example, the Doppler range dρ _k is ρ _k dot (time differentiation).

尚、Ｉドット及びＴドットは、電離層誤差の変動量及び対流圏誤差の変動量を表すが、非常に小さいので、ここでは、白色ノイズεとして扱う。また、ｂドットは、時計誤差の微分値である。また、（Ｖ_ｋ−ｖ）・ｌ_ｋのＶ_ｋ・ｌ_ｋの部分は、周期（ｉ）における単位ベクトルｌ_ｋ（ｉ）と衛星移動速度ベクトルＶ_ｋ（ｉ）との内積であり、衛星移動速度ベクトルＶ_ｋ（ｉ）は、上述の如く衛星位置算出部１２４にて航法メッセージの衛星軌道情報に基づいて算出され、単位ベクトルｌ_ｋ（ｉ）は、周期（ｉ）において上述の如く測位演算部４９にて算出される車両９０の位置の測位結果（Ｘ_ｕ（ｉ），Ｙ_ｕ（ｉ），Ｚ_ｕ（ｉ））を用いて、以下のように、算出されてよい。

The I dot and T dot represent the amount of variation in ionospheric error and the amount of variation in tropospheric error, but are very small and are treated as white noise ε here. The b dot is a differential value of the clock error. _Furthermore, (V k -v) · _l portion of the _V k · _{l k} of _k is the inner product of the cycle unit in (i) vector _l k (i) and the satellite moving velocity vector _V k (i), the satellite The moving velocity vector V _k (i) is calculated based on the satellite orbit information of the navigation message by the satellite position calculating unit 124 as described above, and the unit vector l _k (i) is determined as described above in the period (i). Using the positioning results (X _u (i), Y _u (i), Z _u (i)) of the position of the vehicle 90 calculated by the calculation unit 49, the calculation may be performed as follows.

また、車両９０の速度の測位の際、上述の選択されたＧＰＳ衛星１０_ｋに係る誤差指標値ｑ_ｋを重み付け行列の対角成分に用いて、重み付け測位演算が実行されてもよい。

Further, when the positioning of the velocity of the vehicle 90, with the diagonal component of the error index value q _k a weighting matrix according to the selected GPS satellite 10 _k described above, the weighting positioning operation may be performed.

  FIG. 7 is a flowchart showing another example of the positioning calculation process (step 618) of FIG.

In step 800, the satellite selection unit 48 determines an error from the currently observed GPS satellites 10 _j based on the error index value q _j for each GPS satellite 10 _j calculated in step 616 of FIG. A GPS satellite 10 _k whose absolute value of the index value q _j is equal to or smaller than a predetermined value is selected.

In step 802, the number of GPS satellites 10 _k selected in step 800, whether more than the number of satellites required for positioning is determined. The number of satellites required for positioning may be three, for example, or four or more as long as the positioning method excludes clock errors. If the number of visible satellites is larger than the required number of satellites, the process proceeds to step 804. Otherwise, the process proceeds to step 806.

In step 804, the positioning calculation unit 49, based on the observation data of all GPS satellites 10 _k selected in step 800, the position and velocity of the present vehicle 90 is positioning. The positioning method may be the same as step 706 in FIG. 6 described above. If the number of all selected GPS satellites 10 _k is 5 or more, the most probabilistically correct position and speed are derived as the final positioning results from a plurality of obtained positions and speeds of the vehicle 90. Also good.

  In step 806, the positioning calculation unit 49 performs positioning by inertial navigation using, for example, an INS sensor.

  According to the positioning apparatus for a moving body according to the present embodiment described above, the following excellent effects are obtained.

As described above, according to the present embodiment, the vehicle speed V _{u_j} for each GPS satellite 10 _j is calculated based on the observation data of each GPS satellite 10 _j while the vehicle 90 is stopped, and the error index value is calculated. the q _j by relatively evaluated between each GPS satellite 10 _j, relatively accurately estimate to the magnitude level of the error factors contained in the observation data of the GPS satellites 10 _j between the respective GPS satellites 10 _j Can do. This while the vehicle 90 is stopped, since it is not affected by the error factor caused by the movement of the vehicle 90, the observed data of each GPS satellite 10 _j (especially pseudorange [rho _j and Doppler range dp _j This is because the magnitude level of the factor included in the (observation value) can be evaluated with high accuracy for each GPS satellite 10 _j . While the vehicle 90 is stopped, the true value of the vehicle speed V _{u_j} is a known zero, and the error of the vehicle speed V _{u_j} (and thus the error included in the observation data of each GPS satellite 10 _j ) is highly accurate. It is because it can be evaluated by. Thus, according to the present embodiment, the fact that the true value of the vehicle speed V _{u — j} when the vehicle 90 is stopped is known zero, and the error factor included in the observation data of each GPS satellite 10 _j is calculated. levels by relatively evaluated between each GPS satellite 10 _j, it is possible to select a GPS satellite 10 _k low levels of error factors suitable for use in the positioning with high accuracy, as a result, the vehicle 90 Accurate positioning results can be obtained during movement.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

For example, in the above-described embodiment, the vehicle speed calculation unit 42 may calculate the absolute value of the vehicle speed V _{u_j} . In this case, the error index value calculation unit 46 may calculate the error index value q _j described above based on the absolute value of the vehicle speed V _{u_j} .

In the above embodiment, the vehicle speed calculation unit 42, the three methods of calculating the vehicle velocity _{V U_j} described above may be selectively used for each GPS satellite 10 _j. For example, for the GPS satellite 10 _j that is easily affected by the ionosphere based on GIM or the like, the calculation method of the number 2 that is not easily affected by the ionosphere may be employed. May be given a higher weight. Similarly, in the above-described embodiment, the error index value calculation unit 46 may use a plurality of types of calculation methods for the error index value q _j described above for each GPS satellite 10 _j .

In the above-described embodiment, the pseudo distance ρ is derived using the C / A code. However, the pseudo distance ρ may be measured based on another pseudo noise code such as an L2 wave P code. Good. In the case of a P code, since it is encrypted with a W code, when performing P code synchronization, the P code may be extracted by a DLL using a cross correlation method. The pseudorange [rho based on P-code, that M _P bit of P code to measure whether it is received by the vehicle 90 as P code GPS satellite 10 ₁ is bit 0, [rho _{'P =} M It can be determined as _P × 30.

  In the above-described embodiment, an example in which the present invention is applied to the GPS has been described. However, the present invention can also be applied to a satellite system below the GPS, for example, another GNSS (Global Navigation Satellite System) such as Galileo. is there.

1 is a system configuration diagram showing an overall configuration of a GPS to which a mobile positioning device according to the present invention is applied. 2 is a block diagram illustrating a main configuration of the vehicle-mounted device 1. FIG. 2 is a diagram illustrating an example of an internal configuration of a GPS receiver 20. FIG. It is a block diagram which shows the main structures of the positioning part 50 of a present Example. It is a flowchart which shows an example of the positioning process implement | achieved by the positioning part 50 of a present Example. It is a flowchart which shows an example of the positioning calculation process (step 618) of FIG. 6 is a flowchart showing another example of the positioning calculation process (step 618) of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Onboard equipment 10 GPS satellite 20 GPS receiver 40 Vehicle stop determination part 42 Vehicle speed calculation part 44 Memory 46 Error index value calculation part 48 Satellite selection part 49 Positioning calculation part 50 Positioning part 90 Vehicle

Claims (3)

In a mobile positioning device that is mounted on a mobile body and measures the position of the mobile body,
A moving body stop determining means for determining whether or not the moving body is stopped by an output signal of a sensor mounted on the moving body;
Mobile body speed deriving means for deriving the speed of the mobile body for each satellite using observation values of satellite radio waves observed while the mobile body is determined to be stopped by the mobile body stop determining means; ,
Satellite selecting means for selecting a satellite to be used for positioning based on the moving body speed for each satellite derived by the moving body speed deriving means;
Positioning means for positioning the position of the moving body during movement of the moving body after stopping using the satellite selected by the satellite selecting means ;
Based on the moving body speed derived by the moving body speed deriving means at a plurality of times while the moving body is determined to be stopped by the moving body stop determining means, the derived moving body speed is calculated. An error index value calculating means for calculating an index value representing an error for each satellite;
The satellite selecting means in accordance with the error index value of the error index value each satellite calculated by the calculating means, and selects the satellites to be used for positioning, moving body for positioning apparatus. The mobile positioning device according to claim 1 , wherein the satellite selection unit preferentially selects a satellite having a small error index value calculated by the error index value calculation unit. The error index value is an average value of the moving body speed derived by the moving body speed deriving means at a plurality of times while the moving body is determined to be stopped by the moving body stop determining means. dispersion body speed, the standard deviation of the mobile speed, low-pass value obtained by multiplying the moving body speed to the low-pass filter, the change rate of the low-pass value or an index value consisting of any combination, in claim 1 The positioning apparatus for moving bodies described.

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