WO2009115899A3 - Moving body positioning device and moving body positioning method - Google Patents

Moving body positioning device and moving body positioning method Download PDF

Info

Publication number
WO2009115899A3
WO2009115899A3 PCT/IB2009/000548 IB2009000548W WO2009115899A3 WO 2009115899 A3 WO2009115899 A3 WO 2009115899A3 IB 2009000548 W IB2009000548 W IB 2009000548W WO 2009115899 A3 WO2009115899 A3 WO 2009115899A3
Authority
WO
WIPO (PCT)
Prior art keywords
moving body
previous
pseudorange
estimated
body positioning
Prior art date
Application number
PCT/IB2009/000548
Other languages
French (fr)
Other versions
WO2009115899A2 (en
Inventor
Naoto Hasegawa
Hideaki Tampo
Original Assignee
Toyota Jidosha Kabushiki Kaisha
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Jidosha Kabushiki Kaisha filed Critical Toyota Jidosha Kabushiki Kaisha
Publication of WO2009115899A2 publication Critical patent/WO2009115899A2/en
Publication of WO2009115899A3 publication Critical patent/WO2009115899A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Abstract

A moving body positioning device according to the present invention includes: previous value PSR estimating means for computing an estimated previous value in a previous cycle based on a magnitude of a difference vector between a positioning result of the moving body in the previous cycle and a computed result of the satellite position in the previous cycle; PSR estimating means for computing an estimated pseudorange in the current cycle by adding the estimated previous value to a difference between ADRs that are computed in the previous and current cycles; and PSR error determination means for determining whether an error in the pseudorange exceeds a given allowable range, in which the positioning means determines the position of the moving body in the current cycle based on the estimated pseudorange when it is determined that the error in the pseudorange in the current cycle exceeds the given allowable range.
PCT/IB2009/000548 2008-03-19 2009-03-19 Moving body positioning device and moving body positioning method WO2009115899A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008-070908 2008-03-19
JP2008070908A JP2009229065A (en) 2008-03-19 2008-03-19 Positioning apparatus for moving body

Publications (2)

Publication Number Publication Date
WO2009115899A2 WO2009115899A2 (en) 2009-09-24
WO2009115899A3 true WO2009115899A3 (en) 2009-11-12

Family

ID=40911079

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2009/000548 WO2009115899A2 (en) 2008-03-19 2009-03-19 Moving body positioning device and moving body positioning method

Country Status (2)

Country Link
JP (1) JP2009229065A (en)
WO (1) WO2009115899A2 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011220793A (en) 2010-04-08 2011-11-04 Seiko Epson Corp Position calculation method and position calculation device
US9625573B2 (en) * 2010-04-08 2017-04-18 The Boeing Company Geolocation leveraging spot beam overlap
DE112012006602B4 (en) * 2012-06-27 2016-08-04 Mitsubishi Electric Corporation positioning
EP2806290A1 (en) * 2013-05-24 2014-11-26 O2 Micro, Inc. Systems and methods for estimating pseudorange errors
CN104181553A (en) * 2013-05-24 2014-12-03 凹凸电子（武汉）有限公司 Pseudo range error estimation method and system
CN104749587B (en) * 2013-12-31 2017-03-29 清华大学 Receiver pseudorange fault monitoring method and receiver
CN113884061B (en) * 2021-11-30 2022-03-25 腾讯科技（深圳）有限公司 Ramp recognition method, device, equipment, readable storage medium and program product

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5808581A (en) * 1995-12-07 1998-09-15 Trimble Navigation Limited Fault detection and exclusion method for navigation satellite receivers
US7095370B1 (en) * 2005-10-27 2006-08-22 Global Locate, Inc. Method and apparatus for mitigating multipath effects at a satellite signal receiver using a sequential estimation filter
US20060211430A1 (en) * 2005-03-17 2006-09-21 Persico Charles J GPS position tracking method with variable updating rate for power conservation

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07198821A (en) * 1994-01-06 1995-08-01 Japan Radio Co Ltd Gps receivr and its positoning method
JPH1114383A (en) * 1997-06-26 1999-01-22 Matsushita Electric Ind Co Ltd Position tracking system
JP2005164395A (en) * 2003-12-02 2005-06-23 Toyota Motor Corp Carrier wave phase type gps positioning apparatus and method
US7490008B2 (en) * 2004-09-17 2009-02-10 Itt Manufacturing Enterprises, Inc. GPS accumulated delta range processing for navigation applications
JP2006322846A (en) * 2005-05-19 2006-11-30 Mitsubishi Electric Corp Gps receiver
JP2007010550A (en) * 2005-07-01 2007-01-18 Japan Radio Co Ltd Positioning device and positioning method
JP4470944B2 (en) * 2007-01-24 2010-06-02 トヨタ自動車株式会社 Mobile positioning device
JP4424365B2 (en) * 2007-03-29 2010-03-03 トヨタ自動車株式会社 Positioning apparatus for moving body and positioning method for moving body

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5808581A (en) * 1995-12-07 1998-09-15 Trimble Navigation Limited Fault detection and exclusion method for navigation satellite receivers
US20060211430A1 (en) * 2005-03-17 2006-09-21 Persico Charles J GPS position tracking method with variable updating rate for power conservation
US7095370B1 (en) * 2005-10-27 2006-08-22 Global Locate, Inc. Method and apparatus for mitigating multipath effects at a satellite signal receiver using a sequential estimation filter

Also Published As

Publication number Publication date
WO2009115899A2 (en) 2009-09-24
JP2009229065A (en) 2009-10-08

Similar Documents

Publication Publication Date Title
WO2009115899A3 (en) Moving body positioning device and moving body positioning method
WO2013037844A3 (en) Method for selecting a satellite
WO2014006423A3 (en) Method of estimating position of user device
WO2010012303A3 (en) State vector estimation using a constraint derived from a map
WO2014091249A3 (en) Method of estimating the position of a device
PH12013000049A1 (en) Methods and apparatus to arbitrate valve position sensor redundancy
WO2015193453A3 (en) Method for verifying the plausibility of gnss position signals
WO2011001251A3 (en) Power supply system, electric vehicle provided with same, and control method of power supply system
WO2008054191A3 (en) Navigation device with automatic gps precision enhancement
WO2013071257A3 (en) Sensor auto-calibration
WO2010073113A8 (en) Gnss receiver and positioning method
SI2113786T1 (en) Method for autonomous determination of protection levels for GNSS positioning based on navigation residuals and an isotropic confidence ratio
WO2014095510A3 (en) Method for determining a reference position as the starting position for an inertial navigation system
PL2239180T3 (en) Friction estimation and detection for an electric power steering system
WO2013034698A3 (en) Adhesion determination for a rail vehicle
WO2009041233A1 (en) Mold clamping device and method of controlling mold clamping
WO2014102190A3 (en) Method for determining a point of time for providing a functionality by means of a driver assistance system of a motor vehicle, driver assistance system and motor vehicle
WO2014015977A3 (en) Method and device for the geoposition-based control of systems affected by delays
WO2011124959A8 (en) Gnss receiver and positioning method
WO2011153421A3 (en) Determining forward pointing direction of a handheld device
WO2012050375A3 (en) Device for measuring and method for correcting same
WO2012158922A3 (en) System and method for gain regulation
WO2011097169A3 (en) Measurement method for a component of the gravity vector
MX2014002805A (en) A method and system of recalibrating an inertial sensor.
TWI265283B (en) Position control device and its control method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 09722762

Country of ref document: EP

Kind code of ref document: A2

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 09722762

Country of ref document: EP

Kind code of ref document: A2