CN101384920B - Positioning device, positioning control method - Google Patents
Positioning device, positioning control method Download PDFInfo
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- CN101384920B CN101384920B CN2007800059588A CN200780005958A CN101384920B CN 101384920 B CN101384920 B CN 101384920B CN 2007800059588 A CN2007800059588 A CN 2007800059588A CN 200780005958 A CN200780005958 A CN 200780005958A CN 101384920 B CN101384920 B CN 101384920B
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Abstract
A positioning device includes a phase calculation section which performs a correlation process of a specific positioning base code replica and a positioning base code from a specific transmission source to calculate a present phase of the positioning base code, an estimated phase calculation section which calculates an estimated phase when estimating the present phase based on the phase used for preceding positioning, a Doppler shift of a frequency of a radio wave carrying the positioning base code, and an elapsed time from the preceding positioning, a phase difference evaluation section which determines whether or not a phase difference between the calculated present phase and the estimated phase is within a phase difference allowable range specified in advance, and a positioning section which locates a present position using the phase within the phase difference allowable range.
Description
Technical field
The present invention relates to be used to locating device, position control method, positioning control program and storage medium from the electric wave of communication sources.
Background technology
At present, utilize satellite navigation system for example GPS (Global Positioning System: the positioning system that GPS) current location of GPS receiver is positioned is widely used.
This GPS receiver based on the navigation information of the track etc. of expression gps satellite (comprise the summary satellite-orbit information: Almanac, accurate satellite-orbit information: precise ephemeris etc.), receive pseudo-noise code on the electric wave that is equipped on gps satellite and sends (below be called the satellite electric wave) (below be called PN (Psuedo random noise code: pseudo-random code) sign indicating number), be C/A (Clear and Acquision or Coarse and Access: sign indicating number thick catch code).The C/A sign indicating number is the sign indicating number as the basis, location.
The GPS receiver is specifying its C/A sign indicating number after which gps satellite sends, and for example, based on the phase place (code phase) of its C/A sign indicating number, calculates the distance (pseudorange) of gps satellite and GPS receiver.And the GPS receiver is based on pseudorange and the position of each gps satellite on satellite orbital position more than or equal to 3 gps satellite, and the position of GPS receiver is positioned.For example, the C/A sign indicating number is that the bit rate of 1.023Mbps, the length of sign indicating number are 1023.Therefore, can think the C/A sign indicating number whenever at a distance from about 300 kms (km) of the distance of advancing as electric wave in 1 millisecond of (ms) time, arrangement is advanced.Therefore,, what C/A sign indicating numbers are arranged between gps satellite and GPS receiver, can calculate pseudorange through calculating according to the position of gps satellite on satellite orbit and the general location of GPS receiver.In more detail, calculate the distance (integral part of C/A sign indicating number) in corresponding 1 cycle of C/A sign indicating number (1023), and, if specify the phase place (the remainder part of C/A sign indicating number) of C/A sign indicating number just can calculate pseudorange.Here, the general location that the integral part of C/A sign indicating number can be inferred the GPS receiver is a certain precision, for example, in 150km.Therefore, the GPS receiver can calculate pseudorange through the phase place of specifying the C/A sign indicating number.
For example, the GPS receiver C/A sign indicating number of obtaining reception with inner the duplicating the relevant of C/A sign indicating number and add up of generating of GPS receiver, the phase place of appointment C/A sign indicating number when the aggregate-value of being correlated with reaches certain level (level).At this moment, the phase place and the frequency of duplicating the C/A sign indicating number carried out relevant treatment while the GPS receiver staggers.
But, when a little less than the received-signal strength of the satellite electric wave that carries the C/A sign indicating number, can not get sufficient signal intensity, specify the phase place of the C/A sign indicating number difficulty that becomes.
Be directed to this, a kind of so technological motion is arranged, the result of the part (segment) of (synchronously) continuous combined treatment reception signal is up to reaching threshold signal to noise ratio (SNR) (for example, patent documentation 1) in relevant.
Patent documentation 1: special table 2004-501352 communique
But and since gps satellite and GPS receiver relative to move, so the arrival frequency of the satellite electric wave of arrival GPS receiver changes because of Doppler shift.
When a little less than the signal intensity, exist the arrival frequency of the satellite electric wave that arrives the GPS receiver to be difficult to and situation here, to the arrival Frequency Synchronization that changes continuously with frequency synchronously of GPS receiver one side.
And, when GPS receiver one side arrive frequency with frequency departure synchronously the time, even relevant aggregate-value reaches certain level (rank), the precision of the phase place of C/A sign indicating number at that time is deterioration also.Therefore, when using its phase place to position, there is the situation of the precision deterioration of position location.
Summary of the invention
Therefore, the object of the present invention is to provide at received-signal strength to be under the faint electric field, can be after the precision of the phase place of verifying the location basic code, the locating device that precision positions well, the control method of locating device and control program thereof, storage medium.
First aspect present invention relates to a kind of locating device, comprising: phase calculation portion, and that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the current phase place of said location basic code; The predicted phase calculating part calculates Doppler shift and the elapsed time when locating since last time and the predicted phase when having predicted current said phase place of the frequency of the electric wave that was based on when locating last time the said phase place used, is equipped with said location basic code; The phase differential evaluating part, whether the phase differential of judging the said phase place that calculates through said phase calculation portion and said predicted phase is in the phase differential permissible range of regulation; And the location division, use the said phase place of the said phase differential in the corresponding said phase differential permissible range, current location is positioned.
According to the present invention, locating device is owing to have the phase differential evaluating part, so can judge that phase differential is whether in said phase differential permissible range.That is to say that locating device can be verified the precision of phase place.
In addition, locating device is owing to having the location division, so can use the phase place of the phase differential in the corresponding phase difference permissible range that current location is positioned.
In view of the above, be under the faint electric field at received-signal strength, locating device can be after the precision of the phase place of verifying the location basic code, and precision positions well.
In addition; The locating device that second aspect present invention relates to; Said phase calculation portion uses a plurality of frequency series calculation to go out said phase place, and said phase differential evaluating part judges that the phase differential of said phase place that the maximum frequency series calculation of signal intensity of using the basic code of location described in said a plurality of frequency series goes out and said predicted phase is whether in said phase differential permissible range.
According to the present invention, phase calculation portion uses a plurality of frequency series calculation to go out phase place.The precision of the receive frequency of any one frequency series should be higher than other the precision of receive frequency of frequency series.Therefore, in the high receive frequency of precision locating device can to calculate the possibility of phase place big.
Usually it is the highest to infer the precision reliability of the receive frequency in the maximum frequency series of signal intensity here.Therefore, can infer the phase place phase accuracy height more serial that in the frequency series of signal intensity maximum, calculates usually than other frequency.
But, under extremely faint electric field, the precision of the receive frequency in the maximum frequency series of signal intensity is may not reliability the highest.
About this point, owing to can verify the precision of the phase place that in the maximum frequency series of the signal intensity of location basic code, calculates, and from the location, get rid of, calculate the bad position location of precision under the faint electric field so can prevent to be at received-signal strength.
In addition; The locating device that third aspect present invention relates to; Corresponding each communication sources of said phase calculation portion uses that at least one frequency series stipulates duplicates the location basic code and from the said relevant treatment of the location basic code of said communication sources; Calculate the phase place of location basic code; Said location division comprises: phase place selection portion, and in the said phase place of the said phase differential in the said phase differential permissible range of correspondence, corresponding each said communication sources selects the minimum said phase place of said phase differential to be regarded as selecting phase place; Select phase place first evaluating part, judge whether the signal intensity of said selection phase place is maximum; Select phase place second evaluating part, judge in the said phase place stipulated number scope that whether number of times in said phase differential permissible range is being predesignated continuously in the affiliated said frequency series of said selection phase place; When being sure, use said selection phase place that current location is positioned based on the judged result of said selection phase place first evaluating part and/or based on the judged result of said selection phase place second evaluating part.
According to the present invention, locating device is owing to have the phase differential evaluating part, so can judge that phase differential is whether in the phase differential permissible range.That is to say that locating device can be verified the precision of phase place.
In addition, locating device is owing to having phase place selection portion, so can corresponding each communication sources calculate the selection phase place.Because selecting phase place is the minimum phase place of phase differential, the phase accuracy more serial than other frequency is high.
Locating device is owing to also having the phase place of selection first evaluating part, so can judge whether the signal intensity of selecting phase place is maximum.As select the signal intensity of phase place maximum, can think that selecting phase place to compare with other phase place guarantees that precision is high.And locating device is owing to have a location division, so when being sure according to the judged result of selecting phase place first evaluating part, can use the selection phase place that current location is positioned.
In view of the above, be under the faint electric field at received-signal strength, locating device can be after the precision of the phase place of verifying the location basic code, and precision positions well.
Here, under extremely faint electric field, the signal intensity of the phase place that phase differential is minimum may not be maximum.That is to say that although it is high to select the precision of phase place to compare with other phase place, having its signal intensity is not maximum situation.Therefore, even be not under the situation of maximum preferably,, just in the location, use and select phase place as long as can confirm to select the precision of phase place in signal intensity.
In this; Locating device is owing to have the phase place of selection second evaluating part; So the phase place in the frequency series under selecting phase place when the number of times in the phase differential permissible range is in the stipulated number scope continuously, can be used and select phase place that current location is positioned.
In view of the above, even locating device also can the high phase place of service precision position when the judged result according to selection phase place first evaluating part is to negate.
In addition, said phase place the when locating device that fourth aspect present invention relates to, said predicted phase calculating part can use and locate as last time and the said phase place when said relevant treatment finishes calculate said predicted phase.
In the process of relevant treatment, improve such as SNR (signal noise ratio) when ratio begins during the relevant treatment end, locate basic code owing to can from noise, distinguish clearly, so the precision of phase place is high.
In this, the predicted phase calculating part is because said phase place and the phasometer when relevant treatment finishes when using located last time are calculated predicted phase, so can calculate the high said predicted phase of precision.
That is to say that locating device can calculate becomes the high predicted phase of precision that is used for the basis that precision positions well.
In addition, the locating device that fifth aspect present invention relates to comprises: the receive frequency specifying part, specify the receive frequency when receiving the electric wave that is equipped with said location basic code; The difference on the frequency evaluating part, whether the difference on the frequency of judging said receive frequency and current said receive frequency when located for last time is in the difference on the frequency permissible range of predesignating; Phase place eliminating portion, the phase place of the said location basic code of the said difference on the frequency from the location outside the corresponding said difference on the frequency permissible range of eliminating.
According to the present invention, locating device is owing to having phase place eliminating portion, so can from the location, get rid of the phase place of the location basic code of the difference on the frequency outside the respective frequencies difference permissible range.
This meaning locating device is not only verified the precision of the phase place of location basic code, also can verify the precision of the receive frequency when calculating phase place.And the precision of receive frequency is high more, and the precision of phase place is also high more.
In view of the above, be under the faint electric field at received-signal strength, locating device can be after the precision of the phase place of verifying the location basic code, and further precision positions well.
In addition, the locating device that sixth aspect present invention relates to comprises: the receive frequency specifying part of specifying the receive frequency when receiving the electric wave that is equipped with said location basic code; Whether the difference on the frequency of judging said receive frequency and current said receive frequency when located for last time difference on the frequency evaluating part in the difference on the frequency permissible range of predesignating; The phase place eliminating portion of the phase place of the said location basic code of the said difference on the frequency from the location outside the corresponding said difference on the frequency permissible range of eliminating; Wherein, Said each frequency series departs from the frequency interval of predesignating mutually, and the threshold value of said difference on the frequency permissible range lack of foundation said frequency interval is stipulated.
According to the present invention, when the maximum said frequency series of signal intensity is changed, can from the location, get rid of phase place at that time.This meaning frequency series that continuous signal intensity is maximum is regarded as being used for using in the location condition of phase place.
In view of the above, owing to can in the location, use the phase place that in the frequency series of Doppler shift of the frequency of the electric wave of preferably following the arrival locating device, calculates, precision positions well so can be under the faint electric field further at received-signal strength.
In addition; The locating device that seventh aspect present invention relates to; Comprise based on the accepting state of said location basic code and confirm that the phase differential permissible range of said phase differential permissible range confirms portion, said phase differential evaluating part judges whether in the said phase differential permissible range that is determined.
According to the present invention, locating device is confirmed portion owing to have the phase differential permissible range, so can confirm the phase differential permissible range based on the accepting state of location basic code.
And locating device is owing to have the phase differential evaluating part, so can judge that phase differential is whether in the phase differential permissible range.Therefore, locating device can be verified the precision of phase place.
In addition, locating device, positions current location so can use the phase place of the phase differential in the corresponding phase difference permissible range owing to have the location division.
In view of the above, be under the faint electric field at received-signal strength, locating device can be after the precision of the phase place of verifying the location basic code, and precision positions well.
In addition, the locating device that eighth aspect present invention relates to, said accepting state comprises the quantity of the said communication sources of the said location basic code that said locating device receives.
According to the present invention, for example, that locating device receives the quantity of communication sources of location basic code is many more, locating device can be provided with the phase differential permissible range more narrowly, in the location, only uses the high phase place of relative accuracy.
In view of the above, be under the faint electric field at received-signal strength, locating device can use the high phase place of relative precision to position.
In addition, the locating device that nineth aspect present invention relates to, said accepting state comprises the signal intensity of the said location basic code that said locating device receives.
According to the present invention, for example, the quantity of the stronger communication sources of signal intensity of the location basic code that receives of locating device is many more, locating device can be provided with the phase differential permissible range more narrowly, in the location, only uses the high phase place of relative accuracy.
In view of the above, be under the faint electric field at received-signal strength, locating device can use the high phase place of relative accuracy to position.
In addition, the locating device that tenth aspect present invention relates to, whether the drift that said accepting state comprises the reference clock of representing said locating device information in the drift permissible range of predesignating.
According to the present invention, said drift is more little, and locating device can precision calculate said phase place more well.
For example, when drift in the drift permissible range in the time, the phase differential permissible range can be set narrowlyer, in the location, only use the high phase place of relative precision.
In view of the above, be under the faint electric field at received-signal strength, locating device can use the high said phase place of relative accuracy to position.
In addition, the locating device that the present invention the tenth relates in one aspect to, said accepting state comprises the information in the elapsed time after the said relevant treatment of expression beginning.
According to the present invention, the said elapsed time is long more, can critically specify the phase place of location basic code more.For example, the elapsed time is long more, and the phase differential permissible range is set more narrowly, can in the location, only use the high phase place of relative accuracy.
In view of the above, be under the faint electric field at received-signal strength, locating device can use the high said phase place of relative accuracy to position.
In addition; The locating device that the present invention the 12 aspect relates to; The quantity of said communication sources that said locating device receives said location basic code is many more; Said phase differential permissible range confirms that portion is narrow more said phase differential permissible range is set, and the quantity of said communication sources that said locating device receives said location basic code is few more, and said phase differential permissible range confirms that portion is provided with said phase differential permissible range more widely.
According to the present invention, because the quantity of the communication sources of locating device reception location basic code is many more, locating device is provided with the phase differential permissible range more narrowly, so can the high phase place of service precision position.
In addition, because the quantity of the communication sources of locating device reception location basic code is few more, locating device is provided with the phase differential permissible range more widely, so can improve the possibility that can calculate the position location.
And, can constitute a kind of locating device, said communication sources is SPS (SatellitePositioning System: global position system) satellite.
In addition, a kind of position control method that the invention still further relates to comprises: the phase calculation step, and that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the phase place of said location basic code; The predicted phase calculation procedure calculates Doppler shift and the elapsed time when locating since last time and the predicted phase when having predicted current said phase place of the frequency of the electric wave that was based on when locating last time the said phase place used, is equipped with said location basic code; The phase differential evaluation procedure, whether the phase differential of judging the said phase place in said phase calculation step, calculate and said predicted phase is in the phase differential permissible range of regulation; Positioning step uses the said phase place of the said phase differential in the corresponding said phase differential permissible range, and current location is positioned.
In addition; The position control method that the present invention relates on the other hand; Wherein, Said phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and, calculate the step of the phase place of location basic code from the said relevant treatment of the location basic code of said communication sources, said positioning step comprises: phase place is selected step; In the said phase place of the said phase differential in the said phase differential permissible range of correspondence, corresponding each said communication sources selects the minimum said phase place of said phase differential to be regarded as selecting phase place; Select phase place first evaluation procedure, judge whether the signal intensity of said selection phase place is maximum; Select phase place second evaluation procedure, judge in the said phase place stipulated number scope that whether number of times in said phase differential permissible range is being predesignated continuously in the affiliated said frequency series of said selection phase place; In said positioning step, when being sure, use said selection phase place that current location is positioned according to the judged result of said selection phase place first evaluation procedure and/or according to the judged result of said selection phase place second evaluation procedure.
In addition; A kind of position control method that the present invention relates on the other hand; Comprise that the phase differential permissible range confirms step; Based on the accepting state of said location basic code, confirm said phase differential permissible range, said phase differential evaluation procedure is the step that judges whether in the said phase differential permissible range that is determined.
In addition; The invention still further relates to a kind of positioning control program; Be used to make computing machine to carry out following steps: the phase calculation step, that stipulates duplicates the location basic code and from the relevant treatment of the location basic code of the communication sources of regulation, calculates the current phase place of said location basic code; The predicted phase calculation procedure calculates Doppler shift and the elapsed time when locating since last time and the predicted phase when having predicted current said phase place of the frequency of the electric wave that was based on when locating last time the said phase place used, is equipped with said location basic code; The phase differential evaluation procedure, whether the phase differential of judging the current said phase place in said phase calculation step, calculate and said predicted phase is in the phase differential permissible range of regulation; And positioning step, use the said phase place of the said phase differential in the corresponding said phase differential permissible range, current location is positioned.
In addition; The positioning control program that the present invention relates on the other hand; Wherein, Said phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and, calculate the step of the phase place of location basic code from the said relevant treatment of the location basic code of said communication sources, said positioning step comprises: phase place is selected step; In the said phase place of the said phase differential in the said phase differential permissible range of correspondence, corresponding each said communication sources selects the minimum said phase place of said phase differential to be regarded as selecting phase place; Select phase place first evaluation procedure, judge whether the signal intensity of said selection phase place is maximum; Select phase place second evaluation procedure, judge in the said phase place of said selection phase place in the affiliated said frequency series stipulated number scope that whether number of times in said phase differential permissible range is being predesignated continuously; In said positioning step, when being sure, use said selection phase place that current location is positioned according to the judged result of said selection phase place first evaluation procedure and/or according to the judged result of said selection phase place second evaluation procedure.
In addition; The positioning control program that the present invention relates on the other hand; Said positioning control program makes said computing machine excute phase difference permissible range confirm step; Based on the accepting state of said location basic code, confirm said phase differential permissible range, said phase differential evaluation procedure is the step that judges whether in the said phase differential permissible range that is determined.
In addition; The invention still further relates to a kind of computer-readable recording medium; Record positioning control program; Said positioning control program makes computing machine carry out following steps: the phase calculation step, and that stipulates duplicates the location basic code and from the relevant treatment of the location basic code of the communication sources of regulation, calculates the current phase place of said location basic code; The predicted phase calculation procedure calculates Doppler shift and the effluxion when locating since last time and the predicted phase when having predicted current said phase place of the frequency of the electric wave that was based on when locating last time the said phase place used, is equipped with said location basic code; The phase differential evaluation procedure, whether the phase differential of judging the said phase place in said phase calculation step, calculate and said predicted phase is in the phase differential permissible range of regulation; And positioning step, use the said phase place of the said phase differential in the corresponding said phase differential permissible range, current location is positioned.
In addition; The storage medium that the present invention relates on the other hand; Record said positioning control program, wherein, said phase calculation step be corresponding each communication sources use that at least one frequency series stipulates duplicate the location basic code and from the said relevant treatment of the location basic code of said communication sources; Calculate the step of the phase place of location basic code; Said positioning step comprises: phase place is selected step, and in the said phase place of the said phase differential in the said phase differential permissible range of correspondence, corresponding each said communication sources selects the minimum said phase place of said phase differential to be regarded as selecting phase place; Select phase place first evaluation procedure, judge whether the signal intensity of said selection phase place is maximum; Select phase place second evaluation procedure, judge the said phase place of said selection phase place in affiliated said frequency series, in the stipulated number scope that whether number of times in said phase differential permissible range is being predesignated continuously; In said positioning step, when being sure, use said selection phase place that current location is positioned based on the judged result of said selection phase place first evaluation procedure and/or based on the judged result of said selection phase place second evaluation procedure.
In addition; The storage medium that the present invention relates on the other hand; Record said positioning control program, said positioning control program makes said computing machine excute phase difference permissible range confirm step, based on the accepting state of said location basic code; Confirm said phase differential permissible range, said phase differential evaluation procedure judges whether in the said phase differential permissible range that is determined.
Description of drawings
Fig. 1 is the skeleton diagram at the terminal etc. of expression first embodiment.
Fig. 2 is the concept map that is illustrated in the localization method among first embodiment.
Fig. 3 is the key diagram of the relevant treatment in first embodiment.
Fig. 4 is the figure of an example that is illustrated in the relation of relevant aggregate-value and code phase among first embodiment.
Fig. 5 is the figure of an example that is illustrated in the relation of candidate code phase and effluxion etc. among first embodiment.
Fig. 6 is the figure of an example that is illustrated in the relation of candidate code phase and effluxion etc. among first embodiment.
Fig. 7 is the skeleton diagram that the main hardware at the terminal among expression first embodiment constitutes.
Fig. 8 is the skeleton diagram of an example of the formation of the GPS device of expression among first embodiment.
Fig. 9 is the skeleton diagram that the main hardware at the terminal among expression first embodiment constitutes.
Figure 10 is the key diagram of inferring the frequency computation part program among first embodiment.
Figure 11 A is the key diagram of the measurement calculation procedure among first embodiment.
Figure 11 B is the key diagram of the measurement calculation procedure among first embodiment.
Figure 11 C is the key diagram of the measurement calculation procedure among first embodiment.
Figure 12 is the key diagram of the predictive code phase calculation program among first embodiment.
Figure 13 is the general flowchart of the action example at the terminal among expression first embodiment.
Figure 14 is the skeleton diagram (synoptic diagram) at the terminal etc. of expression second embodiment.
Figure 15 is the concept map of the localization method among expression second embodiment.
Figure 16 is the key diagram of the relevant treatment among second embodiment.
Figure 17 is a routine figure of the relation of the relevant aggregate-value of expression among second embodiment and code phase.
Figure 18 is the figure of an example of the relation between candidate code phase and the effluxion of expression among second embodiment etc.
Figure 19 is the figure of an example of the relation between candidate code phase and the effluxion of expression among second embodiment etc.
Figure 20 is the skeleton diagram that the main hardware among expression second embodiment constitutes.
Figure 21 is the figure of an example of the formation of the GPS device of expression among second embodiment.
Figure 22 is the skeleton diagram that the main software at the terminal among expression second embodiment constitutes.
Figure 23 is the key diagram of inferring the frequency computation part program among second embodiment.
Figure 24 A is the key diagram of the measurement calculation procedure among second embodiment.
Figure 24 B is the key diagram of the measurement calculation procedure among second embodiment.
Figure 24 C is the key diagram of the measurement calculation procedure among second embodiment.
Figure 25 is the figure of an example of the current metrical information among expression second embodiment.
Figure 26 be expression among second embodiment last time metrical information the figure of an example.
Figure 27 is the key diagram of the predictive code phase calculation program among second embodiment.
Figure 28 is the figure of an example of the predictive code phase information among expression second embodiment.
Figure 29 is the key diagram of the option code phase place program among second embodiment.
Figure 30 is the figure of an example of the option code phase information among expression second embodiment.
Figure 31 A is the key diagram of option code phase place second assessment process among second embodiment.
Figure 31 B is the key diagram of option code phase place second assessment process among second embodiment.
Figure 31 C is the key diagram of option code phase place second assessment process among second embodiment.
Figure 32 is the figure that an example of code phase information is used in the location among expression second embodiment.
Figure 33 is the general flowchart of the action example at the terminal among expression second embodiment.
Figure 34 is the general flowchart of the action example at the terminal among expression second embodiment.
Figure 35 is the skeleton diagram at the terminal etc. of expression the 3rd embodiment.
Figure 36 is the concept map that is illustrated in the localization method among the 3rd embodiment.
Figure 37 is the key diagram of the relevant treatment in the 3rd embodiment.
Figure 38 is the figure of an example that is illustrated in the relation of relevant aggregate-value and code phase among the 3rd embodiment.
Figure 39 is the figure of an example of the relation between candidate code phase and the effluxion etc. that are illustrated among the 3rd embodiment.
Figure 40 is the figure of an example of the relation between candidate code phase and the effluxion etc. that are illustrated among the 3rd embodiment.
Figure 41 is the skeleton diagram that the main hardware at the terminal among expression the 3rd embodiment constitutes.
Figure 42 is the skeleton diagram of an example of the formation of the GPS device of expression among the 3rd embodiment.
Figure 43 is the skeleton diagram that the main software at the terminal among expression the 3rd embodiment constitutes.
Figure 44 is the key diagram of inferring the frequency computation part program among the 3rd embodiment.
Figure 45 A is the key diagram of the measurement calculation procedure among the 3rd embodiment.
Figure 45 B is the key diagram of the measurement calculation procedure among the 3rd embodiment.
Figure 45 C is the key diagram of the measurement calculation procedure among the 3rd embodiment.
Figure 46 is the key diagram of the predictive code phase calculation program among the 3rd embodiment.
Figure 47 is the key diagram of the code phase threshold setting program among the 3rd embodiment.
Figure 48 is the general flowchart of the action example at the terminal among expression the 3rd embodiment.
Embodiment
Below, with reference to accompanying drawing etc. the preferred embodiments of the present invention are described at length.
In addition, the embodiment that below describes is a preferred specific embodiment of the present invention, therefore; Various preferred qualifications have been added technically; In following explanation, short ofly be used for limiting especially description of the invention, scope then of the present invention is not limited to these embodiments.
In addition, describe in the face of three big embodiment down.Each embodiment includes common item.But, for the terminal of clear and definite each embodiment can independently constitute, common item is specially repeatedly described.
(first embodiment)
Fig. 1 is the skeleton diagram at the terminal 1020 of expression first embodiment.
As shown in Figure 1, terminal 1020 can receive from position location satellite for example, GPS (Global Positioning System: GPS) electric wave S1, S2, S3, S4, S5, S6, S7 and the S8 of satellite 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h.Gps satellite 12a etc. is an example of communication sources.In other words, communication sources can be that (Satellite Positioning System: global position system) satellite is not limited to gps satellite to SPS.
On electric wave S1 etc., carry various sign indicating numbers (code).One of them is C/A sign indicating number Sca.This C/A sign indicating number Sca is 1.023Mbps bit rate, 1023bit (=1msec) the long signal in position.C/A sign indicating number Sca is made up of 1023 (chip: chip, code element).Terminal 1020 is examples of the locating device of location current location, utilizes this C/A sign indicating number Sca that current location is positioned.This C/A sign indicating number Sca is an example of location basic code.
In addition, the information as carrying on electric wave S1 etc. has Almanac Sal and precise ephemeris Seh.Almanac Sal is the information of satellite orbit of the summary of the whole gps satellite 12a of expression etc., and precise ephemeris Seh is the information of satellite orbit of the precision of each gps satellite of expression 12a etc.Almanac Sal and precise ephemeris Seh are referred to as navigation information.
Terminal 1020 can position current location such as the phase place of appointment more than or equal to the C/A sign indicating number of 3 transmissions such as different gps satellite 12a.
Fig. 2 is the concept map (synoptic diagram) of an example of expression localization method.
As shown in Figure 2, for example, be appreciated that be that the C/A sign indicating number arranges continuously between gps satellite 12a and terminal 1020.And the distance between gps satellite 12a and the terminal 1020 is not limited to the integral multiple of the length (300 kms (km)) of C/A sign indicating number, so there is sign indicating number remainder portion C/Aa.In other words, the part and the remainder part that between gps satellite 12a and terminal 1020, have the integral multiple of C/A sign indicating number.The length of the total of the part of the integral multiple of C/A sign indicating number and remainder part is pseudorange.Terminal 1020 utilizes the pseudorange of relevant gps satellite 12a more than or equal to 3 etc. to position.
In the present embodiment, call code phase to the remainder portion C/Aa of C/A sign indicating number.Code phase can be scaled the distance expression again such as representing with how many sheets of certain sheet of C/A sign indicating number 1023.When calculating pseudorange, code phase is converted into distance.
Utilize precise ephemeris Seh can calculate gps satellite 12a position in orbit.And, according to calculate gps satellite 12a in orbit the position and after distance between the initial position QA0 that states, just can confirm the part of the integral multiple of C/A sign indicating number.In addition, the length of C/A sign indicating number is 300 kms (km), so the site error of initial position QA0 must be in 150 kms (km).
And, as shown in Figure 2, such as moving the phase place of duplicating the C/A sign indicating number to arrow X1 direction on one side, Yi Bian carry out relevant treatment.At this moment, while changing synchronously, terminal 1020 carries out relevant treatment with frequency.This relevant treatment by after relevant processing and the incoherent processing stated constitute.
It is a yard remainder C/Aa that relevant aggregate-value becomes maximum phase place.
In addition, can be different with first embodiment, terminal 1020 positions such as the electric wave that the communication base station that can utilize pocket telephone sends.Can also be different with first embodiment, terminal 1020 also can utilize LAN, and (Local Area Network: the electric wave that LAN) sends positions.
Fig. 3 is the key diagram of relevant treatment.
Relevant is to obtain the C/A sign indicating number that terminal 1020 receives and duplicate the relevant processing between the C/A sign indicating number.Duplicating the C/A sign indicating number is the code that terminal 1020 produces.Duplicating the C/A sign indicating number is an example of duplicating the location basic code.
As shown in Figure 3, as being coherence time 10msec, then calculating at the C/A sign indicating number of inter-sync accumulative total (integration) during the 10msec and duplicate correlation between the C/A sign indicating number etc.Obtain phase place (code phase) and correlation after being correlated with as relevant process result output.
Incoherent is the processing that calculates relevant aggregate-value (incoherent value) through the relevant result's of accumulative total correlation.
As the result of relevant treatment, code phase and relevant aggregate-value that output is exported in relevant the processing.
Fig. 4 is a routine figure of the relation of relevant aggregate-value of expression and code phase.
The code phase CP1 of the maximal value Pmax of the relevant aggregate-value of corresponding diagram 4 is the code phase that duplicates the C/A sign indicating number, is the code phase of C/A sign indicating number.
And terminal 1020 is regarded as the little side's of aggregate-value that is correlated with relevant aggregate-value the relevant aggregate-value Pnoise of noise such as from the code phase CP1 distance code phase of two/a slice.
Stipulate the difference of Pmax and Pnoise as signal intensity XPR divided by the value of Pmax at terminal 1020.Signal intensity XPR is an example of signal intensity.
And, for example, when XPR more than or equal to 0.2 the time, the candidate of the code phase that terminal 1020 is regarded as code phase CP1 in the location, to use.Below, this code phase is called " candidate code phase ".The candidate code phase is the candidate of in the location, using, and in fact not necessarily use in the location at terminal 1020.
Fig. 5 and Fig. 6 are routine figure of the relation of expression candidate code phase and effluxion etc.
For example, Fig. 5 illustrates gps satellite 12a near the state at terminal 1020.
Near terminal 1020, then the distance between gps satellite 12a and the terminal 1020 shortens like gps satellite 12a, so candidate code phase C1 approaches 0 in effluxion.
In addition, in effluxion, set so that frequency gets higher with frequency F1 synchronously.This is because owing to the Doppler shift that produces near terminal 1020 for gps satellite 12a, the arrival frequency gets higher during corresponding electric wave S1 incoming terminal 1020.
Terminal 1020 for effectively with the arrival Frequency Synchronization that will change, for example, as shown in Figure 6, use 3 frequencies series F1, F2 and F3.Frequency series F1 etc. is an example of frequency series.Frequency series F1 and F2 depart from the band width of 50 hertz (Hz).In addition, frequency series F1 and F3 depart from the band width of 50 hertz (Hz).Preestablish the frequency interval of 50 hertz (Hz).That is to say that the frequency interval of 50 hertz (Hz) is an example of frequency interval.This frequency interval is to be stipulated less than the stepped intervals of the frequency search of terminal 1020 in the relevant treatment of implementing.Stepped intervals such as frequency search is 100 hertz (Hz) (with reference to Figure 11 B), then to stipulate less than 100 hertz of quilts.
In addition, frequency series F1 etc. can be a plurality of, also can be different with first embodiment, for example, more than or equal to 4.
As shown in Figure 6, prediction arrives the Doppler shift of frequency, so that each frequency series F1 etc. set in effluxion to change.
And, should precision follow the Doppler shift that arrives frequency best for any one of each frequency series F1 etc.
Calculate the code phase C1 in frequency series F1.And, calculate the code phase C2 in frequency series F2.And, calculate the code phase C3 in frequency series F3.
Like this, can suppose to calculate three code phase C1 etc. simultaneously, but the reliability of the candidate code phase that under the highest state of signal intensity XPR, is calculated is also the highest.
But, be not limited to XPR and be maintained at the highest frequency series F1 etc.For example, as shown in Figure 6, the highest such as the XPR of the candidate code phase C1 that in frequency series F1, calculates during between time t1 and the t2, the XPR of the candidate code phase C2 that in frequency series F2, calculates during between time t2 and the t3 is the highest.
Based on the Doppler shift of prediction, change the frequency of each frequency series F1 etc., thus the candidate code phase that in any one frequency series, calculates, should be higher than the candidate code phase precision that in other the frequency series that continues, calculates.In other words, for example, frequency series F1 compares with other frequency series F2 and F3, should precision best follow actual arrival frequency continuously.
Therefore, when changing frequency series because of effluxion, the candidate code phase precision that under the high state of XPR, calculates may not be the highest.
This point, terminal 1020 constitute through following hardware and software is formed in after the precision of checking candidate code phase under the weak electric field, can high the positioning of precision.
(main hardware at terminal 1020 constitutes)
Fig. 7 is the skeleton diagram that the main hardware at expression terminal 1020 constitutes.
As shown in Figure 7, terminal 1020 includes computing machine, and computing machine includes bus 1022.Central processing unit) 1024, memory storage 1026 etc. on bus 1022, be connected with CPU (Central Processing Unit:.RAS), ROM (Read Only Memory: ROM (read-only memory)) etc. memory storage 1026 is such as being RAM (Random AccessMemory:.
In addition, on bus 1022, be connected with input media 1028, supply unit 1030, GPS device 1032, display device 1034, communicator 1036 and clock 1038.
(formation of GPS device 1032)
Fig. 8 is the skeleton diagram of the formation of expression GPS device 1032.
As shown in Figure 8, GPS device 1032 is made up of 1032a of RF portion and base band part 1032b.
The 1032a of RF portion receives electric wave S1 etc. with antenna 1033a.And, amplify the signal of the C/A sign indicating number that carries on electric wave S1 etc. as the LNA1033b of amplifier.And frequency converter 1033c carries out frequency downconversion with the frequency of signal.And quadrature (IQ) detecting device (sensor) 1033d separates signal IQ.Then, A/D converter 1033e1 and 1033e2 are digital signal with the conversion of signals that IQ separates respectively.
(main software at terminal 1020 constitutes)
Fig. 9 is the skeleton diagram that the main software at expression terminal 1020 constitutes.
As shown in Figure 9, terminal 1020 comprises: control the control part 1100 of each one, the GPS portion 1102 corresponding with the GPS device of Fig. 7 1032 and with corresponding timing portion 1104 of clock 1038 etc.
Terminal 1020 also comprises: store first storage part 1110 of various programs and second storage part 1150 of storing various information.
As shown in Figure 9, terminal 1020 stores navigation information 1152 in second storage part 1150.Navigation information 1152 includes Almanac 1152a and precise ephemeris 1152b.
Terminal 1020 uses Almanac 1152a and precise ephemeris 1152b to position.
As shown in Figure 9, terminal 1020 stores initial position message 1154 in second storage part 1150.Initial position QA0 is such as the position location that is last time.
As shown in Figure 9, terminal 1020 stores may observe satellite calculation procedure 1112 in first storage part 1110.May observe satellite calculation procedure 1112 be control part 1100 to be benchmark at the initial position QA0 shown in the initial position message 1154, be used to calculate the program of the gps satellite 12a that can observe etc.
Specifically, control part 1100 is judged through the gps satellite 12a that can observe in the current time of timing portion 1104 meterings etc. with reference to Almanac 1152a.The may observe satellite information 1156 of the gps satellite 12a that control part 1100 can observe expression etc. (below be called " may observe satellite ") stores in second storage part 1150.In first embodiment, the may observe satellite is gps satellite 12a to 12h (with reference to Fig. 1 and Fig. 9).
As shown in Figure 9, terminal 1020 stores the frequency computation part program 1114 of inferring in first storage part 1110.Infer frequency computation part program 1114 and be control part 1100 and be used to infer the program of the receive frequency of electric wave S1 that gps satellite 12a etc. sends etc.
Arrival frequency when this receive frequency is electric wave S1 incoming terminal 1020.In more detail, this receive frequency be electric wave S1 incoming terminal 1020 and also in terminal 1020 centre (IF) frequency (intermediate frequency) during by frequency downconversion.
Figure 10 is the key diagram of inferring frequency computation part program 1114.
Shown in figure 10, control part 1100 will add Doppler shift H2 from the communication frequency H1 of gps satellite 12a etc., calculate and infer frequency A1.The communication frequency H1 of transmissions such as gps satellite 12a is for both knowing, such as being 1575.42MHz.
Doppler shift H2 is owing to relatively moving between each gps satellite 12a etc. and the terminal 1020 produces.The line-of-sight velocity of each gps satellite 12a that control part 1100 calculates at current time according to precise ephemeris 1152b and initial position QA0 etc. (speed of the direction at terminal 1020 relatively).And, calculate Doppler shift H2 based on this line-of-sight velocity.
In addition, the error of drift that in inferring frequency A1, includes the time clock (reference oscillator: not shown) of counterpart terminal 1020.Drift is exactly because temperature variation former thereby cause the variation of oscillation frequency.
Therefore, control part 1100 is centre retrieves electric wave S1 etc. to infer frequency A1 in the frequency of width of regulation.Such as retrieving electric wave S1 to the scope of the frequency of (A1+100) kMz with the frequency of every 100Hz in frequency from (A1-100) kMz.
As shown in Figure 9, terminal 1020 stores in first storage part 1110 measures calculation procedure 1116.Measure calculation procedure 1116 and be and be used for control part 1100 and carry out the C/A sign indicating number of transmissions such as gps satellite 12a and the relevant treatment of duplicating the C/A sign indicating number of terminal 1020 generations, calculate the program of measurement of relevant aggregate-value Pnoise, candidate code phase and the receive frequency of the maximal value Pmax that includes the aggregate-value of being correlated with, noise.Measuring calculation procedure 1116 is examples of phase calculation portion with control part 1100, also is an example of receive frequency specifying part.
Figure 11 A～11C is a key diagram of measuring calculation procedure 1116.
Shown in Figure 11 A, control part 1100 carries out relevant treatment such as cutting apart 1 of C/A sign indicating number through base band part 1032b with equal intervals.For example, 1 of the C/A sign indicating number by 32 five equilibriums.That is to say, carry out relevant treatment with phase width (the first phase width W1) interval of 32/a slice.And the phase place at interval of the first phase width W1 when control part 1100 is carried out relevant treatment is called the first sampling phase SC1.
Signal intensity when electric wave S1 etc. arrives terminal 1020 be during more than or equal to-155dBm, and the first phase width W1 can be detected the phase width of maximum correlation Pmax by the regulation conduct.When being the phase width of 32/a slice, and under the weak electric field of signal intensity, can detect the also apparition of thing of maximum correlation Pmax through simulation more than or equal to-155dBm.
Shown in Figure 11 B, control part 1100 is the center to infer frequency A1, and relevant treatment is carried out on the first phase width W1 limit of staggering on the frequency range limit of ± 100kHz.At this moment, 100Hz100Hz ground in limit carries out relevant treatment with the frequency limit of staggering.
Shown in Figure 11 C, export the correlation accumulative total P of corresponding 2 phase place C1 to C64 from base band part 1032b.Each phase place C1 to C64 is the first sampling phase SC1.
And code phase CPA1 is scaled distance.As stated, the code length of C/A sign indicating number is such as being 300 kms (km), so the remainder of C/A sign indicating number part, be that code phase also can be scaled distance.
And, can be different from first embodiment, also can adopt the method for narrow correlator (for example, with reference to TOHKEMY 2000-312163 communique) as relevant treatment.
As shown in Figure 9, terminal 1020 stores in first storage part 1110 measures save routine 1118.Measuring save routine 1118 is programs that control part 1100 is used for measurement is saved in second storage part 1150.
As shown in Figure 9, terminal 1020 stores frequency assessment process 1120 in first storage part 1110.Frequency assessment process 1120 be control part 1100 be used to judge receive frequency fA0 and the receive frequency fA1 when prelocalization when located for last time difference on the frequency whether at frequency threshold α 1 with interior program.Frequency threshold α 1 is that basis is predesignated less than the threshold value of the frequency interval of frequency series F1, F2 and F3 with interior scope.As stated, be 50 hertz (Hz) like frequency interval, then frequency threshold α 1 is such as being 30 hertz (Hz).Above-mentioned frequency assessment process 1120 and control part 1100 are examples of difference on the frequency evaluating part.And frequency threshold α 1 is the example in the difference on the frequency permissible range of predesignating with interior scope.
As shown in Figure 9, terminal 1020 stores predictive code phase calculation program 1122 in first storage part 1110.Predictive code phase calculation program 1122 is the Doppler shift of code phase CPA0 when locating based on last time of control part 1100, electric wave S1 etc. and the effluxion dt that begins when locating last time, has been used to predict current phase place and has calculated the program of predictive code phase place CPAe.Predictive code phase place CPAe is an example of predicted phase.Predictive code phase calculation program 1122 is examples of predicted phase calculating part with control part 1100.
And predictive code phase place CPAe is scaled distance.
Figure 12 is the key diagram of predictive code phase calculation program 1122.
Shown in figure 12, control part 1100 is such as calculate predictive code phase place CPAe according to formula 1.
Shown in formula 1, the effluxion dt when control part 1100 such as the code phase CPA0 when locating since last time deducts and located last time multiply by the value of the relative moving speed at gps satellite 12a and terminal 1020, calculates predictive code phase place CPAe.
And in formula 1, predictive code phase place CPAe, last time, code phase CPA0 was scaled distance.
Here, electric wave S1 etc. is with light velocity propagation.Therefore, through with the transmission frequency H1 of the light velocity, can calculate the speed of the summary of corresponding Doppler shift 1 hertz (Hz) divided by electric wave S1 etc.That is to say, Doppler shift add (+) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) near terminal 1020.Code phase CPA0 when therefore, predictive code phase place CPAe located than last time shortens.Here, Doppler shift when locating for last time frequency f A0 and send the difference between the frequency H1.
Be directed to this, Doppler shift subtract (-) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) away from terminal 1020.Code phase CPA0 when therefore, predictive code phase place CPAe located than last time is elongated.
And the effluxion that formula 1 began when locating last time is to set up under the condition of short time.In other words, formula 1 is limited on chart as straight line the relation of code phase and effluxion to be shown down and sets up.
In addition, be different from first embodiment, the frequency f A0 in the time of can being located for last time is regarded as Doppler shift with the mean value of the difference of sending frequency H1 and frequency f A1 when prelocalization and the difference of sending frequency H1.Based on this, can further calculate predictive code phase place CPAe exactly.
As shown in Figure 9, terminal 1020 stores code phase assessment process 1124 in first storage part 1110.Code phase assessment process 1124 be control part 1100 be used to judge current code phase CPA1 and predictive code phase place CPAe code phase difference whether smaller or equal to the program of code phase threshold value beta 1 (below be called " threshold value beta 1 ").Scope smaller or equal to threshold value beta 1 is the example in the phase differential permissible range.Code phase assessment process 1124 is examples of phase differential evaluating part with control part 1100.
As shown in Figure 9, terminal 1020 stores the location and uses code phase to confirm program 1126 in first storage part 1110.The location uses code phase to confirm that program 1126 is that control part 1100 is used for confirming frequency threshold α 1 with interior difference on the frequency and code phase difference smaller or equal to the code phase CPA1 of the gps satellite 12a of threshold value beta 1 etc. etc. as the program of locating use code phase CPA1f.
Corresponding not uncertain with the code phase CPA1 of the gps satellite 12a of interior difference on the frequency etc. etc. at frequency threshold α 1 serve as that code phase CPA1f is used in the location, eliminating from the location.And, in the location, use the respective frequencies difference at frequency threshold α 1 with interior and correspondence code phase differential at code phase CPA1 smaller or equal to threshold value beta 1.That is to say that the location uses code phase to confirm that program 1126 and control part 1100 are examples of phase place eliminating portion.
In first embodiment, the location uses code phase CPA1f such as being regarded as CPA1fa, CPA1fb, CPA1fc and the CPA1fd of corresponding gps satellite 12a, 12b, 12c and 12d respectively.
As shown in Figure 9, terminal 1020 stores finder 1128 in first storage part 1110.Finder 1128 is that control part 1100 is used to use the program of using code phase CPA1f that current location is positioned of locating.Finder 1128 is examples of location division with control part 1100.
It is above-mentioned threshold value beta 1 with interior code phase CPA1 etc. that code phase CPA1f is used in the location.That is to say that it is the same using the location to use code phase CPA1f to position with using threshold value beta 1 with interior code phase CPA1 etc. current location to be positioned to current location.
When the location use code phase CPA1f more than or equal to 3 situation under, control part 1100 uses these location to use code phase CPA1f location current location, calculates position location QA1.
As shown in Figure 9, terminal 1020 stores position location written-out program 1130 in first storage part 1110.Position location written-out program 1130 is that control part 1100 is used for going up the program that shows position location QA1 in display device 1034 (with reference to Fig. 7).
Terminal 1020 can judge that whether the code phase difference of current code phase CPA1 and predictive code phase place CPAe is smaller or equal to the threshold value beta of predesignating 1.Therefore, the precision that terminal 1020 can identifying code phase place CPA1.
In addition, the code phase CPA1 of correspondence smaller or equal to the code phase difference of threshold value beta 1 can be used in terminal 1020, and current location is positioned.
Based on this, under signal intensity was faint weak electric field, terminal 1020 can be after the precision of the code phase of checking location basic code, and what precision was good positions.
In addition, the code phase CPA1 of respective frequencies threshold alpha 1 with interior extraneous frequency f A1 can be got rid of in terminal 1020 from the location.
This means that terminal 1020 not only can verify the precision of the code phase CPA1 of C/A sign indicating number, also can verify the precision of the receive frequency fA1 when calculating code phase CPA1.
Based on this, under signal intensity was faint weak electric field, terminal 1020 can be after the precision of the code phase of checking location basic code, further good the positioning of precision.
More than be the formation at the terminal 1020 that relates to of first embodiment, but following main use Figure 13 describe its action example.
Figure 13 is the general flowchart of the action example at expression terminal 1020.
At first, terminal 1020 receives electric wave S1 etc., calculates measurement (the step S101 of Figure 13).This step S101 is an example of phase calculation step.
Then, terminal 1020 is preserved and is measured (step S102).
Then, terminal 1020 judge current frequency f A1 and last time frequency f A0 the absolute value of differential in frequency whether smaller or equal to frequency threshold α 1 (step S103).
In step S103, corresponding judgement is not used at terminal 1020 in the location be not the code phase CPA1 (step S109) smaller or equal to the differential in frequency of frequency threshold α 1.That is to say, be not that code phase CPA1f is used in the location.
Be directed to this, in step S103, judge code phase CPA1, calculate corresponding predictive code phase place CPAe (step S104) smaller or equal to the differential in frequency of frequency threshold α 1 about correspondence.This step S104 is an example of predicted phase calculation procedure.
Then, terminal 1020 judge code phase CPA1 and predictive code phase place CPAe the absolute value of code phase difference whether smaller or equal to threshold value beta 1 (step S105).This step S105 is an example of phase place evaluation procedure.Terminal 1020 is regarded as the code phase CPA1 of the absolute value of judging code phase difference smaller or equal to threshold value beta 1 location and uses code phase CPA1f.
Then, terminal 1020 judges whether location use code phase CPA1f is more than or equal to 3 (step S106).
In step S106, when judging that 3 of code phase CPA1f less thaies are used in the location, terminal 1020 can not be located, and can finish so just needn't locate.
Be directed to this, in step S106, when judging that the location is used code phase CPA1f more than or equal to 3, terminal 1020 uses the location to use code phase CPA1f to position (step S107).This step S107 is an example of positioning step.
Then, terminal 1020 output position location QA1 (with reference to Fig. 9) (step S108).
Through above step, terminal 1020 can be under signal intensity be faint weak electric field, and after the precision of the phase place of checking location basic code, what precision was good positions.
[second embodiment]
Figure 14 is the skeleton diagram of terminal 2020 grades of expression second embodiment.
Shown in figure 14, terminal 2020 can receive from position location satellite for example, GPS (Global Positioning System: GPS) electric wave S1, S2, S3, S4, S5, S6, S7 and the S8 of satellite 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h.Gps satellite 12a etc. is an example of communication sources.And position location satellite is not limited to gps satellite, also can use SPS (Satellite Positioing System: global position system) satellite widely.
On electric wave S1 etc., carry various sign indicating numbers (code).One of them is C/A sign indicating number Sca.This C/A sign indicating number Sca is bit rate, 1023bit (=1msec) the long signal in position of 1.023Mbps.C/A sign indicating number Sca is made up of 1023 (chip: chip, code element).Terminal 2020 is examples of the locating device of location current location, utilizes this C/A sign indicating number that current location is positioned.This C/A sign indicating number Sca is an example of location basic code.
In addition, the information as carrying on electric wave S1 etc. has Almanac Sal and precise ephemeris Seh.Almanac Sal is the information of satellite orbit of the summary of the whole gps satellite 12a of expression etc., and precise ephemeris Seh is the information of satellite orbit of the precision of each gps satellite of expression 12a etc.Almanac Sal and precise ephemeris Seh are referred to as navigation information.
The code phase (phase place) such as the C/A sign indicating number that sends more than or equal to 3 different gps satellite 12a etc. can be specified in terminal 2020, and current location is positioned.
Figure 15 is the concept map of an example of expression localization method.
Shown in figure 15, for example, can be interpreted as that the C/A sign indicating number arranges continuously between gps satellite 12a and terminal 2020.And the distance between gps satellite 12a and the terminal 2020 is not limited to the integral multiple of the length (300 kms (km)) of C/A sign indicating number, so there is sign indicating number remainder portion C/Aa.That is to say, between gps satellite 12a and terminal 2020, have the part and the remainder part of the integral multiple of C/A sign indicating number.The length of the total of the part of the integral multiple of C/A sign indicating number and remainder part is pseudorange.Terminal 2020 utilizes about the pseudorange more than or equal to 3 gps satellite 12a etc. and positions.
In the present embodiment, call code phase (phase place) to the remainder portion C/Aa of C/A sign indicating number.Code phase, for example both can represent, also can be scaled the distance expression with how many sheets of certain sheet of C/A sign indicating number 1032.When calculating pseudorange, also can be scaled distance to code phase.
Utilize precise ephemeris Seh can calculate gps satellite 12a position in orbit.And, according to calculate gps satellite 12a in orbit the position and after distance between the initial position QB0 that states, can confirm the part of the integral multiple of C/A sign indicating number.And, because the length of C/A sign indicating number is 300 kms (km), so the site error of initial position QB0 needs in 150 kms (km).
And, shown in figure 15, Yi Bian carry out relevant treatment on one side such as moving the phase place of duplicating the C/A sign indicating number to arrow X1 direction.At this moment, while changing synchronously, terminal 2020 carries out relevant treatment with frequency.This relevant treatment by after relevant processing and the incoherent processing stated constitute.
It is a yard remainder C/Aa that relevant aggregate-value becomes maximum phase place.
And, can be different with second embodiment, terminal 2020 positions such as the electric wave that the communication base station that utilizes pocket telephone sends.In addition, different with second embodiment, terminal 2020 also can receive LAN, and (Local Area Network: the electric wave that LAN) sends positions.
Figure 16 is the key diagram of relevant treatment.
Relevant is to obtain the C/A sign indicating number of terminal 2020 receptions and duplicate the relevant processing between the C/A sign indicating number.Duplicating the C/A sign indicating number is the code that terminal 2020 produces.Duplicating the C/A sign indicating number is an example of duplicating the location basic code.
For example, shown in figure 16, as being coherence time 10msec, then calculating at the C/A sign indicating number of inter-sync accumulative total (integration) during the 10msec and duplicate correlation between the C/A sign indicating number etc.Obtain code phase and correlation when relevant as relevant process result, output.
Incoherent is the processing that goes out relevant aggregate-value (incoherent value) through the correlation value calculation that adds up relevant result.
As the result of relevant treatment, code phase and relevant aggregate-value that output is exported in relevant the processing.
Figure 17 is a routine figure of the relation of relevant aggregate-value of expression and code phase.
The code phase CP1 of the maximal value Pmax of the relevant aggregate-value of corresponding Figure 17 is the code phase (equaling to duplicate the code phase of C/A sign indicating number) of C/A sign indicating number.
And terminal 2020 is regarded as the little side's of relevant aggregate-value relevant aggregate-value the relevant aggregate-value Pnoise of noise such as from the code phase CP1 distance code phase of two/a slice.
Stipulate the difference of Pmax and Pnoise as signal intensity XPR divided by the value of Pmax at terminal 2020.Signal intensity XPR is an example of signal intensity.
And, for example, when XPR more than or equal to 0.2 the time, the candidate of the code phase that terminal 2020 is regarded as code phase CP1 in the location, to use.Below, this code phase is called " candidate code phase ".The candidate code phase is the candidate of in the location, using, and in fact not necessarily use in the location at terminal 2020.
Figure 18 and Figure 19 are routine figure of the relation of expression candidate code phase and effluxion etc.
For example, Figure 18 illustrates the state of gps satellite 12a near terminal 2020.
For example, like gps satellite 12a near terminal 2020, then the distance between gps satellite 12a and the terminal 2020 shortens, thus candidate code phase C1 in effluxion near 0.
In addition, the frequency that belongs to frequency series F1 is set in effluxion with uprising.This is because the Doppler shift that is producing near terminal 2020 owing to gps satellite 12a, the arrival frequency gets higher during corresponding electric wave S1 incoming terminal 2020.
Terminal 2020 for effectively with the arrival Frequency Synchronization that will change, for example, shown in figure 19, use 3 frequencies series F1, F2 and F3.Frequency series F1 etc. is an example of frequency series.Frequency series F1 and F2 are such as the band width that departs from 50 hertz (Hz).In addition, frequency series F1 and F3 also depart from the band width of 50 hertz (Hz).Preestablish the frequency interval of 50 hertz (Hz).That is to say that the frequency interval of 50 hertz (Hz) is an example of frequency interval.This frequency interval is to be stipulated less than the stepped intervals of the frequency search of terminal 2020 in the relevant treatment of implementing.For example, when the stepped intervals of frequency search is 100 hertz (Hz) (with reference to Figure 24 B), to stipulate less than 100 hertz of quilts.
And frequency series F1 etc. can be at least 1, and is different with second embodiment, can be 1 for example, both, also can be more than or equal to 4.
Shown in figure 19, prediction arrives the Doppler shift of frequency, and each frequency series F1 etc. changes setting in effluxion.
And any of each frequency series F1 etc. should precision be followed the Doppler shift that arrives frequency best.
In frequency series F1, calculate code phase C1.And, in frequency series F2, calculate code phase C2.And, in frequency series F3, calculate code phase C3.
Like this, calculate parallel 3 code phase C1 etc., but the general code phase reliability that under the highest state of signal intensity XPR, is calculated is the highest.
But, XPR is not limited to keep the highest frequency series F1 etc.For example, shown in figure 19, the highest such as the XPR of the code phase C1 that in frequency series F1, calculates during between time t1 and the t2, the XPR of the code phase C2 that in frequency series F2, calculates during between time t2 and the t3 is the highest.
Change the frequency of each frequency series F1 etc. based on the common key element of the Doppler shift of prediction, so as the code phase precision that in any frequency series, calculates high, then should be higher than the code phase precision that in other frequency series, calculates unceasingly.
Here, " precision is high " means that the code phase that calculates is little with departing from of real code phase.
For example, when other frequency series F2 and F3 precision of the ratio of precision of frequency series F1 is high, frequency series F1 compares with F3 with other frequency series F2, should the best arrival frequency of following reality continuously of precision.Therefore, even frequency series F2 and the F3 than other has the low time period as signal intensity XPR in frequency series F1, the candidate code phase precision that in frequency series F1, is calculated so also should be the highest.
This point, terminal 2020 can under weak electric field, constitute according to following hardware and software constitutes after the precision of checking candidate code phase, and what precision was good positions.
(main hardware at terminal 2020 constitutes)
Figure 20 is the skeleton diagram that the main hardware at expression terminal 2020 constitutes.
Shown in figure 20, terminal 2020 includes computing machine, and computing machine includes bus 2022.Central processing unit) 2024, memory storage 2026 etc. on bus 2022, be connected with CPU (Central Processing Unit:.RAS), ROM (Read OnlyMemory: ROM (read-only memory)) etc. memory storage 2026 is such as being RAM (Random Access Memory:.
In addition, on bus 2022, be connected with input media 2028, supply unit 2030, GPS device 2032, display device 2034, communicator 2036 and clock 2038.
(formation of GPS device 2032)
Figure 21 is the skeleton diagram of the formation of expression GPS device 2032.
Shown in figure 21, GPS device 2032 is made up of 2032a of RF portion and base band part 2032b.
The 2032a of RF portion receives electric wave S1 etc. with antenna 2033a.And, amplifier, be the signal that LNA2033b amplify to carry the C/A sign indicating number on electric wave S1 etc.And, the frequency of frequency converter 2033c down converting signal.And quadrature (IQ) wave filter 2033d separates signal IQ.Then, A/D converter 2033e1 and 2033e2 are digital signal separately with the conversion of signals that IQ separates respectively.
(main software at terminal 2020 constitutes)
Figure 22 is the skeleton diagram that the main software at expression terminal 2020 constitutes.
Shown in figure 22, terminal 2020 comprises: control the control part 2100 of each one, the GPS portion 2102 corresponding with the GPS device of Figure 20 2032 and with corresponding timing portion 2104 of clock 2038 etc.
Terminal 2020 also comprises: store first storage part 2110 of various programs and second storage part 2150 of storing various information.
Shown in figure 22, terminal 2020 stores navigation information 2152 in second storage part 2150.Navigation information 2152 includes Almanac 2152a and precise ephemeris 2152b.
Terminal 2020 uses Almanac 2152a and precise ephemeris 2152b to be used for the location.
Shown in figure 22, terminal 2020 stores initial position message 2154 in second storage part 2150.Initial position QB0 is such as the position location that is last time.
Shown in figure 22, terminal 2020 stores may observe satellite calculation procedure 2112 in first storage part 2110.May observe satellite calculation procedure 2112 are control parts 2100 with at the initial position QB0 shown in the initial position message 2154 as benchmark, be used to calculate the program of the gps satellite 12a that can observe etc.
Specifically, control part 2100 is judged the gps satellite 12a that in the current time through 2104 meterings of timing portion, can observe etc. with reference to Almanac 2152a.The may observe satellite information 2156 of the gps satellite 12a that control part 2100 can observe expression etc. (below be called " may observe satellite ") stores in second storage part 2150.In a second embodiment, the may observe satellite is gps satellite 12a to 12h (with reference to Fig. 1 and Figure 22).
Shown in figure 22, terminal 2020 stores the frequency computation part program 2114 of inferring in first storage part 2110.Infer frequency computation part program 2114 and be control part 2100 and be used to infer the program of the arrival receive frequency of electric wave S1 that gps satellite 12a etc. sends etc.
Frequency when this arrival frequency is electric wave S1 incoming terminal 2020.In more detail, this arrival frequency be electric wave S1 incoming terminal 2020 and in terminal 2020 centre (IF) frequency (intermediate frequency) during by frequency downconversion.
Figure 23 is the key diagram of inferring frequency computation part program 2114.
Shown in figure 23, control part 2100 adds Doppler shift H2 with the transmission frequency H1 of transmissions such as gps satellite 12a, calculates and infers frequency A2.Transmission frequency H1 from gps satellite 12a etc. is known, such as being 1575.42MHz.
Doppler shift H2 is owing to relatively moving between each gps satellite 12a etc. and the terminal 2020 produces.The line-of-sight velocity of each gps satellite 12a that control part 2100 calculates at current time according to precise ephemeris 2152b and initial position QB0 etc. (to the speed of the direction at terminal 2020).And, calculate Doppler shift H2 based on its line-of-sight velocity.
And, in inferring frequency A2, include the error of drift of the time clock (reference oscillator: not shown) of counterpart terminal 2020.Drift is exactly because temperature variation former thereby cause the variation of oscillation frequency.
Therefore, control part 2100 is that electric wave S1 is retrieved at the center in the frequency of Rack to infer frequency A2.Such as retrieving electric wave S1 etc. to the scope of the frequency of (A2+100) kMz with the frequency of every 100Hz in frequency from (A2-100) kMz.
In addition, also can be different with second embodiment, in the time can inferring drift in advance, also can calculate the centre frequency that begins to search for based on the drift of inferring frequency A2 and inferring.
Shown in figure 22, terminal 2020 stores in first storage part 2110 measures calculation procedure 2116.Measure calculation procedure 2116 and be control part 2100 corresponding each gps satellite 12a etc. at each frequency series F 1 to F3; Carry out being used to calculate the program of the measurement of the relevant aggregate-value Pnoise, candidate code phase and the receive frequency that include relevant aggregate-value Pmax, noise from the C/A sign indicating number of receptions such as gps satellite 12a and the relevant treatment of duplicating the C/A sign indicating number of terminal 2020 generations.Measuring calculation procedure 2116 is examples of phase calculation portion with control part 2100, also is an example of receive frequency specifying part.
Figure 24 A～24C is a key diagram of measuring calculation procedure 2116.
Shown in Figure 24 A, control part 2100 such as cut apart the C/A sign indicating number with equal intervals 1, carries out relevant treatment through base band part 2032b.For example, 1 of the C/A sign indicating number by 32 five equilibriums.That is to say, carry out relevant treatment with phase width (the first phase width W1) interval of 32/a slice.And the phase place at interval of the first phase width W1 when control part 2100 is carried out relevant treatment is called the first sampling phase SC1.
Signal intensity when electric wave S1 etc. arrives terminal 2020 is during more than or equal to-155dBm, and the first phase width W1 regulation is as the phase width that can detect maximum correlation Pmax.The phase width of 32/a slice in this way, though in signal intensity more than or equal to-155dBm and be under the weak electric field, can detect thing apparition of maximum correlation Pmax through simulation.
Shown in Figure 24 B, control part 2100 is the center to infer frequency A2, and relevant treatment is carried out on the first phase width W1 limit of staggering on the frequency range limit of ± 100kHz.At this moment, on one side the limit frequency 100Hz that staggers is carried out relevant treatment on one side.
Shown in Figure 24 C, export the correlation accumulative total P of corresponding 2 phase place C1 to C64 from base band part 2032b.Each phase place C1 to C64 is the first sampling phase SC1.
And code phase CPB1 is scaled distance.As stated, the code length of C/A sign indicating number is such as being 300 kms (kM), so can be the remainder of C/A sign indicating number part, be that code phase is scaled distance.
Figure 25 is the figure of an example of the current metrical information 2160 of expression.
Shown in figure 25, for example, current metrical information 2160 illustrates frequency f B11a, code phase CPB11a, PBmax11a and the PBnoise11a in frequency series F1 about gps satellite 12a.
In addition, current metrical information 2160 illustrates frequency f B12a, code phase CPB12a, PBmax12a and the PBnoise12a in frequency series F2 about gps satellite 12a.
In addition, current metrical information 2160 illustrates frequency f B13a, code phase CPB13a, PBmax13a and the PBnoise13a in frequency series F3 about gps satellite 12a.
Receive frequency when frequency f B11a to fB13a is the electric wave S1 that receives from gps satellite 12a.
Equally, current metrical information 2160 illustrates (not shown) such as frequency f 11b in frequency series F1 to F3 etc. about gps satellite 12b to 12f.
And, calling corresponding measurement in the measurement among the same frequency series F1 etc. about same gps satellite 12a etc.For example, code phase CPB11a and the frequency f B11a of gps satellite 12a in frequency series F1 is corresponding measurement.
And, can be different from second embodiment, adopt the method for narrow correlator (for example, with reference to TOHKEMY 2000-312163 communique) as relevant treatment.
Shown in figure 22, terminal 2020 stores in first storage part 2110 measures save routine 2118.Measuring save routine 2118 is programs that control part 2100 is used for measurement is saved in second storage part 2150.
Figure 26 is the figure of expression metrical information last time 2162.
Shown in figure 26, last time, metrical information 2162 illustrated frequency f B01a that corresponding each gps satellite 12a etc. calculated etc. in each frequency series F1 to F3.And, the measurement about gps satellite 12a only is shown in Figure 26, diagram is omitted in other the measurement about gps satellite 12b etc.
Shown in figure 22, terminal 2020 stores frequency assessment process 2120 in first storage part 2110.Frequency assessment process 2120 be control part 2100 be used to judge receive frequency fB0 and the receive frequency fB1 when prelocalization when located for last time difference on the frequency whether smaller or equal to the program of frequency threshold α 2.Scope smaller or equal to frequency threshold α 2 is that basis is predesignated less than the threshold value of the frequency interval of frequency series F1, F2 and F3.As stated, be 50 hertz (Hz) like frequency interval, then frequency threshold α 2 is such as being 30 hertz (Hz).
Above-mentioned frequency assessment process 2120 and control part 2100 are examples of difference on the frequency evaluating part.And, be the example in the difference on the frequency permissible range of predesignating smaller or equal to the scope of frequency threshold α 2.
When difference on the frequency was not below or equal to frequency threshold α 2, corresponding code phase CPB11a etc. was not used at terminal 2020 in the location.That is to say that frequency assessment process 2120 is examples of phase place eliminating portion with control part 2100.
Shown in figure 22, terminal 2020 stores predictive code phase place program 2122 in first storage part 2110.Predictive code phase place program 2122 is the Doppler shift of code phase CPB0 when locating based on last time of control part 2100, electric wave S1 etc. and the effluxion dt that begins when locating last time, has been used to predict that current phasometer calculates the program of predictive code phase place CPBe.Predictive code phase place CPBe is an example of predicted phase.Predictive code phase place program 2122 is examples of predicted phase calculating part with control part 2100.About each gps satellite 12a etc. about each frequency series F1 to F3, control part 2100 calculates the predictive code phase place respectively.
And predictive code phase place CPBe is scaled distance.
Figure 27 is the key diagram of predictive code phase place program 2122.
Shown in figure 27, control part 2100 is such as calculate predictive code phase place CPBe according to formula 2.
Shown in formula 2, control part 2100 calculates predictive code phase place CPBe such as deducting the value that elapsed time dt when locating last time multiply by the relative moving speed at gps satellite 12a and terminal 2020 among the code phase CPB0 when locating since last time.
And in formula 2, predictive code phase place CPBe, last time, code phase CPB0 was scaled distance.
Here, electric wave S1 is with light velocity propagation.Therefore, remove the light velocity, can calculate the speed of the summary of corresponding Doppler shift 1 hertz (Hz) through transmission frequency H1 with electric wave S1 etc.That is to say, Doppler shift add (+) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) near terminal 2020.Code phase CPB0 when therefore, predictive code phase place CPBe located than last time shortens.Here, Doppler shift when locating for last time frequency f B0 and send the difference between the frequency H1.
Be directed to this, Doppler shift subtract (-) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) away from terminal 2020.Code phase CPB0 when therefore, predictive code phase place CPBe located than last time is elongated.
And the elapsed time that formula 2 began when locating last time is to set up under the condition of short time.In other words, formula 2 is limited on chart as straight line the relation of code phase and effluxion to be shown down and sets up.
In addition, be different from second embodiment, the mean value of the frequency f B0 in the time of can being located for last time and the difference of sending frequency H1 and frequency f B1 when prelocalization and the difference of sending frequency H1 is regarded as Doppler shift.Based on this, can further calculate predictive code phase place CPBe exactly.
In addition, be different from second embodiment, control part 2100 can use the code phase CPB0 when locating last time and be the code phase CPB0 when relevant treatment finishes, and calculates predictive code phase place CPBe.Code phase CPB0 when relevant treatment finishes is owing to offset noise through accumulative total, thus when beginning than relevant treatment or the code phase precision in the process of relevant treatment high, the precision of predictive code phase place CPBe is also high.
Figure 28 is the figure of an example of expression predictive code phase information 2164.
Shown in figure 28, predictive code phase information 2164 such as expression is about the predictive code phase place CPBe1a of gps satellite 12a in frequency series F1, the predictive code phase place CPBe2a in frequency series F2, the predictive code phase place CPBe3a in frequency series F3.Equally, 2164 expressions of predictive code phase information are about (not shown) such as predictive code phase place CPBe1bs of gps satellite 12b to 12f in each frequency series F1 to F3.
Shown in figure 22, terminal 2020 stores code phase assessment process 2124 in first storage part 2110.Code phase assessment process 2124 be control part 2100 be used to judge current code phase CPB1 and predictive code phase place CPBe code phase difference whether smaller or equal to the program of code phase threshold value beta 2 (below be called " threshold value beta 2 ").Scope smaller or equal to threshold value beta 2 is the example in the phase differential permissible range.Code phase assessment process 2124 is examples of phase differential evaluating part with control part 2100.
In addition; Control part 2100 is based on code phase assessment process 2124; Each frequency series F1 to F3 of corresponding each gps satellite 12a etc. when code phase difference during smaller or equal to threshold value beta 2, estimates number of pass times (below be called " number of pass times ") addition one by one with code phase difference.And, each frequency series F1 to F3 of corresponding each gps satellite 12a of control part 2100 etc., when code phase difference was bigger than threshold value beta 2, number of pass times was 0.
Shown in figure 22, terminal 2020 stores code phase option program 2126 in first storage part 2110.Code phase option program 2126 is that control part 2100 is used at the code phase CPB1 of correspondence smaller or equal to the code phase difference of above-mentioned threshold value beta 2, and the minimum code phase CPB1 of option code phase differential such as corresponding each gps satellite 12a is regarded as the program of option code phase place CP1s.Option code phase place CP1s is an example of selecting phase place.Code phase option program 2126 is examples of phase place selection portion with control part 2100.
Figure 29 is the key diagram of code phase option program 2126.
Shown in figure 29, control part 2100 is such as the absolute value dCPB11a that calculates about the difference of code phase CPB11a and the CPBe1a of gps satellite 12a in frequency series F1.In addition, control part 2100 calculates the absolute value dCPB12a of the difference of code phase CPB12a and CPBe2a in frequency series F2, and the absolute value dCPB13a of the difference of code phase CPB13a in the serial F3 of frequency and CPBe3a.
And, shown in figure 29, at absolute value dCPB11a to absolute value dCPB13a, when absolute value dCPB11a hour, option code phase place CPB11a.
And control part 2100 is regarded as option code phase place CP1sa with code phase CPB11a.
Figure 30 is the figure of an example of expression option code phase information 2168.
The code phase that is calculated in frequency series F1 to F3 any such as corresponding each gps satellite 12a of option code phase information 2168 expressions.
Shown in figure 22, terminal 2020 stores option code phase place first assessment process 2128 in first storage part 2110.Whether maximum option code phase place first assessment process 2128 are signal intensity XPR programs that control part 2100 is used to judge option code phase place CP1sa etc.Option code phase place first assessment process 2128 is examples of selecting phase place first evaluating part with control part 2100.
Specifically, corresponding each gps satellite 12a of control part 2100 etc., the XPR that judges option code phase place CP1sa maximum whether among code phase CPB1 etc.
Shown in figure 22, terminal 2020 stores option code phase place second assessment process 2130 in first storage part 2110.Option code phase place second assessment process 2130 is that control part 2100 is used to judge that above-mentioned number of pass times is whether more than or equal to γ time program.Predesignated such as being 3 times for γ time.More than or equal to γ time scope is the example in the stipulated number scope.Option code phase place second assessment process 2130 is examples of selecting phase place second evaluating part with control part 2100.
And number of pass times then returns 0 as long as code phase difference is discontinuous smaller or equal to threshold value beta 2, thus number of pass times more than or equal to mean for γ time code phase continuously smaller or equal to threshold value beta 2 continuously more than or equal to γ time.
In addition, option code phase place second assessment process 2130 is that control part 2100 is used for judging whether the decline number of times at the XPR of cumulative time is the program of predesignating such as more than or equal to 10 times.
Specifically, control part 2100 when the signal intensity XPR that judges option code phase place CP1sa etc. is not maximum, carries out the judgement according to option code phase place second assessment process 2130 according to above-mentioned option code phase place first assessment process 2128.
Figure 31 A to 31C is the key diagram of option code phase place second assessment process 2130.
Shown in Figure 31 A, if will be regarded as 16 seconds (s) cumulative time, then the XPR in 16 seconds (s) elapsed time (when accumulative total finishes) is for maximum.This is accumulative total C/A sign indicating number because noise is cancelled out each other.Code phase reliability when this accumulative total finishes is high.
And XPR becomes big to accumulative total when finishing from accumulative total when beginning gradually in theory.
But, in fact,, exist in the situation that accumulative total begins afterwards XPR reduction soon as shown in Figure 31 B.Therefore, can not calculate code phase exactly.
And, shown in Figure 31 C, when the signal that receives when terminal 2020 is noise (false signal), even to accumulative total when finishing XPR also constant big.Therefore, be difficult to calculate code phase.
Like this, no matter the electric wave that receives is the electric wave that carries the electric wave of C/A sign indicating number or carry noise, XPR was less soon after all often existence accumulative total began; And XPR has the situation of decline; Therefore, when the electric wave that receives is when carrying the electric wave of C/A sign indicating number, along with becoming big through cumulative time XPR.
Therefore, begin through after the time of suitable degree, when code phase difference continues smaller or equal to the state of threshold value beta 2, can think that the signal that receives is not a noise from accumulative total.
In addition, even when the time that continues suitable degree since the cumulative time, the reduction of XPR also took place, can think that the signal that receives is a noise.In other words, when after the time of continuing suitable degree since the cumulative time reduction of XPR not taking place, this just means can think that the signal that receives is not a noise.
Therefore, in terminal 2020, whether continue with the reduction of XPR smaller or equal to the state of β 2 with code phase difference whether continuous, as being used to judge whether the signal that receives is the benchmark of noise.
Shown in figure 22, terminal 2020 stores finder 2132 in first storage part 2110.Finder 2132 are control parts 2100 according to the judged result of option code phase place first assessment process 2128 or option code phase place second assessment process 2130 for certainly the time, be used for being regarded as locating a program of using sign indicating number phase CPB1f position that current location is positioned to option code phase place CP1s.That is to say that finder 2132 is examples of location division with control part 2100.
For example, as the XPR that selects code phase CP1sa when be maximum, control part 2100 is regarded as location use code phase CPB1fa to its option code phase place CP1sa.
When even the XPR of option code phase place CP1sa is not maximum, but when code phase was estimated number of pass times more than or equal to the decline less than of γ time and XPR 10 times, control part 2100 also was regarded as location use code phase CPB1fa with option code phase place CP1sa.
Be directed to this; Control part 2100 is not under the situation of maximum at the XPR of option code phase place CP1sa; The decline of estimating number of pass times not enough γ time or XPR when code phase is during more than or equal to 10 times; To be regarded as the location and use code phase CPB1fa code phase CPB12a except that option code phase place CP1sa (code phase CPB11a) and the big side of the XPR among the CPB13a.
Figure 32 is the figure that an example of code phase information 2170 is used in the expression location.
Shown in figure 32, it is the corresponding respectively information of using code phase CPB1fa, CPB1fb, CPB1fc and CPB1fd such as the location of gps satellite 12a, 12b, 12c and 12d of expression that code phase information 2170 is used in the location.
Shown in figure 22, terminal 2020 stores position location written-out program 2134 in first storage part 2110.Position location written-out program 2134 is that control part 2100 is used for going up the program that shows position location QB1 in display device 2034 (with reference to Figure 20).
Terminal 2020 as above-mentioned formation.
Terminal 2020 can judge that whether code phase difference is smaller or equal to threshold value beta 2.That is to say the precision that terminal 2020 can identifying code phase place CPB1.
In addition, terminal 2020 can with minimum code phase CPB1 of code phase difference such as corresponding each gps satellite 12a of selection, be regarded as option code phase place CP1s in the code phase CPB1 of correspondence code phase differential smaller or equal to the code phase difference of threshold value beta 2.Because it is option code phase place CP1s is the minimum code phase of code phase difference, so higher than the code phase CPB1 precision of other frequency series.
And terminal 2020 can judge whether the signal intensity XPR of option code phase place CP1s is maximum.XPR like option code phase place CP1s is maximum, then can understand option code phase place CP1s and guarantee higher than other code phase CPB1 precision.
And under the judged result according to option code phase place first assessment process 2128 was sure situation, terminal 2020 can be regarded as the location to option code phase place CP1s and use code phase CPB1f, and current location is positioned.
Based on this, terminal 2020 can be under the faint electric field at received-signal strength, and after the precision of the phase place of verifying the location basic code, precision positions well.
In addition; Terminal 2020 comprises option code phase place second assessment process 2130; So the code phase among the series of the frequency under the selecting code phase CP1s F1 to F3 during more than or equal to 3 times, can use option code phase place CP1s that current location is positioned smaller or equal to 2 numbers of threshold value beta continuously.
Code phase among the frequency series F1 under the option code phase place CP1s etc.; Continuously smaller or equal to 2 numbers of threshold value beta more than or equal to being exactly the code phase among the frequency series F1 etc. under meaning option code phase place CP1s for 3 times, higher than the code phase precision in other frequency series.
Based on this, though according to the judged result of option code phase place assessment process 2128 under the situation of negating, terminal 2020 also can position by the high code phase of service precision.
In addition, the code phase CPB1 of respective frequencies threshold alpha 2 with the frequency f B1 outside the interior scope can be got rid of in terminal 2020 from the location.
This means that terminal 2020 not only can verify the precision of the code phase CPB1 of C/A sign indicating number, also can verify the precision of the receive frequency fB1 when calculating code phase CPB1.
Based on this, under the faint electric field of signal intensity, terminal 2020 can be after the precision of the code phase of verifying the location basic code, and further precision positions well.
More than be the formation at the terminal 2020 that relates to of second embodiment, but following use Figure 33 mainly describe its action example.
Figure 33 is the general flowchart of the action example at expression terminal 2020.
At first, terminal 2020 receives electric wave S1 etc., calculates measurement (the step S201 of Figure 33).This step S201 is an example of phase calculation step.
Then, terminal 2020 is preserved and is measured (step S202).
Then, terminal 2020 judge current frequency f B1 and last time frequency f B0 the absolute value of differential in frequency whether smaller or equal to frequency threshold α 2 (step S203).
In step S203, terminal 2020 does not use correspondence to be judged as in the location not to be the code phase CPB1 (step S211) smaller or equal to the differential in frequency of frequency threshold α 2.
Be directed to this, in step S203, judge that about correspondence correspondence calculates predictive code phase place CPBe (step S204) smaller or equal to the code phase CPB1 of the differential in frequency of frequency threshold α 2.This step S204 is an example of predicted phase calculation procedure.
Then, terminal 2020 judge code phase CPB1 and predictive code phase place CPBe the absolute value of code phase difference whether smaller or equal to threshold value beta 2 (step S205).This step S205 is an example of phase place evaluation procedure.
In step S205, corresponding judgement is not used at terminal 2020 in the location be not the code phase CPB1 (step S211) smaller or equal to the code phase difference of threshold value beta 2.
Be directed to this; In step S205, terminal 2020 judges it is not the code phase CPB1 smaller or equal to the code phase difference of threshold value beta 2 about correspondence, corresponding each gps satellite 12a etc.; Code phase CPB1 with the code phase difference of selecting corresponding minimum is regarded as option code phase place CP1s (step S206).This step S206 is the example that phase place is selected step.
Then, location use code phase CPB1f (step S207) is confirmed at terminal 2020.
, use Figure 34 to determine whether that situation about in the location, using is example to the option code phase place CP1sa in the positioning series F1 of gps satellite 12a here, S207 is elaborated to step.
Figure 34 is the detailed process flow diagram of expression step S207.
At first.Whether the XPR that option code phase place CP1sa is judged at terminal 2020 maximum (the step S221 of Figure 34).This step S221 is an example of selecting phase place first evaluation procedure.
When being judged as in step S221 was sure, terminal 2020 was confirmed as the location to option code phase place CP1sa and is used code phase CPB1fa (step S224).
Be directed to this, when being evaluated as in step S221 was negative, terminal 2020 judged that whether number of pass times that the code phase in frequency series F1 estimates is more than or equal to 3 times (step S222).This step S222 is an example of selecting phase place second evaluation procedure.
When being judged as in step S222 was sure, whether the XPR decline number of times of terminal 2020 determination frequency series F1 less than 10 times (step S223).
In step S223, when the XPR decline number of times less than of determination frequency series F1 10 times, terminal 2020 is confirmed as the location with option code phase place CP1sa and is used code phase CPB1fa (step S224).
Be directed to this; When judge in step S222 be evaluated as when negative or when the XPR decline number of times of step S223 medium frequency series F1 is not less than 10 times; Terminal 2020 is confirmed as the maximum code phase of the XPR in CP12a or CP13a the location and is used code phase CPB1fa (step S225).
Terminal 2020 corresponding each gps satellite 12a etc. carry out each above-mentioned step S221 to step S225.
Then, terminal 2020 judges that whether location use code phase CPB1f is more than or equal to 3 (step S208).
In step S208, when terminal 2020 judges that 3 of code phase CPB1f less thaies are used in the location,, finish so just needn't locate owing to can not locate.
Be directed to this, in step S206, when terminal 2020 judges that the location is used code phase CPB1f more than or equal to 3, use the location to use code phase CPB1f to position (step S209).This step S209 is an example of positioning step.
Then, terminal 2020 output position location QB1 (with reference to Figure 22) (step S210).
Through above-mentioned steps, under the faint electric field of signal intensity, terminal 2020 can be after the precision of the phase place of verifying the location basic code, and precision positions well.
[the 3rd embodiment]
Figure 35 is the skeleton diagram of terminal 3020 grades of expression the 3rd embodiment.
Shown in figure 35, terminal 3020 can from position location satellite for example, gps satellite 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h, receive electric wave S1, S2, S3, S4, S5, S6, S7 and S8.Gps satellite 12a etc. is an example of communication sources.And communication sources also can be that (Satellite Positioning System: global position system) satellite is not limited to gps satellite to SPS.
On electric wave S1 etc., carry various sign indicating numbers (code).One of them is C/A sign indicating number Sca.This C/A sign indicating number Sca is bit rate, 1023bit (=1msec) the long signal in position of 1.023Mbps.C/A sign indicating number Sca is made up of 1023 (chip: chip, code element).Terminal 3020 is examples of the locating device of location current location, utilizes this C/A sign indicating number that current location is positioned.This C/A sign indicating number Sca is an example of location basic code.
In addition, the information as carrying on electric wave S1 etc. has Almanac Sal and precise ephemeris Seh.Almanac Sal is the information of satellite orbit of the summary of the whole gps satellite 12a of expression etc., and precise ephemeris Seh is the information of satellite orbit of the precision of each gps satellite of expression 12a etc.Almanac Sal and precise ephemeris Seh are referred to as navigation information.
The phase place such as the C/A sign indicating number that sends more than or equal to 3 different gps satellite 12a etc. can be specified in terminal 3020, and current location is positioned.
Figure 36 is the concept map of an example of expression localization method.
Shown in figure 36, for example, can be interpreted as that the C/A sign indicating number arranges continuously between gps satellite 12a and terminal 2020.And the distance between gps satellite 12a and the terminal 3020 is not limited to the integral multiple of the length (300 kms (km)) of C/A sign indicating number, so there is sign indicating number remainder portion C/Aa.In other words, the part and the remainder part that between gps satellite 12a and terminal 3020, have the integral multiple of C/A sign indicating number.The length of the total of the part of the integral multiple of C/A sign indicating number and remainder part is pseudorange.Terminal 3020 utilizes about the pseudorange more than or equal to 3 gps satellite 12a etc. and positions.
In the present embodiment, call code phase to the remainder portion C/Aa of C/A sign indicating number.Code phase for example, both can represent with how many sheets of certain sheet of C/A sign indicating number 1032 also can be scaled the distance expression.When calculating pseudorange, be scaled distance to code phase.
Utilize precise ephemeris Seh can calculate gps satellite 12a position in orbit.And, such as according to calculate gps satellite 12a in orbit the position and after distance between the initial position QC0 that states, can confirm the part of the integral multiple of C/A sign indicating number.And, because the length of C/A sign indicating number is 300 kms (km), so the site error of initial position QC0 needs in 150 kms (km).
And, shown in figure 36, Yi Bian move to arrow X1 direction such as the phase place of duplicating the C/A sign indicating number, Yi Bian carry out relevant treatment.At this moment, while changing synchronously, terminal 3020 carries out relevant treatment with frequency.This relevant treatment by after relevant processing and the incoherent processing stated constitute.
Relevant aggregate-value becomes maximum phase place and is sign indicating number remainder C/Aa.
And, can be different with the 3rd embodiment, terminal 3020 positions such as the electric wave that the communication base station that utilizes pocket telephone sends.In addition, different with the 3rd embodiment, terminal 3020 also can be from LAN (Local Area Network: LAN) receive electric wave and position.
Figure 37 is the key diagram of relevant treatment.
Relevant is to obtain the C/A sign indicating number of terminal 3020 receptions and duplicate the relevant processing between the C/A sign indicating number.Duplicating the C/A sign indicating number is the code that terminal 3020 produces.Duplicating the C/A sign indicating number is an example of duplicating the location basic code.
For example, shown in figure 37, as being coherence time 10msec, then calculating at the C/A sign indicating number of 10msec time inter-sync accumulative total and duplicate correlation between the C/A sign indicating number etc.Obtain relevant phase place (code phase) and correlation as relevant process result, output.
Incoherent is the processing that goes out relevant aggregate-value (incoherent value) through the correlation value calculation that adds up relevant result.
As the result of relevant treatment, code phase and relevant aggregate-value that output is exported in relevant the processing.
Figure 38 is a routine figure of the relation of relevant aggregate-value of expression and code phase.
The code phase CP1 of the maximal value Pmax of the relevant aggregate-value of corresponding Figure 38 is the code phase that duplicates the C/A sign indicating number, is the code phase of C/A sign indicating number.
And terminal 3020 is regarded as the little side's of relevant aggregate-value relevant aggregate-value the relevant aggregate-value Pnoise of noise such as from the code phase CP1 distance code phase of two/a slice.
Stipulate the difference of Pmax and Pnoise as signal intensity XPR divided by the value of Pmax at terminal 3020.Signal intensity XPR is an example of signal intensity.
And, for example, when XPR more than or equal to 0.2 the time, the candidate of the code phase that terminal 3020 is regarded as code phase CP1 in the location, to use.Below, this code phase is called " candidate code phase ".The candidate code phase is the candidate of in the location, using, and in fact not necessarily use in the location at terminal 3020.
Figure 39 and Figure 40 are routine figure of the relation of expression candidate code phase and effluxion etc.
For example, Figure 39 illustrates gps satellite 12a near the state at terminal 3020.
Like gps satellite 12a near terminal 3020, then since the distance between gps satellite 12a and the terminal 3020 shorten, so candidate code phase C1 approaches 0 in effluxion.
In addition, in effluxion, set synchronously with frequency F1 to uprise.This be because gps satellite 12a near terminal 3020 Doppler shift through producing, the arrival frequency gets higher during corresponding electric wave S1 incoming terminal 3020.
Terminal 3020 for effectively with the arrival Frequency Synchronization that will change, shown in figure 40, for example, use 3 frequencies series F1, F2 and F3.Frequency series F1 etc. is an example of frequency series.Frequency series F1 and F2 depart from the band width of 50 hertz (Hz).In addition, frequency series F1 and F3 also depart from the band width of 50 hertz (Hz).Preestablish the frequency interval of 50 hertz (Hz).That is to say that the frequency interval of 50 hertz (Hz) is an example of frequency interval.This frequency interval is to stipulate less than the stepped intervals of the frequency search of terminal 3020 in the relevant treatment of implementing.For example, be 100 hertz (Hz) (with reference to Figure 45 B) like the stepped intervals of frequency search, then stipulate for 100 hertz with less than.
And frequency series F1 etc. can be a plurality of, and is different with the 3rd embodiment, for example, can be more than or equal to 4.
Shown in figure 40, the Doppler shift of prediction arrival frequency, each frequency series F1 etc. change in effluxion to be set.
And, should precision follow the Doppler shift that arrives frequency best for any one of each frequency series F1 etc.
In frequency series F1, calculate code phase C1.And, in frequency series F2, calculate code phase C2.And, in frequency series F3, calculate code phase C3.
Like this, parallel computation goes out 3 code phase C1 etc., but can suppose that the candidate code phase reliability that under the highest state of signal intensity XPR, is calculated is the highest.
But, XPR is not kept the highest frequency series F1 etc.For example, shown in figure 40, the highest such as the XPR of the candidate code phase C1 that in frequency series F1, calculates during between time t1 and the t2, the XPR of the candidate code phase C2 that in frequency series F2, calculates during between time t2 and the t3 is the highest.
Because of based on the frequency that is changed each frequency series F1 etc. by the Doppler shift predicted, thus the candidate code phase that in any frequency series, calculates, should be higher than the candidate code phase precision that in other frequency series unceasingly, calculates.In other words, for example, frequency series F1 compares with other frequency series F2 and F3, should precision preferably continue to follow actual arrival frequency.
Therefore, when changing frequency series according to effluxion, the candidate code phase precision that under the high state of XPR, calculates is not necessarily the highest.
This point, terminal 3020 under weak electric field, constitute according to following hardware and software is formed in after the precision of checking candidate code phase, can position on the precision highland.
(main hardware at terminal 3020 constitutes)
Figure 41 is the skeleton diagram that the main hardware at expression terminal 3020 constitutes.
Shown in figure 41, terminal 3020 includes computing machine, and computing machine includes bus 3022.Central processing unit) 3024, memory storage 3026 etc. on bus 3022, be connected with CPU (Central Processing Unit:.RAS), ROM (Read OnlyMemory: ROM (read-only memory)) etc. memory storage 3026 is such as being RAM (Random Access Memory:.
In addition, on bus 3022, be connected with input media 3028, supply unit 3030, GPS device 3032, display device 3034, communicator 3036 and clock 3038.
(formation of GPS device 3032)
Figure 37 is the skeleton diagram of the formation of expression GPS device 3032.
Shown in figure 37, GPS device 3032 is made up of 3032a of RF portion and base band part 3032b.
The 3032a of RF portion receives electric wave S1 etc. with antenna 3033a.And, amplifier, be the signal that LNA 3033a amplify to carry the C/A sign indicating number on electric wave S1 etc.And, the frequency of frequency converter 3033c down converting signal.And quadrature (IQ) wave filter 3033d carries out IQ with signal to be separated.Then, A/D converter 3033e1 and 3033e2 are digital signal separately with the conversion of signals that IQ separates respectively.
(main software at terminal 3020 constitutes)
Figure 43 is the skeleton diagram that the main software at expression terminal 3020 constitutes.
Shown in figure 43, terminal 3020 comprises: control the control part 3100 of each one, the GPS portion 3102 corresponding with the GPS device of Figure 41 3032 and with corresponding timing portion 3104 of clock 3038 etc.
Terminal 3020 also comprises: store first storage part 3110 of various programs and second storage part 3150 of storing various information.
Shown in figure 43, terminal 3020 stores navigation information 3152 in second storage part 3150.Navigation information 3152 includes Almanac 3152a and precise ephemeris 3152b.
Terminal 3020 uses Almanac 3152a and precise ephemeris 3152b to be used for the location.
Shown in figure 43, terminal 3020 stores initial position message 3154 in second storage part 3150.Initial position QC0 is such as the position location that is last time.
Shown in figure 43, terminal 3020 stores may observe satellite calculation procedure 3112 in first storage part 3110.May observe satellite calculation procedure 3112 is control parts 3100 with the initial position QC0 of initial position message 3154 expressions is benchmark, is used to calculate the program of the gps satellite 12a that can observe etc.
Specifically, control part 3100 is judged the gps satellite 12a that in the current time through 3104 meterings of timing portion, can observe etc. with reference to Almanac 3152a.The may observe satellite information 3156 of the gps satellite 12a that control part 3100 can observe expression etc. (below be called " may observe satellite ") stores in second storage part 3150.In the 3rd embodiment, the may observe satellite is gps satellite 12a to 12h (with reference to Figure 35 and Figure 43).
Shown in figure 43, terminal 3020 stores the frequency computation part program 3114 of inferring in first storage part 3110.Infer frequency computation part program 3114 and be control part 3100 and be used to infer the program of the receive frequency of electric wave S1 that gps satellite 12a etc. sends etc.
Arrival frequency when this receive frequency is electric wave S1 incoming terminal 3020.In more detail, this receive frequency be electric wave S1 incoming terminal 3020 and also in terminal 3020 centre (IF) frequency (intermediate frequency) during by frequency downconversion.
Figure 44 is the key diagram of inferring frequency computation part program 3114.
Shown in figure 44, control part 3100 adds Doppler shift H2 with the transmission frequency H1 of transmissions such as gps satellite 12a, calculates and infers frequency A3.From the transmission frequency H1 of gps satellite 12a etc. for both knowing, such as 1575.42MHz.
Doppler shift H2 is by relatively moving and produce between each gps satellite 12a etc. and the terminal 3020.The line-of-sight velocity of each gps satellite 12a that control part 3100 calculates at current time according to precise ephemeris 3152b and initial position QC0 etc. (to the speed of the direction at terminal 3020).And, calculate Doppler shift H2 based on its line-of-sight velocity.
Corresponding each may observe satellites of control part 3100, be that gps satellite 12a etc. calculates and infers frequency A3.
And, in inferring frequency A3, include the error of correspondence drift of the time clock (reference oscillator: not shown) at terminal 3020.It is former thereby cause the variation of oscillation frequency by temperature variation that drift is exactly.
Therefore, control part 3100 is that electric wave S1 etc. is retrieved at the center in the frequency of Rack to infer frequency A3.Such as retrieving electric wave S1 etc. to the scope of the frequency of (A3+100) kHz with the frequency of every 100Hz in frequency from (A3-100) kHz.
Shown in figure 43, terminal 3020 stores in first storage part 3110 measures calculation procedure 3116.Measuring calculation procedure 3116 is that control part 3100 carries out from the C/A sign indicating number of reception such as gps satellite 12a and the relevant treatment of duplicating the C/A sign indicating number of terminal 3020 generations, is used to calculate the program of measurement of relevant aggregate-value Pnoise, candidate code phase and the receive frequency of the maximal value Pmax that includes the aggregate-value of being correlated with, noise.Measuring calculation procedure 3116 is examples of phase calculation portion with control part 3100, also is an example of receive frequency specifying part.
Figure 45 A～45C is a key diagram of measuring calculation procedure 3116.
Shown in Figure 45 A, control part 3100 such as cut apart the C/A sign indicating number with equal intervals 1, carries out relevant treatment through base band part 3032b.For example, 1 of the C/A sign indicating number by 32 five equilibriums.That is to say, in phase width (the first phase width W1) interval of 32/a slice, carry out relevant treatment.And the phase place at interval of the first phase width W1 when control part 3100 is carried out relevant treatment is called the first sampling phase SC1.
Signal intensity when electric wave S1 etc. arrives terminal 3020 be during more than or equal to-155dBm, and the first phase width W1 can be detected the phase width of maximum correlation Pmax by the regulation conduct.Like the phase width of 32/a slice, though signal intensity more than or equal to-155dBm is a weak electric field, also can detect maximum correlation Pmax through the simulation and apparition.
Shown in Figure 45 B, control part 3100 is the center to infer frequency A3, and relevant treatment is carried out on the first phase width W1 limit of staggering on the frequency range limit of ± 100kHz.At this moment, the limit is carried out relevant treatment to the frequency 100Hz limit of staggering.
Shown in Figure 45 C, export the correlation accumulative total P of the phase place C1 to C64 of corresponding 2 correspondences from base band part 3032b.Each phase place C1 to C64 is the first sampling phase SC1.
And code phase CPC1 is scaled distance.As stated, the code length of C/A sign indicating number is such as being 300 kms (kM), so can be the remainder of C/A sign indicating number part, be that code phase is scaled distance.
And, can be different from the 3rd embodiment, adopt the method for narrow correlator (for example, with reference to TOHKEMY 2000-312163 communique) as relevant treatment.
Shown in figure 43, terminal 3020 stores in first storage part 3110 measures save routine 3118.Measuring save routine 3118 is programs that control part 3100 is used for measurement is saved in second storage part 3150.
Shown in figure 43, terminal 3020 stores frequency assessment process 3120 in first storage part 3110.Frequency assessment process 3120 be control part 3100 be used to judge receive frequency fC0 and the receive frequency fC1 when prelocalization when located for last time difference on the frequency whether at frequency threshold α 3 with interior program.Frequency threshold α 3 is that basis is predesignated less than the threshold value of the frequency interval of frequency series F1, F2 and F3 with interior scope.As stated, be 50 hertz (Hz) like frequency interval, then frequency threshold α 3 is such as being 30 hertz (Hz).Above-mentioned frequency assessment process 3120 is examples of difference on the frequency evaluating part with control part 3100.And frequency threshold α 3 is the example in the difference on the frequency permissible range of predesignating with interior scope.
Shown in figure 43, terminal 3020 stores predictive code phase calculation program 3122 in first storage part 3110.Predictive code phase calculation program 3122 is the Doppler shift of code phase CPC0 when locating based on last time of control part 3100, electric wave S1 etc. and the effluxion dt that begins when locating last time, has been used to predict that current phasometer calculates the program of predictive code phase place CPCe.Predictive code phase place CPCe is an example of predicted phase.Predictive code phase calculation program 3122 is examples of predicted phase calculating part with control part 3100.
And predictive code phase place CPCe is scaled distance.
Figure 46 is the key diagram of predictive code phase calculation program 3122.
Shown in figure 46, control part 3100 is such as calculate predictive code phase place CPCe according to formula 3.
Shown in formula 3, the effluxion dt when control part 3100 such as the code phase CPC0 when locating since last time deducts and located last time multiply by the value of the relative moving speed at gps satellite 12a and terminal 3020, calculates predictive code phase place CPCe.
And in formula 3, predictive code phase place CPCe, last time, code phase CPC0 was scaled distance.
Here, electric wave S1 is with light velocity propagation.Therefore, remove the light velocity, can calculate the speed of the summary of corresponding Doppler shift 1 hertz (Hz) through transmission frequency H1 with electric wave S1 etc.That is to say, Doppler shift add (+) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) near terminal 3020.Code phase CPC0 when therefore, predictive code phase place CPCe located than last time shortens.Here, Doppler shift when locating for last time frequency f C0 and send the difference between the frequency H1.
Be directed to this, Doppler shift subtract (-) 1 hertz (Hz) mean gps satellite 12a with speed second 0.19 meter (m/s) away from terminal 3020.Code phase CPC0 when therefore, predictive code phase place CPCe located than last time is elongated.
And the effluxion that formula 3 began when locating last time is to set up under the condition of short time.In other words, formula 3 is limited on chart as straight line the relation of code phase and effluxion to be shown down and sets up.
In addition, be different from the 3rd embodiment, the frequency f C0 in the time of can being located for last time is regarded as Doppler shift with the mean value of the difference of sending frequency H1 and frequency f C1 when prelocalization and the difference of sending frequency H1.Based on this, can further calculate predictive code phase place CPCe exactly.
Shown in figure 43, terminal 3020 stores code phase assessment process 3124 in first storage part 3110.Code phase assessment process 3124 be control part 3100 be used to judge current code phase CPC1 and predictive code phase place CPCe code phase difference whether smaller or equal to the program of code phase threshold value beta 3 (below be called " threshold value beta 3 ").Scope smaller or equal to threshold value beta 3 is the example in the phase differential permissible range.Code phase assessment process 3124 is examples of phase differential evaluating part with control part 3100.
Threshold value beta 3 is predesignated.For example, β 3 is 80 meters (m).
Shown in figure 43, terminal 3020 stores the location and uses code phase to confirm program 3126 in first storage part 3110.The location use code phase confirm program 3126 be control part 3100 be used for confirming frequency threshold α 3 with interior difference on the frequency and smaller or equal to the code phase CPC1 of threshold value beta 3, be that the code phase CPC1 etc. of gps satellite 12a etc. is as the program of locating use code phase CPC1f.
It is uncertain as using code phase CPC1f in the location with the code phase CPC1 of the gps satellite 12a of interior difference on the frequency etc. etc. not to be correspondence frequency threshold α 3, from the location, gets rid of.And, in the location, use the code phase CPC1 of respective frequencies threshold alpha 3 with interior difference on the frequency and corresponding code phase difference smaller or equal to threshold value beta 3.That is to say that the location uses code phase to confirm that program 3126 and control part 3100 are examples of phase place eliminating portion.
In the 3rd implemented, the location used code phase CPC1f to be regarded as such as the corresponding gps satellite 12a of difference, 12b, the CPC1fa of 12c and 12d, CPC1fb, CPC1fc and CPC1fd.
In addition, in the present embodiment, in the location, using code phase CPC1 is the same with using code phase CPC1f to code phase CPC1 as the location.
Shown in figure 43, terminal 3020 stores finder 3128 in first storage part 3110.Finder 3128 is that control part 3100 is used to use the program of using code phase CPC1f that current location is positioned of locating.Finder 3128 is examples of location division with control part 3100.
It is above-mentioned threshold value beta 3 with interior code phase CPC1 etc. that code phase CPC1f is used in the location.That is to say that it is the same using the location to use code phase CPC1f to position with using threshold value beta 3 with interior code phase CPC1 etc. current location to be positioned to current location.
When using code phase CPC1f more than or equal to 3 location, control part 3100 uses these location to use code phase CPC1f that current location is positioned, and calculates position location QC1.
Shown in figure 43, terminal 3020 stores position location written-out program 3130 in first storage part 3110.Position location written-out program 3130 is that control part 3100 is used for being presented at the program on the display device 3034 (with reference to Figure 41) to position location QC1.
Shown in figure 43, terminal 3020 stores code phase threshold setting program 3132 in first storage part 3110.Code phase threshold setting program 3132 is control part 3100 accepting states based on the C/A sign indicating number, is used for confirming the program of threshold value beta 3.This code phase threshold setting program 3132 is examples that the phase differential permissible range is confirmed portion with control part 3100.
Figure 47 is the key diagram of code phase threshold setting program 3132.
Call the condition form to the form of Figure 47.
The condition form comprises: drift determinacy 130b, tracking centre halfback star number 130c, strong satellite existence 130d, weak satellite existence 130e, strong satellite ratio 130f, weak satellite ratio 130g, process cumulative time 130h and code phase threshold value beta 3.
Above-mentioned drift determinacy 130b, tracking centre halfback star number 130c, strong satellite existence 130d, weak satellite existence 130e, strong satellite ratio 130f, weak satellite ratio 130g and process cumulative time 130h are examples of the accepting state of C/A sign indicating number.The determinacy of will drifting about 130b etc. is referred to as accepting state.
As stated, the condition form comprises station-keeping mode 130a.Station-keeping mode 130a comprises general mode, high sensitivity pattern and Move Mode.
General mode is be initially set to 1 second (s) of cumulative time (incoherent time), under the situation a little less than the signal intensity of C/A sign indicating number, the elongated of stage cumulative time is gone down like the station-keeping mode of 4 seconds (s), 8 seconds (s), 24 seconds (s).General mode is such as preferred station-keeping mode in more than or equal to negative (-) 150dBM to the signal intensity of the antenna 3033a of GPS device 3032 input.
The high sensitivity pattern is be initially set to 1 second (s) of cumulative time, and under the situation a little less than the signal intensity of C/A sign indicating number, the cumulative time being extended at once is the station-keeping mode of 24 seconds (s).The high sensitivity pattern is such as preferred station-keeping mode in less than negative (-) 150dBM to the signal intensity of the antenna 3033a of GPS device 3032 input.
Move Mode is that the initial setting up of cumulative time is fixed as the station-keeping mode of 1 second (s).Move Mode is terminal 3020 preferred station-keeping mode in moving.
As stated, the condition form comprises drift determinacy 130b.Drift is exactly because the temperature variation of the reference clock pulse (not shown) at terminal 3020 is former thereby the variation of the frequency that causes.The precision of the measurement that more little terminal 3020 calculates of drifting about uprises more.This drift can prepare the location more than or equal to 3 gps satellite 12a etc. and calculates through using.Can calculate the time error at terminal 3020 through the preparation location.Thereby, can calculate drift based on this time error.
Drift determinacy 130b be expression terminal 3020 for the frequency error of the setting value of frequency whether at positive and negative (±) 50 hertz (Hz) with interior information.
In positive and negative (±) 50 hertz (Hz) time, terminal 3020 judges that drift is for confirming (the drift determinacy is arranged) for the frequency error of the setting value of frequency.
Be directed to this, frequency error is when bigger than positive and negative (±) 50 hertz (Hz), and terminal 3020 judges that drift is for confirming (the drift determinacy is arranged).
Positive and negative (±) 50 hertz (Hz) is an example of the drift permissible range predesignated with interior frequency range.
As stated, be in positive and negative (±) 50 hertz (Hz) time for the frequency error of the setting value of frequency, terminal 3020 judges that the drift determinacy is arranged, but this error range is with less than stipulating in the scope of measuring the frequency step (with reference to Figure 45 B) in calculating.
As stated, the condition form comprises tracking centre halfback star number 130c.Follow the trail of centre halfback's star number 130c and be the continuous quantity in terminal 3020 at the gps satellite 12a that receives electric wave S1 etc. etc.
As stated, the condition form comprises strong satellite existence 130d.Whether strong satellite existence 130d expression signal intensity XPR exists more than or equal to 0.7 gps satellite 12a etc. (below: be called " strong satellite ").
When a strong satellite existed, terminal 3020 judged that strong satellite is arranged.
Be directed to this, when one on strong satellite did not exist yet, terminal 3020 judged there is not strong satellite.
As stated, the condition form comprises weak satellite existence 130e.Whether weak satellite existence 130e expression signal intensity XPR exists smaller or equal to 0.4 gps satellite 12a etc. (below: be called " weak satellite ").
When a weak satellite existed, terminal 3020 judged that weak satellite is arranged.
Be directed to this, when one on weak satellite did not exist yet, terminal 3020 judged there is not weak satellite.
As stated, the condition form comprises strong satellite plurality 130f.Strong satellite plurality 130f representes whether the gps satellite 12a of terminal 3020 in following the trail of etc. all is strong satellite.
When the gps satellite 12a in following the trail of etc. all was strong satellite, " YES " judged at terminal 3020.
Be directed to this, when not having strong satellite more than or equal to the gps satellite 12a in one the tracking etc., " NO " judged at terminal 3020.
As stated, the condition form comprises weak satellite plurality 130g.Weak satellite plurality 130g representes that the gps satellite 12a during whether follow the trail of at terminal 3020 etc. all is weak satellite.
When the gps satellite 12a in following the trail of etc. all was weak satellite, " YES " judged at terminal 3020.
Be directed to this, when not having weak satellite more than or equal to the gps satellite 12a in one the tracking etc., " NO " judged at terminal 3020.
As stated, the condition form comprises through cumulative time 130h.Represent that through cumulative time 130h whether incoherent effluxion to current time (below: be called " through cumulative time ") from beginning is smaller or equal to time threshold, such as 12 seconds (s).That is to say, from the beginning incoherent effluxion to current time, with from the beginning relevant treatment effluxion be the same.
As passing through the cumulative time smaller or equal to 12 seconds (s), then " YES " judged at terminal 3020.
Be directed to this, when the process cumulative time was longer than 12 seconds (s), " NO " judged at terminal 3020.
In addition, under general situation, become more greatly through cumulative time long more signal intensity XPR, the precision of code phase CPC1 also improves.Therefore, time threshold is stipulated according to the precision of the code phase CPC1 of corresponding bearing accuracy needs.
Such as be " having " for general mode, drift determinacy 130b, satellite in following the trail of count 130c for more than or equal to 8, when strong satellite existence 130d is " YES " for " YES " through cumulative time 130h for " having ", strong satellite plurality 130f (Cond1), with code phase threshold value beta 3 be set at minimum value, such as 19 meters (m).
In Cond1, because the quantity of the gps satellite 12a in following the trail of etc. is abundant, in addition, signal intensity XPR also is good, so through reducing the setting of code phase threshold value beta 3, bearing accuracy is improved.
In addition, compare in the tracking number of satellite with Cond1 few for Cond7.In this case, terminal 3020 is set at code phase threshold value beta 3 bigger such as 52 meters (m) than Cond1.Based on this, than Cond1 bearing accuracy deterioration, but the quantity of the gps satellite that can guarantee in the location, can to use more.
Like this, terminal 3020 is as under identical accepting state, and much the quantity of the gps satellite 12a in then following the trail of etc. reduce the settings of code phase threshold value beta 3, the setting of the fewer all the more big code phase threshold value beta 3 of quantity of the gps satellite 12a in the tracking etc. more more.
In addition, such as in Cond3, owing to be " NO " through cumulative time 130h, so compare the precision of code phase CPC1 with Cond1 bad.Therefore, terminal 3020 is bigger slightly than Cond1 through code phase threshold value beta 3 is set, such as being 25 meters (m), can become Min. to the deterioration of bearing accuracy on one side, on one side the code phase CPC1 of the quantity that can guarantee to locate.
In addition; Such as in Cond11; Owing to exist to follow the trail of minimum number that centre halfback's star number is used to locate and be under 3 the situation and weak satellite plurality 130g is " YES "; So exist one reduce code phase threshold value beta 3 setting, the quantity of gps satellite 12a etc. just can not reach the situation of the quantity that can locate.Therefore, terminal 3020 is bigger than Cond1 or Cond4 etc. through setting, such as being 80 meters (m), on one side the deterioration that just can guarantee bearing accuracy is in tolerance range, Yi Bian the code phase CPC1 of the quantity of guaranteeing to locate.
And in the 3rd embodiment, the maximal value of code phase β is set 80 meters (m).The length of so-called these 80 meters (m) is that terminal 3020 is for high-speed mobile portion, moving on the Shinkansen when positioning with one second (s) interval such as carrying on one side; When locating last time and current time during in, stipulate as the length below the distance of code phase variation.
In addition, for example in Cond23 Move Mode, so because the continuous change of arrival frequency of the electric wave S1 etc. of incoming terminal 3020 is moved at terminal 3020.And, be difficult to calculate the change that it arrives frequency.Therefore, terminal 3020 through set code phase threshold value beta 3 than Cond1 or Cond4 etc. greatly, such as 80 meters (m), even bearing accuracy corrupts to tolerance range, the code phase CPC1 of the quantity that also can guarantee to locate.
Terminal 3020 as above-mentioned formation.
Terminal 3020 can judge that whether the code phase difference of current code phase CPC1 and predictive code phase place CPCe is smaller or equal to the threshold value beta of predesignating 3.Therefore, the precision that terminal 3020 can identifying code phase place CPC1.
In addition, the code phase CPC1 of correspondence smaller or equal to the code phase difference of threshold value beta 3 can be used in terminal 3020, and current location is positioned.
Based on this, under the faint electric field of signal intensity, terminal 3020 can be after the precision of the code phase of verifying the location basic code, and what precision was good positions.
In addition, the code phase CPC1 of respective frequencies threshold alpha 3 with the frequency f C1 outside the interior scope can be got rid of in terminal 3020 from the location.
This means that terminal 3020 not only can verify the precision of the code phase CPC1 of C/A sign indicating number, also can verify the precision of the receive frequency fC1 when calculating code phase CPC1.
Based on this, under the faint electric field of signal intensity, terminal 3020 can be after the precision of the code phase of verifying the location basic code, and what precision further was good positions.
In addition, many more such as the quantity of the gps satellite 12a in following the trail of etc., terminal 3020 reduces code phase threshold value beta 3 more, can be in the location the relative high code phase CPC1 of service precision only.
Based on this, under the faint electric field of received-signal strength, terminal 3020 can position by the relative high code phase CPC1 of service precision.
In addition, the quantity of terminal 3020 such as the big gps satellite 12a of the signal intensity XPR of the C/A sign indicating number that receives etc. is many more, reduces code phase threshold value beta 3 more, can be in the location the relative high code phase CPC1 of service precision only.
Based on this, under the faint electric field of received-signal strength, terminal 3020 can use relative high code phase CPC1 to position.
In addition, for example drift about such as in positive and negative (±) 50 hertz (Hz) time, reduce code phase threshold value beta 3, terminal 3020 can be in the location the relative high code phase CPC1 of service precision only.
Based on this, under the faint electric field of received-signal strength, terminal 3020 can position by the relative high code phase CPC1 of service precision.
In addition, such as growing through the cumulative time and more reduce code phase threshold value beta 3, terminal 3020 can be in the location the relative high code phase CPC1 of service precision only.
Based on this, under the faint electric field of received-signal strength, terminal 3020 can position by the relative high code phase CPC1 of service precision.
In addition, because the many more settings that reduce code phase threshold value beta 3 more of quantity of the gps satellite 12a in 3020 trackings of terminal etc., so can position by the high code phase CPC1 of service precision.
In addition, because the setting of the fewer all the more big code phase threshold value beta 3 of quantity of the gps satellite 12a in 3020 trackings of terminal etc., so can improve the possibility that can calculate the position location.
More than be the formation at the terminal 3020 that relates to of the 3rd embodiment, but following use Figure 48 mainly describe its action example.
Figure 48 is the general flowchart of the action example at expression terminal 3020.
At first, terminal 3020 receives electric wave S1 etc., calculates measurement (the step S301 of Figure 47).This step S301 is an example of phase calculation step.
Then, terminal 3020 is preserved and is measured (step S302).
Then, terminal 3020 judge current frequency f C1 and last time frequency f C0 the absolute value of differential in frequency whether smaller or equal to frequency threshold α 3 (step S303).
In step S303, corresponding judgement is not used at terminal 3020 in the location be not the code phase CPC1 (S310) smaller or equal to the differential in frequency of frequency threshold α 3.That is to say, do not use the location to use code phase CPC1f.
Be directed to this, in step S303, terminal 3020 calculates corresponding predictive code phase place CPCe (step S304) about the code phase CPC1 of corresponding determination frequency smaller or equal to the differential in frequency of frequency threshold α 3.This step S304 is an example of predicted phase calculation procedure.
Then, code phase threshold value beta 3 (step S305) is kept or is changed at terminal 3020.This step S305 is the example that the phase differential permissible range is confirmed step.
Then, terminal 3020 judge code phase CPC1 and predictive code phase place CPCe the absolute value of code phase difference whether smaller or equal to threshold value beta 3 (step S306).This step S306 is an example of phase place evaluation procedure.Terminal 3020 is regarded as the code phase CPC1 of the absolute value of judging code phase difference smaller or equal to threshold value beta 3 location and uses code phase CPC1f.
Then, terminal 3020 judges that whether location use code phase CPC1f is more than or equal to 3 (step S307).
In step S307, when terminal 3020 judges that 3 of code phase CPC1f less thaies are used in the location, owing to can not locate, so do not position end of a period.
Be directed to this, in step S307, when terminal 3020 judges that the location is used code phase CPC1f more than or equal to 3, use the location to use code phase CPC1f to position (step S308).This step S308 is an example of positioning step.
Then, terminal 3020 output position location QC1 (with reference to Figure 43) (step S309).
Through above step, be under the faint electric field in signal intensity, terminal 3020 can be after the precision of the phase place of verifying the location basic code, and what precision was good positions.
The present invention is not limited to each above-mentioned embodiment.
Claims (13)
1. locating device comprises:
Phase calculation portion, that stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the current phase place of said location basic code;
The predicted phase calculating part calculates Doppler shift and the elapsed time when locating since last time and the predicted phase when having predicted current said phase place of the frequency of the electric wave that was based on when locating last time the said phase place used, is equipped with said location basic code;
The phase differential evaluating part, whether the phase differential of judging the said phase place that calculates through said phase calculation portion and said predicted phase is in the phase differential permissible range of regulation; And
Use and the interior corresponding said phase place of said phase differential of said phase differential permissible range the location division, current location is positioned,
Wherein, corresponding each communication sources of said phase calculation portion uses that at least one frequency series stipulates duplicates the location basic code and from the said relevant treatment of the location basic code of said communication sources, calculates the phase place of location basic code,
Said location division comprises:
Phase place selection portion, with said phase differential permissible range in the corresponding said phase place of said phase differential in, corresponding each said communication sources selects the minimum said phase place of said phase differential to be regarded as selecting phase place;
Select phase place first evaluating part, judge whether the signal intensity of said selection phase place is maximum; And
Select phase place second evaluating part, judge in the said phase place stipulated number scope that whether number of times in said phase differential permissible range is being predesignated continuously in the affiliated said frequency series of said selection phase place,
When being sure, use said selection phase place that current location is positioned based on the judged result of said selection phase place first evaluating part and/or based on the judged result of said selection phase place second evaluating part.
2. locating device according to claim 1, wherein,
Said phase place and the said phase place when said relevant treatment finishes when said predicted phase calculating part use was located as last time calculate said predicted phase.
3. locating device according to claim 1 and 2 comprises:
The receive frequency specifying part is specified the receive frequency when receiving the electric wave that is equipped with said location basic code;
The difference on the frequency evaluating part, whether the difference on the frequency of judging said receive frequency and current said receive frequency when located for last time is in the difference on the frequency permissible range of predesignating;
Phase place eliminating portion, from the location, get rid of with said difference on the frequency permissible range outside the phase place of the corresponding said location basic code of said difference on the frequency.
4. locating device according to claim 1 and 2 comprises:
The receive frequency specifying part is specified the receive frequency when receiving the electric wave that is equipped with said location basic code;
The difference on the frequency evaluating part, whether the difference on the frequency of judging said receive frequency and current said receive frequency when located for last time is in the difference on the frequency permissible range of predesignating; And
Phase place eliminating portion, from the location, get rid of with said difference on the frequency permissible range outside the phase place of the corresponding said location basic code of said difference on the frequency,
Wherein, said each frequency series departs from the frequency interval of predesignating mutually,
The threshold value of said difference on the frequency permissible range lack of foundation said frequency interval is stipulated.
5. locating device according to claim 1, it also comprises:
The phase differential permissible range is confirmed portion, based on the accepting state of said location basic code, confirms said phase differential permissible range,
Said phase differential evaluating part judges whether in the said phase differential permissible range that is determined.
6. locating device according to claim 5, wherein,
Said accepting state comprises the quantity of the said communication sources of the said location basic code that said locating device receives.
7. according to claim 5 or 6 described locating devices, wherein,
Said accepting state comprises the signal intensity of the said location basic code that said locating device receives.
8. locating device according to claim 7, wherein,
Whether the drift that said accepting state comprises the reference clock of representing said locating device information in the drift permissible range of predesignating.
9. locating device according to claim 7, wherein,
Said accepting state comprises the information in the elapsed time after the said relevant treatment of expression beginning.
10. locating device according to claim 7, wherein,
The quantity of said communication sources that said locating device receives said location basic code is many more, and said phase differential permissible range confirms that portion is provided with said phase differential permissible range more narrowly,
The quantity of said communication sources that said locating device receives said location basic code is few more, and said phase differential permissible range confirms that portion is provided with said phase differential permissible range more widely.
11. locating device according to claim 1, wherein,
Said communication sources is SPS (Satellite Positioning System) satellite.
12. a position control method may further comprise the steps:
That stipulates duplicates the location basic code and from the relevant treatment of location basic code of the communication sources of regulation, calculates the phase place of said location basic code;
Calculate Doppler shift and the elapsed time when locating and the predicted phase when having predicted current said phase place of the frequency of the electric wave that was based on when locating last time the said phase place used, is equipped with said location basic code since last time;
Whether the said phase place that judgement calculates in said phase calculation and the phase differential of said predicted phase be in the phase differential permissible range of regulation; And
Use and the interior corresponding said phase place of said phase differential of said phase differential permissible range, current location positioned,
Wherein, corresponding each communication sources uses that at least one frequency series stipulates duplicates the location basic code and from the said relevant treatment of the location basic code of said communication sources, calculates the phase place of location basic code,
In the location of said current location,
With said phase differential permissible range in the corresponding said phase place of said phase differential in, corresponding each said communication sources is selected the minimum said phase place of said phase differential;
Carry out whether maximum first the judging of the signal intensity of said selection phase place; And
Carry out in the said frequency series under the said selection phase place said phase place continuously second in the stipulated number scope whether predesignated of the number of times in said phase differential permissible range judge,
When the judged result of judging when said first judged result and/or said second judged is sure, use said selection phase place that current location is positioned.
13. position control method according to claim 12, it is further comprising the steps of:
Based on the accepting state of said location basic code, confirm said phase differential permissible range,
Judge whether in the said phase differential permissible range that is determined.
Applications Claiming Priority (7)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006123606A JP2007292698A (en) | 2006-04-27 | 2006-04-27 | Positioning device, method of controlling positioning device and program |
| JP123606/2006 | 2006-04-27 | ||
| JP126177/2006 | 2006-04-28 | ||
| JP2006126177A JP2007298374A (en) | 2006-04-28 | 2006-04-28 | Positioning device, control method of positioning device, and program |
| JP2006137618A JP2007309730A (en) | 2006-05-17 | 2006-05-17 | Positioning instrument, control method for the positioning instrument, and program |
| JP137618/2006 | 2006-05-17 | ||
| PCT/JP2007/059019 WO2007125978A1 (en) | 2006-04-27 | 2007-04-26 | Global positioning device, global positioning control method, global positioning control program, and recording medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101384920A CN101384920A (en) | 2009-03-11 |
| CN101384920B true CN101384920B (en) | 2012-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007800059588A Expired - Fee Related CN101384920B (en) | 2006-04-27 | 2007-04-26 | Positioning device, positioning control method |
Country Status (2)
| Country | Link |
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| JP (1) | JP2007292698A (en) |
| CN (1) | CN101384920B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107783159B (en) * | 2016-08-31 | 2023-07-25 | 松下电器（美国）知识产权公司 | Position measurement system, position measurement method, and mobile robot |
| JP6702285B2 (en) * | 2017-09-25 | 2020-06-03 | カシオ計算機株式会社 | Satellite radio receiver, electronic clock, positioning control method and program |
Citations (2)
| 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 |
| CN1292094A (en) * | 1998-02-27 | 2001-04-18 | 艾利森公司 | Stand alone global positioning system (GPS) and method with high sensitivity |
-
2006
- 2006-04-27 JP JP2006123606A patent/JP2007292698A/en not_active Withdrawn
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2007
- 2007-04-26 CN CN2007800059588A patent/CN101384920B/en not_active Expired - Fee Related
Patent Citations (2)
| 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 |
| CN1292094A (en) * | 1998-02-27 | 2001-04-18 | 艾利森公司 | Stand alone global positioning system (GPS) and method with high sensitivity |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2007292698A (en) | 2007-11-08 |
| CN101384920A (en) | 2009-03-11 |
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