WO2009034671A1 - ナビゲーション装置 - Google Patents

ナビゲーション装置 Download PDF

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Publication number
WO2009034671A1
WO2009034671A1 PCT/JP2008/001805 JP2008001805W WO2009034671A1 WO 2009034671 A1 WO2009034671 A1 WO 2009034671A1 JP 2008001805 W JP2008001805 W JP 2008001805W WO 2009034671 A1 WO2009034671 A1 WO 2009034671A1
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WO
WIPO (PCT)
Prior art keywords
pseudo
distance
navigation device
change
rate
Prior art date
Application number
PCT/JP2008/001805
Other languages
English (en)
French (fr)
Inventor
Tadatomi Ishigami
Masatoshi Fujii
Keika Kan
Sadami Ouchi
Hiroaki Kato
Takeshi Nita
Atsushi Mori
Original Assignee
Mitsubishi Electric Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corporation filed Critical Mitsubishi Electric Corporation
Priority to JP2009532046A priority Critical patent/JP4536150B2/ja
Priority to DE112008002434T priority patent/DE112008002434B4/de
Priority to CN2008801065631A priority patent/CN101809409B/zh
Priority to US12/672,240 priority patent/US7987047B2/en
Publication of WO2009034671A1 publication Critical patent/WO2009034671A1/ja

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/22—Multipath-related issues
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

　電波受信部１１で受信された電波の放射元のＧＰＳ衛星の擬似距離・擬似距離変化率を計測し且つ電波から航法メッセージを得る信号処理部１２と、航法メッセージからＧＰＳ衛星位置・速度を計算するＧＰＳ衛星挙動推定部１３と、擬似距離と擬似距離変化率に基づき擬似距離誤差を推定する擬似距離誤差推定部１４と、擬似距離、ＧＰＳ衛星位置および擬似距離誤差から自己位置を計算する利用者位置観測部１５と、擬似距離変化率、ＧＰＳ衛星位置および自己位置から自己速度を計算する利用者速度・方位観測部１６と、擬似距離誤差中のマルチパス誤差が規定値未満の場合、所定角度範囲内で方位変更時の自己とＧＰＳ衛星の相対運動に基づき計算した擬似距離変化率が計測された擬似距離変化率と一致する方位を自己の方位として探索する利用者方位探索部１７を備えている。
PCT/JP2008/001805 2007-09-10 2008-07-07 ナビゲーション装置 WO2009034671A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2009532046A JP4536150B2 (ja) 2007-09-10 2008-07-07 ナビゲーション装置
DE112008002434T DE112008002434B4 (de) 2007-09-10 2008-07-07 Navigationsausrüstung
CN2008801065631A CN101809409B (zh) 2007-09-10 2008-07-07 导航装置
US12/672,240 US7987047B2 (en) 2007-09-10 2008-07-07 Navigation equipment

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007234367 2007-09-10
JP2007-234367 2007-09-10

Publications (1)

Publication Number Publication Date
WO2009034671A1 true WO2009034671A1 (ja) 2009-03-19

Family

ID=40451693

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/001805 WO2009034671A1 (ja) 2007-09-10 2008-07-07 ナビゲーション装置

Country Status (5)

Country Link
US (1) US7987047B2 (ja)
JP (1) JP4536150B2 (ja)
CN (1) CN101809409B (ja)
DE (1) DE112008002434B4 (ja)
WO (1) WO2009034671A1 (ja)

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JP2011209268A (ja) * 2010-03-10 2011-10-20 Toyota Central R&D Labs Inc 位置推定装置及びプログラム
CN102401654A (zh) * 2010-09-17 2012-04-04 无限运算股份有限公司 导航装置及导航系统
WO2014002211A1 (ja) * 2012-06-27 2014-01-03 三菱電機株式会社 測位装置
RU2661336C2 (ru) * 2016-08-25 2018-07-16 Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации Способ повышения точности при определении углов пространственной ориентации судна в условиях нарушения структуры принимаемых сигналов гнсс судовой инфраструктурой

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KR101806734B1 (ko) * 2016-09-09 2017-12-07 현대자동차주식회사 차량의 방위 추정 장치 및 방법
CN106530789B (zh) * 2016-10-31 2018-11-30 成都路行通信息技术有限公司 一种汽车停车点的静态漂移检测方法和系统
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JP7006080B2 (ja) * 2017-09-25 2022-01-24 カシオ計算機株式会社 移動状態判別装置、電子時計、移動状態判別方法及びプログラム
JP6437174B1 (ja) * 2018-04-03 2018-12-12 三菱電機株式会社 移動機、マップ管理装置、および測位システム
US10871576B2 (en) * 2018-05-16 2020-12-22 Qualcomm Incorporated Error mitigation in doppler based satellite positioning system measurements
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CN110501737B (zh) * 2019-07-03 2021-12-14 上海卫星工程研究所 一种吸收型谱线目标源遴选方法
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Cited By (9)

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Publication number Priority date Publication date Assignee Title
GB2462926A (en) * 2008-08-27 2010-03-03 Sirf Tech Inc GPS multipath reduction
GB2462926B (en) * 2008-08-27 2013-03-06 Sirf Tech Inc Systems and methods for mitigating multipath signals
JP2011095184A (ja) * 2009-10-30 2011-05-12 Toyota Central R&D Labs Inc 測位装置及びプログラム
JP2011209268A (ja) * 2010-03-10 2011-10-20 Toyota Central R&D Labs Inc 位置推定装置及びプログラム
CN102401654A (zh) * 2010-09-17 2012-04-04 无限运算股份有限公司 导航装置及导航系统
WO2014002211A1 (ja) * 2012-06-27 2014-01-03 三菱電機株式会社 測位装置
JP5855249B2 (ja) * 2012-06-27 2016-02-09 三菱電機株式会社 測位装置
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RU2661336C2 (ru) * 2016-08-25 2018-07-16 Российская Федерация, От Имени Которой Выступает Министерство Промышленности И Торговли Российской Федерации Способ повышения точности при определении углов пространственной ориентации судна в условиях нарушения структуры принимаемых сигналов гнсс судовой инфраструктурой

Also Published As

Publication number Publication date
CN101809409A (zh) 2010-08-18
DE112008002434B4 (de) 2013-07-11
JP4536150B2 (ja) 2010-09-01
CN101809409B (zh) 2012-06-13
US7987047B2 (en) 2011-07-26
JPWO2009034671A1 (ja) 2010-12-24
DE112008002434T5 (de) 2010-06-24
US20110071755A1 (en) 2011-03-24

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