Positioning device

Patent metadata

Field	Value
Publication number	US-10802152-B2
Application number	US-201515518497-A
Country	US
Kind code	B2
Filing date	Oct 30, 2015
Priority date	Oct 30, 2014
Publication date	Oct 13, 2020
Grant date	Oct 13, 2020

Abstract

A reinforcement information adjustment unit reduces an amount of information in reinforcement information by combining: update cycle adjustment processing to set an update cycle of the reinforcement information to be an integer multiple of a predetermined update cycle; geographic interval error value adjustment processing to reduce the number of geographic interval error values by selecting from among a plurality of the geographic interval error values each of which is an error at every predetermined geographic interval out of a plurality of error values, a geographic interval error value at every geographic interval that is an integer multiple of the predetermined geographic interval; and bit count adjustment processing to reduce a bit count of the error value for each error value. A reinforcement information output unit outputs, to an output destination, reinforcement information after being reduced in the amount of information by the reinforcement information adjustment unit.

First claim

The invention claimed is:

1. A positioning device comprising:
circuitry including a processor connected to memory and configured to:
receive observed data transmitted from a positioning satellite;
receive reinforcement information that is used to correct a satellite positioning error in the observed data;
calculate observation noise used in positioning calculation by using integrity information included in the reinforcement information;
perform positioning calculation by using the observation noise calculated to determine a position of the positioning device; and
repeatedly perform an operation of selecting, from among n (n≥5) pieces of the observed data transmitted from the positioning satellite, in (n>m≥4) pieces of observed data, and generate k (n≥k≥4) data sets each of which is formed of the m pieces of observed data and has a different combination of the m pieces of observed data, wherein
the circuitry performs, for each of the k data sets, observation update calculation on the m pieces of observed data making up the data set as a part of the positioning calculation, and selects a data set from among the k data sets as the observation data to be used in position calculation on the basis of a variance of a residual before the observation update calculation of each data set and a variance of a residual after the observation update calculation of each data set.

2. The positioning device according to claim 1 , wherein the circuitry adjusts process noise used in the positioning calculation, according to the type of a moving body in which the positioning device is arranged.

3. The positioning device according to claim 2 , wherein the circuitry selects process noise smaller in an altitude direction than a default value when the moving body is any of a vehicle, a train and a ship.

4. A positioning device comprising:
processing circuitry to:
receive observed data transmitted from a positioning satellite;
repeatedly perform an operation of selecting, from among n (n≥5) pieces of the observed data transmitted from the positioning satellite, m (n>m≥4) pieces of observed data, and generate k (n≥k≥4) data sets each of which is formed of the m pieces of observed data and has a different combination of the m pieces of observed data; and
perform, for each of the k data sets, observation update calculation on the m pieces of observed data making up the data set as a part of positioning calculation, and select a data set from among the k data sets as observation data for positioning calculation on the basis of a variance of a residual before the observation update calculation of each data set and a variance of a residual after the observation update calculation of each data set; and
calculate a position of the positioning device based on the observation data.

5. The positioning device according to claim 4 , wherein the circuitry:
extracts a data set with the smallest variance of the residual after the observation update calculation;
determines whether or not a variance of a residual before the observation update calculation of the extracted data set is equal to or smaller than a threshold; and
selects the extracted data set when the variance of the residual before the observation update calculation of the extracted data set is equal to or smaller than the threshold.

6. The positioning device according to claim 5 , wherein the circuitry:
compares a variance of a residual after the observation update calculation of the extracted data set with a variance of a residual after update calculation of a data set having the second smallest variance of a residual after the observation update calculation; and
determines whether or not the variance of the residual before the observation update calculation of the extracted data set is equal to or smaller than a threshold, when there is a significant difference between the variances.

7. The positioning device according to claim 1 , wherein the n pieces of observed data transmitted from the positioning satellite are selected based on an angle of elevation of the positioning satellite and a received signal strength from the positioning satellite.

Assignees

• Mitsubishi Electric Corp

Inventors

• Saito Masayuki
• Miya Masakazu
• Shima Yoshihiro
• Sone Hisao
• Terao Kazuhiro
• Fujita Seigo

Classifications

• G01S19/072

  Ionosphere corrections · CPC title

• G01S19/42 Primary

  Determining position · CPC title

• G01S19/074 Primary

  providing integrity data, e.g. WAAS · CPC title

• G01S19/426

  by combining or switching between position solutions or signals derived from different modes of operation in a single system · CPC title

• G01S19/08

  providing integrity information, e.g. health of satellites or quality of ephemeris data · CPC title