Server, satellite positioning system, and satellite positioning method

Patent metadata

Field	Value
Publication number	US-12013470-B2
Application number	US-201917287747-A
Country	US
Kind code	B2
Filing date	Aug 26, 2019
Priority date	Oct 24, 2018
Publication date	Jun 18, 2024
Grant date	Jun 18, 2024

Abstract

The present application: receives positioning data from each of a plurality of positioning terminals that have received positioning signals transmitted from a plurality of satellites; uses the received positioning data to detect, for each satellite, the difference between the positioning signal reception quality at a first positioning terminal and the positioning signal reception quality at at least one second positioning terminal; and uses the difference for each satellite to determine a satellite to be used for positioning computation for the first positioning terminal.

First claim

The invention claimed is:

1. A server, comprising:
a receiver configured to receive, from each of a plurality of positioning terminals receiving positioning signals transmitted from a plurality of satellites, positioning data generated based on the positioning signals;
a processor configured to perform positioning calculation for a position of a first positioning terminal among the plurality of positioning terminals,
wherein the processor is further configured to:
detect a difference, for each of the plurality of satellites based on the positioning data, between reception quality of the positioning signal in the first positioning terminal and reception quality of the positioning signal in at least one second positioning terminal;
determine at least one of the plurality of satellites to be used for the positioning calculation for the first positioning terminal based on the difference for each of the plurality of satellites;
estimate the position of the first positioning terminal based on the positioning data received from the first positioning terminal;
select, as the second positioning terminal, at least one of the plurality of positioning terminals other than the first positioning terminal located within a first set distance from the estimated position; and
exclude at least one of the plurality of positioning terminals located within a second set distance shorter than the first set distance from selection candidates for the second positioning terminal, and the server further comprises:
a display outputting a result of the positioning calculation.

2. The server according to claim 1 , wherein the processor is further configured to:
expand the first set distance to select the second positioning terminal when a predetermined threshold number or more of the at least one of the plurality of positioning terminals other than the first positioning terminal are not present within the first set distance.

3. The server according to claim 2 , wherein the processor is further configured to:
construct a pseudo multipath area based on position information of a satellite excluded based on the difference in previous positioning calculation at or near the position of the first positioning terminal, when the at least one of the plurality of positioning terminals other than the first positioning terminal is not present within the expanded distance, and
exclude at least one of the plurality of satellites included in the multipath area from satellite candidates to be used for the positioning calculation.

4. The server according to claim 1 , wherein the processor is further configured to:
divide an area defined by the first set distance into areas in a plurality of directions respectively; and
select a plurality of the second positioning terminals so as to level the number of terminals selected as the second positioning terminals among the divided areas.

5. The server according to claim 1 , wherein the processor is further configured to determine the at least one of the plurality of satellites to be used for the positioning calculation by excluding at least one of the plurality of satellites with the difference exceeding a predetermined threshold.

6. The server according to claim 1 , wherein the determining the at least one of the plurality of satellites to be used for the positioning calculation comprises excluding at least one of the plurality of satellites with the reception quality lower than a predetermined threshold.

7. A satellite positioning system, comprising:
a plurality of positioning terminals that generate positioning data based on positioning signals received from a plurality of satellites; and
a server configured to:
receive the positioning data from each of the plurality of positioning terminals:
perform positioning calculation for a position of a first positioning terminal among the plurality of positioning terminals; and
output a result of the positioning calculation,
wherein being configured to perform the positioning calculation comprises being configured to:
detect a difference, for each of the plurality of satellites based on the positioning data, between reception quality of the positioning signal in the first positioning terminal and reception quality of the positioning signal in at least one second positioning terminal;
determine at least one of the plurality of satellites to be used for the positioning calculation for the first positioning terminal based on the difference for each of the plurality of satellites;
estimate the position of the first positioning terminal based on the positioning data received from the first positioning terminal;
select, as the second positioning terminal, at least one of the plurality of positioning terminals other than the first positioning terminal located within a first set distance from the estimated position; and
exclude at least one of the plurality of positioning terminals located within a second set distance shorter than the first set distance from selection candidates for the second positioning terminal.

8. A satellite positioning method, comprising:
transmitting to a server, by each of a plurality of positioning terminals, positioning data generated based on positioning signals received from a plurality of satellites;
detecting, by the server, for each of the plurality of satellites based on the positioning data, a difference between reception quality of the positioning signal in a first positioning terminal and reception quality of the positioning signal in at least one second positioning terminal;
determining, by the server, at least one of the plurality of satellites to be used for positioning calculation for the first positioning terminal based on the difference for each of the plurality of satellites;
performing, by the server, the positioning calculation for a position of the first positioning terminal based on a result of the determination, wherein the performing the positioning calculation comprises:
estimating, by the server, the position of the first positioning terminal based on the positioning data received from the first positioning terminal;
selecting, as the second positioning terminal, by the server, at least one of the plurality of positioning terminals other than the first positioning terminal located within a first set distance from the estimated position; and
excluding at least one of the plurality of positioning terminals located within a second set distance shorter than the first set distance from selection candidates for the second positioning terminal; and
outputting, by the server, a result of the positioning calculation.

Assignees

• Panasonic Ip Man Co Ltd

Inventors

• Yoshino Kazuyuki
• Sakaibara Kunihiko
• Shibata Jun
• Yamazaki Yasuhisa
• Shirosaki Yoshimasa

Classifications

• G01S19/43

  using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry · CPC title

• G01S19/22 Primary

  Multipath-related issues · CPC title

• G01S19/09

  providing processing capability normally carried out by the receiver · CPC title

• G01S19/28 Primary

  Satellite selection · CPC title