JP2000346655A - Position detection device - Google Patents

Abstract

(57) [Problem] To reduce deterioration in position accuracy of a GPS receiver due to multipath in a position detection device using a GPS receiver. SOLUTION: A GPS receiver 1 for receiving a radio wave transmitted from a GPS satellite and calculating a position of the own position, and information indicating whether or not the radio wave transmitted from the GPS satellite is affected by multipath are arbitrary. From the multipath information storage means 6, the map data storage means 4, and the positioning result of the GPS receiver 1 for each section of the map, search the map data and multipath information around the own position, and determine the own position on the map. The control unit 2 includes a control unit 2 for determining the position and a display unit 3 for displaying the map retrieved by the control unit 2 together with the own position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a GPS (Global P
The present invention relates to a position detecting device using a receiver, and more particularly to a position detecting device capable of accurately detecting a position even in a multipath environment.

[0002]

2. Description of the Related Art Conventionally, as a position detecting device using a GPS receiver, for example, an on-vehicle navigation device described in Japanese Patent Application Laid-Open No. 10-253371 is known.

FIG. 20 shows a configuration of a conventional position detecting device. This position detecting device receives a GPS satellite signal,
GPS receiver 1 for measuring own position (hereinafter referred to as own position), main building data storage means 5 for storing position and height information of main building, connection status for map display and intersections and roads Map data storage means 4 storing the data of the GPS receiver 1, a display means 3 for displaying the surrounding map together with the own position, and a corresponding map is retrieved from the output result of the GPS receiver 1 from the map data storage means 4 and output to the display means 2. And control means 2 for controlling information to be performed.

[0004] The operation of the position detecting device configured as described above will be described. First, the GPS receiver 1 acquires main building information in an arbitrary range around the own position from the main building data storage means 5 based on the previous position measured by the GPS receiver 1. Next, using the acquired position and height information of the main building, it is checked whether or not a building exists on the line connecting each GPS satellite from the own position, and the building is constructed on the line connecting the own position and the satellite. Select a satellite with no object and measure its current position. Next, the control means 2 searches the map data storage means 4 for display data around the own position based on the own position measured by the GPS receiver 1. Then, the display map data searched by the control means 2 is displayed on the display means 3 together with the own position.

According to this position detecting device, even if a signal of a satellite having a building between itself and the own position is received, the received signal of the satellite is measured for the own position (hereinafter, position measurement is referred to as positioning). Since the calculation can be excluded from the calculation, the own position can be detected more accurately by using only the reception signals of the satellites not affected by the multipath.

[0006]

However, in the above-mentioned conventional position detecting device, the accuracy of its own position deteriorates when a reflected wave is simultaneously received from a satellite having no obstacle such as a building. Had. Also,
If the position is misaligned due to positioning under such conditions that the positioning accuracy is reduced due to the arrangement of the satellites, etc. There was a problem of lowering.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned conventional problems, and can reduce the deterioration of the positioning accuracy without lowering the measurement frequency. It is another object of the present invention to provide an excellent position detection device that reduces deterioration in positioning accuracy even below.

[0008]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problem, the present invention is directed to a multi-channel system in which information indicating whether a radio wave transmitted from a GPS satellite is affected by multi-path is stored for each arbitrary section. A path information storage unit is provided, and the positioning result of the own position is corrected according to the presence or absence of the influence of the multipath around the own position. With this configuration, it is possible to use all receiving satellites and reduce the deterioration in positioning accuracy due to multipath without reducing the measurement frequency. Further, even in a multipath environment where a direct wave and a reflected wave are simultaneously received, it is possible to reduce the deterioration of the positioning accuracy.

The present invention comprises a multipath information storage means for storing information indicating whether or not radio waves transmitted from GPS satellites are affected by the multipath for each road node of the map data. The positioning result of the own position is corrected according to the presence or absence of the influence of the surrounding multipath. With this configuration, it is possible to provide detailed multipath information in an area where roads are densely affected by multipath. Furthermore, since the amount of multipath information can be reduced in an area with few roads that is hardly affected by the multipath, the information amount of the multipath information can be made more appropriate.

Further, the present invention comprises a multipath information storage means for storing information indicating whether or not radio waves transmitted from GPS satellites are affected by multipath for each road link of map data. The positioning result of the own position is corrected according to the presence or absence of the influence of the surrounding multipath. With this configuration, it is possible to provide multipath information depending on the road that is passing. In addition, even in areas with few roads that are hardly affected by multipath,
By further subdividing the road and storing the multipath information in an arbitrary section, it is possible to provide detailed multipath information.

The present invention further comprises a multipath information storage means for storing information indicating whether or not radio waves transmitted from GPS satellites are affected by the multipath for each facility data of the map data. The positioning result of the own position is corrected according to the presence or absence of the influence of the surrounding multipath. With this configuration, it is possible to provide multipath information depending on the surrounding facilities. Further, detailed multipath information can be provided in a place where facilities are dense, and information can be reduced in a place where facilities are few, so that the amount of information can be made more appropriate. Further, more realistic multipath information can be provided.

Further, the present invention has a configuration in which information indicating whether a radio wave transmitted from a GPS satellite is affected by multipath is provided at an arbitrary stage. With this configuration, it is possible to change which point on the straight line between the positioning result and the previously determined position is to be corrected.

Further, the present invention is provided with a multipath information correcting means for judging the influence of the multipath and updating the multipath information. With this configuration, it is possible to learn the current degree of influence of multipath.

According to the present invention, when the positioning result is within a section affected by multipath, a circle having an arbitrary radius is displayed around the own position. With this configuration, it is possible to easily know whether the current position is affected by the multipath.

[0015]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention is a GPS receiver for receiving a radio wave transmitted from a GPS satellite and calculating the position of the vehicle, and a radio wave transmitted from the GPS satellite. Multipath information storage means for storing information indicating whether or not the apparatus is affected by multipath for each section, map data storage means, and positioning data of the GPS receiver. A position detection device comprising: control means for searching for multipath information to determine a self-position on a map; and display means for displaying the searched map data together with the determined self-position. It has the effect of searching for the stored multipath information from the positioning result every time and correcting the positioning result if there is an influence of the multipath.

According to a second aspect of the present invention, a GPS
A GPS receiver that receives radio waves transmitted from satellites and calculates the position of the own location; and information indicating whether the radio waves transmitted from the GPS satellites are affected by multipath, for each road node in the map data. A multi-path information storage unit, a map data storage unit, a control unit that searches for map data around the own position and multi-path information from a positioning result of the GPS receiver and determines the own position on the map. A display means for displaying the searched map data together with the determined own position, the multipath information stored for each road node of the map data being searched from the positioning result, Has the effect of correcting the positioning result when there is the effect of

According to a third aspect of the present invention, a GPS
A GPS receiver that receives radio waves transmitted from satellites and calculates the position of the own location, and information indicating whether or not the radio waves transmitted from the GPS satellites are affected by multipath, for each road link in the map data. A multi-path information storage unit, a map data storage unit, a control unit that searches for map data around the own position and multi-path information from a positioning result of the GPS receiver and determines the own position on the map. A display means for displaying the searched map data together with the determined own position, wherein the multi-path information stored for each road link of the map data is searched from the positioning result, and the multi-path Has the effect of correcting the positioning result when there is the effect of

According to a fourth aspect of the present invention, a GPS
A GPS receiver that receives radio waves transmitted from satellites and calculates the position of the vehicle by itself and calculates information indicating whether radio waves transmitted from the GPS satellites are affected by multipath for each facility data in the map data. A multi-path information storage unit, a map data storage unit, a control unit that searches for map data around the own position and multi-path information from a positioning result of the GPS receiver and determines the own position on the map. A display means for displaying the searched map data together with the determined own position. The position detecting apparatus searches multi-path information stored for each facility data of the map data from the positioning result, Has the effect of correcting the positioning result when there is the effect of

According to a fifth aspect of the present invention, in the position detecting device according to any one of the first to fourth aspects, it is determined whether a radio wave transmitted from the GPS satellite is affected by multipath. Is a position detection device provided with information indicating the position at any stage, and it is possible to make the position on the straight line of the positioning result and the position determined last time to correct the own position variable according to the degree of multipath. Has an action.

According to a sixth aspect of the present invention, in the position detecting device according to any one of the first to fourth aspects, the presence or absence of multipath is determined from the positioning result of the GPS receiver. Is a position detection device that updates multipath information according to the result of (1), and has an effect of reflecting the degree of influence of the actual multipath on the multipath information.

According to a seventh aspect of the present invention, in the position detecting device according to the first aspect, when the positioning result of the GPS receiver is in a section affected by multipath,
This is a position detection device that displays a circle of an arbitrary radius with its own position as the center, and has the effect of displaying that the current position is within an area affected by multipath.

Hereinafter, an embodiment of the present invention will be described with reference to FIG.
This will be described in detail with reference to FIG.

(First Embodiment) In a first embodiment of the present invention, information indicating whether a radio wave transmitted from a GPS satellite is affected by multipath is stored for each arbitrary section. A multi-path information storage unit is provided for each section, and the positioning result of the own position is corrected based on the presence or absence of the influence of the multi-path around the own position.

FIG. 1 shows a position detecting device according to a first embodiment of the present invention. The position detecting device receives a radio wave transmitted from a GPS satellite (not shown) and calculates a position of the own position. The GPS receiver 1 determines whether the radio wave transmitted from the GPS satellite is affected by multipath. A multi-path information storage means 6 for each section storing information indicating whether or not the information is present for each section; a map data storage means 4 for storing map data having both display information and road network information; Control means 2 for searching map data and multipath information around the own position from the positioning result 1 to determine the own position on the map; and controlling the map data searched by the control means 2 for the control means 2.
And a display means 3 for displaying the position together with the own position determined in the step (a).

FIG. 2 is a table showing the multipath information stored in the multipath information storage means 6. Here, an example will be described in which a 1/25000 topographic map is divided into 10 sections vertically and horizontally as an arbitrary section. The area code is equivalent to the tertiary mesh code, and is determined so that the code can identify the position of the section. The multipath information storage means 6 stores a predetermined area code from the section range, and furthermore, whether or not the area is affected by the multipath as multipath presence / absence information. It is remembered as.

The operation of the position detecting device configured as described above will be described with reference to FIGS.

FIG. 3 is a flowchart showing the processing of the control means 2. First, the control means 2 receives the result of the positioning calculation by the GPS receiver 1 (step A1). Next, the control unit 2 refers to the multipath information storage unit 6 for each section to acquire the multipath presence / absence information in the previous section range of the own position (step A2). Then, it is determined whether or not there is a multipath (step A3).

If the result of determination is that there is no multipath,
The positioning result is set as the own position (step A4). For example, when the self-position before the positioning calculation (hereinafter referred to as the previous self-position) is 35 degrees 20 minutes 01 seconds north latitude and 139 degrees 00 minutes 30 seconds east longitude, 53390000 is obtained from the multipath information in the multipath information storage means 6. Search for the area code and obtain multipath presence / absence information. 53
Since there is no multipath presence / absence information of 390,000, the control means 2 determines that there is no deterioration in the accuracy of the positioning result due to multipath, and sets the positioning result as it is without processing the positioning result.

On the other hand, if there is a multipath, the positioning result is corrected, and then the position is determined (step A5). For example,
If the previous position is 35 ° 25'01′N and 139 ° 07′00′E, the area code of 53390999 is retrieved from the multipath information in the multipath information storage means 6 to obtain the multipath presence / absence information. Since the multipath presence / absence information of 53390099 is present, the control unit 2 corrects the positioning result and sets the position as the own position.

Next, the control means 2 searches for map data to be displayed on the display means 3 and controls to output the searched map data and its own position to the screen of the display means 3 (step A6). . Then, the own position displayed on the display means 3 is stored in an internal memory (not shown) as a result of the current positioning for searching for multipath information at the next positioning timing (step A7). Steps A6 and A7
May be reversed.

FIG. 4 is a diagram for explaining the operation of correcting the positioning result. In (a) of this figure, a position 20 before positioning (previous own position) 20, a place 21 actually moved,
The surrounding road 31 is shown. FIG. 4B also shows a position 22 measured by the GPS receiver 1.
When there is multipath information in the previous area of the own position 20 (for example, in the area of 53390099), the control means 2 calculates the position calculation result 22 and the position 21 before the position calculation as shown in FIG. Correct your position to waypoint 23. Note that the intermediate point 23 is set on a road closest to a midpoint on a straight line connecting the positions 21 and 22.

As is apparent from FIG. 4C, the corrected position 23 is closer to the position 21 actually moved than the position (positioning result) 22 measured by the GPS receiver 1, and a result is obtained. An excellent effect is obtained in that the deterioration of the position accuracy of the GPS receiver due to the multipath is reduced. Further, since the GPS receiver 1 uses all the satellites that can be received for the positioning calculation, an excellent effect can be obtained in that the deterioration of the positioning accuracy is reduced without lowering the measurement frequency.

As described above, according to the first embodiment of the present invention, a section storing information indicating whether or not a radio wave transmitted from a GPS satellite is affected by multipath for each arbitrary section. It has a unit multipath information storage means, and corrects its own position depending on the presence or absence of multipath influence around its own position, so if there is multipath influence, the own position is displayed between the positioning result and the position determined last time Is corrected, it is possible to reduce deterioration of the positional accuracy of the GPS receiver due to multipath. Further, since all receiving satellites are used, it is possible to reduce the deterioration of the accuracy of the positioning result due to multipath without lowering the measurement frequency of the own position.

(Second Embodiment) In a second embodiment of the present invention, information indicating whether or not a radio wave transmitted from a GPS satellite is affected by a multipath is described for each road node in the map data. A multipath information storage means stored in the
The positioning result of the own position is corrected based on the presence or absence of the influence of the multipath around the own position.

FIG. 5 shows a position detecting device according to a second embodiment of the present invention. In this figure, portions having the same configuration as in FIG. 1 are denoted by the same reference numerals as in FIG. 1, and description thereof is omitted.

This position detecting device includes a multipath information storage means 7 for storing information on whether or not radio waves transmitted from GPS satellites are affected by multipath for each road node. Here, the road node means an intersection.
The map data storage means 4 generally has road network information used for an algorithm for drawing the position of the vehicle on the road called map matching in an in-vehicle navigation system or the like. shape,
Attribute information is the equivalent.

FIG. 6 is a table showing information stored in the multipath information storage means 7. The multipath information storage means 7 stores the road node number stored in the map data storage means 4, and further receives whether or not the road node is affected by the multipath as multipath presence / absence information. I remember that there is no case. That is, the multipath information includes a road node number and multipath presence / absence information for each road node. Here, information on 10,000 intersections can be stored. Also, it is assumed that the node number of the road node information stored in the map data storage unit 4 matches the road node number stored in the multipath information storage unit 7.

The operation of the position detecting device configured as described above will be described with reference to FIG.

First, as in step A1 of FIG. 3, the control means 2 receives the positioning result calculated by the GPS receiver 1. FIG. 7 shows a self-position 24 determined by the control means 2 last time, a place 25 to which the control means 2 has actually moved, and a surrounding road 32. Also,
Each intersection is assigned a four-digit road node number. In FIG. 7, 000 is assigned to each of the four intersections.
Road node numbers of 0, 0001, 9998, and 9999 are shown.

Next, the control means 2 searches the road node information stored in the map data storage means 4 for the road node number of the nearest intersection from the previous position. Then
The multipath presence / absence information is obtained from the multipath information storage means 7 based on the searched road node number. When there is no multipath, it is determined that there is no deterioration in the accuracy of the positioning result due to the multipath, and the positioning result is not processed. On the other hand, when there is a multipath, the positioning result is corrected and set as the own position. The method of correcting the own position and displaying on the display unit is the same as that of the first embodiment. Also, storing the own position is the same as in the first embodiment.

In FIG. 7, the road node number of the nearest intersection from the previous position 24 is 9998. If the road node number of the nearest intersection is 9998, the multipath presence / absence information is available, so the positioning result is corrected to be the own position. If the road node number of the nearest intersection is 0001,
Since there is no influence of the multipath, it is determined that there is no deterioration in the accuracy of the positioning result due to the multipath, and the positioning result is not processed.

In the above embodiment, the number of road nodes is set to 10,000 in the embodiment, but a format that can store 10,000 or more intersections may be used. In addition, the road node number is usually assigned a road node number for each arbitrary area, for example, for each area of a 1/25000 topographic map. Therefore, a format in which 10,000 sections are provided for each arbitrary area may be used. Further, the road node information stored in the map data storage means 4 may include multipath information.

As is clear from FIGS. 6 and 7, the provision of the multipath information at each intersection of the road enables the multipath information to be obtained in a dense area of the road which is greatly affected by the multipath. An excellent effect is obtained in that it can be provided. Also, in an area with few roads that is hardly affected by multipath, the amount of multipath information can be reduced, and an excellent effect can be obtained in that the amount of information is made more appropriate.

As described above, according to the second embodiment of the present invention, information indicating whether radio waves transmitted from GPS satellites are affected by multipath is stored for each road node in map data. Since multi-path information storage means is provided, detailed multi-path information can be provided in an area where roads are densely affected by multi-paths. Further, in an area with few roads that is hardly affected by multipath, the amount of multipath information can be reduced, so that the information amount can be made more appropriate.

(Third Embodiment) In a third embodiment of the present invention, information indicating whether or not a radio wave transmitted from a GPS satellite is affected by multipath is described for each road link in the map data. A multipath information storage means stored in the
The positioning result of the own position is corrected based on the presence or absence of the influence of the multipath around the own position.

FIG. 8 shows a position detecting device according to a third embodiment of the present invention. In this figure, portions having the same configuration as in FIG. 1 are denoted by the same reference numerals as in FIG. 1, and description thereof is omitted.

This position detecting device is provided with a multipath information storage means 8 which stores information indicating whether or not radio waves transmitted from GPS satellites are affected by multipath for each road link. Here, the road link means a road connecting the intersections. Also, as in the second embodiment, the map data storage means 4 is an algorithm for drawing the position of the vehicle on the road, which is called map matching by an on-vehicle navigation system or the like, such as information on the position and attribute of the intersection, the shape of the road, and attribute information. Generally has road network information to be used.

FIG. 9 is a table showing information stored in the multipath information storage means 8. The multipath information storage means 8 stores the road link number stored in the map data storage means 4 and further receives whether or not the road link is affected by the multipath as multipath presence / absence information. I remember that there is no case. That is, the multipath information includes a road link number and multipath presence / absence information for each road link. Further, it is assumed that the road link number stored in the map data storage unit 4 matches the road link number stored in the multipath information storage unit 7.

The operation of the position detecting device configured as described above will be described with reference to FIG.

First, as in step A1 of FIG. 3, the control means 2 receives the positioning result calculated by the GPS receiver 1. FIG. 10 shows a self-position 26 determined by the control means 2 last time, a place 27 where the control means 2 has actually moved, and a surrounding road 33. In addition, each road link is given an 8-digit road link number, and FIG. 10 shows two road link numbers of 99799998 and 99899999.

Next, the control means 2 stores the current road link number based on the previous self-position in the map data storage means 4.
From the road link information stored in. Next, multipath presence / absence information is acquired from the multipath information storage means 8 based on the searched road link number 99799998.
When there is no multipath, it is determined that there is no deterioration in the accuracy of the positioning result due to the multipath, and the positioning result is not processed. On the other hand, when there is a multipath, the positioning result is corrected and set as the own position. The method of correcting the own position and displaying on the display unit is the same as that of the first embodiment. Also, storing the own position is the same as in the first embodiment.

In FIG. 10, the road link number through which the own position 26 passes is 99799998. If the road link number being passed is 99799998, it is determined that there is an effect of multipath, and the own position is corrected and displayed under the influence of multipath.

In the above description, the multipath information storage means is configured as a storage means different from the map data storage means. However, the multipath information storage means may be configured to include the multipath information in the road link information of the map data. Good. In addition, the road link may be further subdivided, and the multipath information may be provided with multipath information in an arbitrary section of the road.

As is clear from FIGS. 9 and 10, the provision of the multipath information for each road link from the intersection to the intersection makes it possible to provide multipath information depending on the passing road. The effect is obtained. Further, by subdividing the road further and providing the multipath information in an arbitrary section, an excellent effect can be obtained in providing more detailed multipath information than at each intersection.

As described above, according to the third embodiment of the present invention, information indicating whether or not radio waves transmitted from GPS satellites are affected by multipath is stored for each road link in map data. Since the multipath information storage means is provided, it is possible to provide multipath information depending on the road on which the vehicle is passing. Further, even in an area with few roads that is hardly affected by multipath, finer multipath information can be provided by further subdividing roads and storing multipath information in an arbitrary section.

(Fourth Embodiment) In a fourth embodiment of the present invention, information indicating whether or not a radio wave transmitted from a GPS satellite is affected by multipath is set for each facility data of map data. A multipath information storage means stored in the
The positioning result of the own position is corrected based on the presence or absence of the influence of the multipath around the own position.

FIG. 11 shows a position detecting device according to a fourth embodiment of the present invention. In this figure, portions having the same configuration as in FIG. 1 are denoted by the same reference numerals as in FIG. 1, and description thereof is omitted.

This position detecting device is provided with a multipath information storage means 9 which stores information indicating whether or not radio waves transmitted from GPS satellites are affected by multipath for each facility data of map data. . The facility data in the map data includes information such as a facility position, a facility shape, attribute information, and an adjacent road link, and a facility number is assigned to each data.

FIG. 12 is a table showing the multipath information stored in the multipath information storage means 9. The multipath information storage means 9 stores the facility number stored in the map data storage means 4 and further receives whether or not the facility is affected by multipath as multipath presence / absence information. Is remembered as nothing. That is, the multipath information includes a facility number and multipath presence / absence information for each facility. Here, information on 10,000 facilities can be stored. It is assumed that the facility number of the facility data stored in the map data storage unit 4 matches the facility number of the multipath information.

The operation of the position detecting device configured as described above will be described with reference to FIG.

First, similarly to step A1 in FIG. 3, the control means 2 receives the positioning result calculated by the GPS receiver 1. FIG. 13 shows a self-position 28 previously determined by the control means 2, a place 29 to which the control means 2 has actually moved, and a surrounding road 34. In addition, the facility with the facility number 9999 exists near the own position 28.

Next, the control means 2 searches the surrounding facilities from the facility data stored in the map data storage means 4 based on the previous position 28. Next, multipath presence / absence information is obtained from the multipath information storage means 9 based on the searched facility number. If there is no multipath information, it is determined that there is no deterioration in the accuracy of the positioning result due to multipath, and the positioning result is not processed. On the other hand, when there is a multipath, the positioning result is corrected and set as the own position. The method of correcting the own position and displaying on the display unit is the same as that of the first embodiment. Also, storing the own position is the same as in the first embodiment.

In FIG. 13, the facility number of the search result is
9999. If the nearby facility number is 9999, the influence of the multipath is present, and the own position is corrected and displayed under the influence of the multipath.

In the embodiment described above, the multipath information storage means is configured as a storage means different from the map data storage means, but the multipath information is included in the facility data information of the map data. It may be configured.

As is clear from FIGS. 12 and 13, by providing multipath information for each facility data of the map data, an excellent effect in that multipath information depending on peripheral facilities can be provided. Is obtained. Also,
Since fine multipath information can be provided in places where facilities are dense, and information can be reduced in places where facilities are few, an excellent effect is obtained in that the amount of information can be made more appropriate. Furthermore, since many multipaths are caused by reflection from a facility such as a building, more realistic multipath information can be provided.

As described above, according to the fourth embodiment of the present invention, information indicating whether radio waves transmitted from GPS satellites are affected by multipath is stored for each facility data of map data. Since multi-path information storage means is provided, multi-path information depending on surrounding facilities can be provided. Further, detailed multipath information can be provided in a place where facilities are dense, and information can be reduced in a place where facilities are few, so that the amount of information can be made more appropriate. Further, more realistic multipath information can be provided.

(Fifth Embodiment) In the fifth embodiment of the present invention, the multipath presence / absence information stored in the multipath information storage means 6 has 10 levels. The fifth of the present invention
The configuration of the position detection device of the present embodiment is the same as that of the above-described first embodiment except for the content of the multipath information.

FIG. 14 shows the contents of the multipath information in the multipath information storage means 6 according to the fifth embodiment of the present invention. The multipath information storage means 6 includes, as the multipath information, multipath level information having stages according to the degree of the influence of the multipath, and the area code described in the first embodiment. In the example of FIG. 14, the levels of the multipath are set to 10 levels from 0 to 9. In this case, the multipath level has a greater influence as the number increases.

The operation of the position detecting device configured as described above will be described with reference to FIGS.

First, as in step A1 of FIG. 3, the control means 2 receives the positioning result calculated by the GPS receiver 1. FIG. 15A shows the self position 40 determined by the control means 2 last time,
The actual location 41 and the location (location result) 42
And the surrounding road 35 are shown.

The control means 2 determines that the self position determined last time is the north latitude
In the case of 35 degrees 24 minutes 31 seconds and 139 degrees 07 minutes east longitude, the multipath information is retrieved from the multipath information in the multipath information storage means 6 to obtain the multipath level information. 5339
The multipath level information of 0000 is 7. Next, as shown in FIG. 15 (b), the control means 2 internally divides the position between the calculated position (positioning result) 42 and the position before the position calculation (previous position) 41 into 7: 3. Correct your position to point 43.

Here, the relationship between the multipath level and the internal division ratio will be described. In an area where the influence of multipath is strong, the position is corrected so as to be closer to the position before the position calculation, and in an area where the influence of multipath is weak, the position is corrected so as to be closer to the position calculated. In the embodiment, the approach ratio is set to 7: 3, but is arbitrary.

This embodiment is directed to a position detecting device provided with multipath level information for each area, that is, a position detecting device in which the multipath presence / absence information shown in FIG. 2 is replaced with multipath level information. In the fourth to fourth embodiments, a configuration in which the multipath presence / absence information is replaced with multipath level information is also possible.

As is apparent from FIG. 15, the multipath information storage means 6 has information indicating whether or not the multipath is affected in a plurality of stages according to the degree of the multipath influence. An excellent effect is obtained in that the self-position can be corrected to an arbitrary point on a straight line connecting the position measured last time.

As described above, according to the fifth embodiment of the present invention, the multi-path storing the information indicating whether the radio wave transmitted from the GPS satellite is affected by the multi-path in a plurality of stages. Since the information storage means is provided, the own position can be corrected to an arbitrary point on a straight line connecting the positioning result and the previously determined position according to the stage of the influence of the multipath around the own position.

(Sixth Embodiment) In a sixth embodiment of the present invention, the influence of multipath is determined from the previous position, the current positioning result, and the current corrected position, and the determination result is obtained. And updates the multipath information according to.

FIG. 16 shows a position detecting device according to a sixth embodiment of the present invention. In this figure, portions having the same configuration as in FIG. 1 are denoted by the same reference numerals as in FIG. 1, and description thereof is omitted.

This position detecting device determines whether or not the vicinity of the current position is affected by multipath, and uses the multipath information correcting means 10 for updating the multipath information in the multipath information storage means 6 based on the result of the determination. Have. Other configurations are the same as in the first embodiment.

The operation of the multipath information correcting means 10 in the position detecting device having the above configuration will be described with reference to the flowchart of FIG.

First, the GPS receiver 1 receives a positioning result calculated by positioning (step B1). Next, the previous position stored by the control means 2 and the current position determined this time are received (step B2). Next, the multipath information storage means 6 is searched based on the previous position, and the presence or absence of the multipath is checked (step B3). Then, it is determined whether or not there is a multipath (step B4).

As a result of the judgment, when there is no multipath,
The multipath information correcting means 10 calculates a difference between the previous position and the current positioning result, and sets the difference to L2 (step B5). If the result of the determination is that there is a multipath, the difference between the current positioning result and the self-position determined this time is calculated and set as L1 (step
B6).

Next, L1 is an arbitrary value Th defined in advance.
It is determined whether the condition is smaller than 1 or L2 is larger than a predetermined value Th2 (step B7). As a result of the determination, if either of the conditions is satisfied, the multipath information is updated (step B8), and if neither of the conditions is satisfied, the multipath information is not updated (step B9).

That is, if the position before positioning is an area affected by multipath, if L1 is smaller than an arbitrary value Th1 defined, it is determined that there is no influence of multipath around the current position and multipath is performed. The path information modifying means 10 changes the multipath presence / absence information stored in the multipath information storage means 6 from presence to absence. Conversely, if the position before positioning is an area that is not affected by multipath, if L2 is larger than an arbitrary value Th2 specified, it is determined that the influence of multipath is present around the current position, and the multipath information is determined. The modifying means 10 changes the multi-path presence / absence information stored in the multi-path information storage means 6 from none to present.

FIG. 18 shows an example of the multipath information stored in the multipath information storage means 6. In this figure, (a) shows multipath information before performing positioning calculation, and (b) shows multipath information after positioning calculation and updating. In the multipath information, the area code and the area of the division are the same as those in the first embodiment.

For example, if the position before the positioning calculation (previous own position) is within the area code 53390001, FIG.
Thus, it can be seen that the area is not affected by the multipath. Therefore, the multipath information correcting means 10
Calculates the difference L2 between the previous position stored by the control means 2 and the positioning result measured by the GPS receiver 1. If L2 is smaller than the specified value Th2, the multipath information is not updated. If the value is equal to or greater than the specified value L2, the multipath presence / absence information of the area code 53390001 is updated to "yes" as shown in FIG.

When the multipath information is provided for each arbitrary range, the multipath information is not updated while the current position is within one area, the multipath occurrence status is stored, and the user leaves the area. It may be determined whether to update at the time.

As is clear from FIG. 18, the multipath information modifying means 10 determines the influence of the multipath by calculation, thereby reflecting the current degree of the influence of the multipath on the multipath information and using it. Excellent effects can be obtained.

As described above, according to the sixth embodiment of the present invention, the multipath information correcting means for judging the influence of multipath and updating the multipath information is provided. You can learn the degree.

(Seventh Embodiment) In the seventh embodiment of the present invention, in the case of a section affected by multipath,
The circle of the error range is displayed simultaneously with the own position.

The position detecting apparatus according to the seventh embodiment of the present invention is the same as the first embodiment except for the processing of the control means 2.

FIG. 19 shows a map display example of the position detecting device according to the seventh embodiment of the present invention. Here, the self-position 23 determined by the control means 2, the surrounding road 31, and the self-position 23
A circle 50 of a predetermined radius centered on is displayed. This circle 50 represents the error range of the own position. The radius of the circle is usually
The length is preferably about 100 m, but can be arbitrarily changed depending on the area.

Next, the procedure for performing the display shown in FIG. 19 will be described. First, the control unit 2 corrects the positioning result according to the same procedure as in the first embodiment. Then, when the control means 2 outputs the display information to the display means 3, if the area is affected by the multipath, the circle 50 of the error range centered on the corrected own position is simultaneously displayed. Add to display information. If the area is not affected by the multipath, the circle within the error range centered on the own position is not displayed at the same time. The display unit 3 simultaneously outputs the own position, the surrounding map, and the circle of the error range in the area affected by the multipath. Also, when the multipath information has stepwise values as in the fifth embodiment, the error range circle 50 is used.
Can be displayed more appropriately by changing the radius of the according to the degree of the influence of the multipath.

As is clear from FIG. 19, by simultaneously displaying the circles of the error range due to the influence of the multipath, it is possible to easily know whether or not the current position is within the area affected by the multipath. Excellent effect can be obtained.

As described above, according to the seventh embodiment of the present invention, when the current position is within the area affected by the multipath, the circle of the error range due to the influence of the multipath is simultaneously displayed. Therefore, it is possible to easily identify whether or not the current position is in an area affected by multipath.

[0095]

As described above, in the present invention, the multipath information storage means for storing information indicating whether or not the radio wave transmitted from the GPS satellite is affected by the multipath is provided for each arbitrary section. Therefore, it is possible to reduce the deterioration of positioning accuracy due to multipath without lowering the measurement frequency by using all the receiving satellites, and in a multipath environment where direct waves and reflected waves are received simultaneously. But
The effect that the deterioration of the positioning accuracy can be reduced is obtained.

[0096] Since multipath information storage means is provided for storing information on whether radio waves transmitted from GPS satellites are affected by multipath for each road node of the map data, the multipath information is greatly affected. In such an area where roads are dense, it is possible to provide an effect of providing detailed multipath information. Furthermore, in an area with few roads that is hardly affected by multipath, the amount of multipath information can be reduced, so that the effect of making the amount of information more appropriate can be obtained.

Further, since multipath information storage means for storing information on whether or not radio waves transmitted from GPS satellites are affected by multipath is provided for each road link in the map data, the multipath information storage means depends on the road being passed. The effect of providing multipath information is obtained. Furthermore, even in an area with few roads that is hardly affected by multipath, by dividing the road further and storing the multipath information in an arbitrary section, it is possible to provide detailed multipath information. .

Also, since multipath information storage means for storing information on whether radio waves transmitted from GPS satellites are affected by multipath is provided for each facility data of map data, multipath information dependent on peripheral facilities is provided. The effect that information can be provided is obtained. Furthermore, since detailed multipath information can be provided in a place where facilities are dense, and information can be reduced in a place where facilities are few, an effect that the amount of information can be made more appropriate can be obtained. Further, an effect that more realistic multipath information can be provided is obtained.

[0099] Since multipath information storage means is provided for storing information on the radio waves transmitted from the GPS satellites affected by the multipath in a plurality of stages, the positioning result and the position on the straight line of the position measured last time are provided. An effect is obtained that it is possible to change whether the own position is corrected at the point.

Further, since the multipath information correcting means for judging the influence of the multipath and updating the multipath information is provided, it is possible to learn the current degree of the influence of the multipath.

Further, since the circles in the error range are simultaneously displayed due to the influence of the multipath, it is possible to easily know whether the current position is affected by the multipath.

[Brief description of the drawings]

FIG. 1 is a block diagram of a position detection device according to a first embodiment of the present invention;

FIG. 2 is a diagram showing contents of multipath information according to the first embodiment of the present invention;

FIG. 3 is a flowchart showing processing of a control unit in FIG. 1;

FIG. 4 is a schematic map for explaining position correction according to the first embodiment of the present invention;

FIG. 5 is a block diagram of a position detection device according to a second embodiment of the present invention;

FIG. 6 is a diagram showing contents of multipath information according to the second embodiment of the present invention;

FIG. 7 is a schematic map for explaining position correction according to the second embodiment of the present invention;

FIG. 8 is a block diagram of a position detection device according to a third embodiment of the present invention;

FIG. 9 is a diagram showing contents of multipath information according to the third embodiment of the present invention;

FIG. 10 is a schematic map for explaining position correction according to the third embodiment of the present invention;

FIG. 11 is a block diagram of a position detecting device according to a fourth embodiment of the present invention;

FIG. 12 is a diagram showing contents of multipath information according to a fourth embodiment of the present invention;

FIG. 13 is a schematic map for explaining position correction according to the fourth embodiment of the present invention;

FIG. 14 is a diagram showing contents of multipath information according to a fifth embodiment of the present invention;

FIG. 15 is a schematic map for explaining position correction according to the fifth embodiment of the present invention;

FIG. 16 is a block diagram of a position detecting device according to a sixth embodiment of the present invention;

FIG. 17 is a flowchart showing processing of a multipath information correcting unit in FIG. 16;

FIG. 18 is a diagram showing contents of multipath information according to the sixth embodiment of the present invention;

FIG. 19 is a diagram showing a map display example according to the seventh embodiment of the present invention;

FIG. 20 is a block diagram of a conventional position detecting device.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 GPS receiver 2 Control means 3 Display means 4 Map data storage means 6 Multipath information storage means for each unit of badness 7 Multipath information storage means for each road node 8 Multipath information storage means for each road link 9 Multifunction for each facility Path information storage means 10 Multipath information correction means 20, 24, 26, 28, 40 Position before positioning 21, 25, 27, 29, 41 Position actually moved 22, 42 Position calculated by GPS receiver 23 , 43 Corrected position 31, 32, 33, 34, 35, 36 Surrounding road 50 Error circle

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) G09B 29/10 G06F 15/40 370C 9A001 F term (Reference) 2C032 HB05 HB22 HD03 HD04 HD30 2F029 AA02 AB07 AC02 AC14 AD03 5B075 ND06 PQ02 UU13 5H180 AA01 FF05 FF22 FF27 FF32 5J062 AA05 BB01 CC07 HH04 HH05 9A001 BB01 BB03 BB04 CC05 FF03 JJ77 JJ78 KK15 KK19 KK37 LL02

Claims (7)

[Claims] 1. A GPS receiver that receives a radio wave transmitted from a GPS satellite and calculates the position of the own location, and information indicating whether the radio wave transmitted from the GPS satellite is affected by multipath. Multipath information storage means, map data storage means, and positioning data of the GPS receiver are searched for map data around the own position and multipath information to determine the own position on the map, based on the positioning result of the GPS receiver. And a display unit for displaying the searched map data together with the determined own position. 2. A GPS receiver for receiving a radio wave transmitted from a GPS satellite and calculating the position of the own location, and information indicating whether the radio wave transmitted from the GPS satellite is affected by multipath. Multi-path information storage means stored for each road node of map data, map data storage means, and map data and multi-path information around the own position are searched from the positioning result of the GPS receiver to determine the own position on the map. And a display unit for displaying the searched map data together with the determined own position. 3. A GPS receiver for receiving a radio wave transmitted from a GPS satellite and calculating the position of the own location, and information indicating whether the radio wave transmitted from the GPS satellite is affected by multipath. Multi-path information storage means stored for each road link of map data, map data storage means, and map data and multi-path information around the own position are searched from the positioning result of the GPS receiver to determine the own position on the map. And a display unit for displaying the searched map data together with the determined own position. 4. A GPS receiver for receiving a radio wave transmitted from a GPS satellite and calculating the position of the vehicle, and information indicating whether the radio wave transmitted from the GPS satellite is affected by multipath. Multipath information storage means for each facility data of the map data, map data storage means, and, based on the positioning result of the GPS receiver, map data and multipath information around the own position are searched and the own position on the map is searched. And a display unit for displaying the searched map data together with the determined own position. 5. The information processing apparatus according to claim 1, wherein information indicating whether a radio wave transmitted from said GPS satellite is affected by multipath is provided at an arbitrary stage. Position detection device. 6. The position according to claim 1, wherein the presence / absence of multipath is determined from the positioning result of said GPS receiver, and the multipath information is updated according to the result of the determination. Detection device. 7. The method according to claim 1, wherein when the positioning result of the GPS receiver is within a section affected by multipath, a circle having an arbitrary radius is displayed around the own position.
The position detecting device as described in the above.