JP2008096110A - Positioning device, car navigation device and positioning method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide "a positioning device", "a car navigation device" and "a positioning method", capable of simply detecting the correct position of the receiver. <P>SOLUTION: A control part 102 detects the vehicle position, based on the GPS information corresponding to the signal from the four GPS satellites belonging to the combination for the case of each combination of four transmitting source GPS satellites transmitting the signal received by the GPS receiver 50. Based on the vehicle position detected for each of these combinations, the GPS satellite generating multipaths and the position of the vehicle is detected, based on the GPS, corresponding to the signal from GPS satellites other than the specified GPS satellite. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a positioning device that performs positioning based on a signal from a GPS satellite, a car navigation device that includes the positioning device, and a positioning method that performs positioning based on a signal from a GPS satellite.

  A car navigation device or the like has a built-in receiver, and when the receiver receives a signal transmitted by a GPS satellite, the position of the receiver, in other words, based on a time difference between transmission and reception of the signal. For example, the position of a vehicle equipped with a car navigation device or the like is detected.

However, when a multipath occurs in which a signal from a GPS satellite does not reach the receiver directly and is reflected by a building wall or the like, the propagation distance of the signal changes. If the vehicle position is detected based on a signal from a GPS satellite, the vehicle position may not be detected correctly. For this reason, Patent Document 1 proposes a technique for identifying a GPS satellite in which a multipath occurs and detecting the position of the receiver based on a signal from another GPS satellite other than the GPS satellite. .
JP 2005-77318 A

  However, with the technique described in Patent Document 1 described above, in order to identify a GPS satellite where a multipath has occurred and detect the exact position of the receiver, An operation such as setting a weight when the receiver position is detected is necessary. For this reason, there is a demand for a positioning device that simply and accurately detects the position of the receiver.

  An object of the present invention is to solve the above-described problems and to provide a positioning device, a car navigation device, and a positioning method capable of easily and accurately detecting the position of a receiver.

  The present invention is a positioning device that performs positioning based on signals from GPS satellites, and includes a receiver that receives signals from N GPS satellites, and M GPS satellites from the N GPS satellites. First position detecting means for detecting the position of the receiver on the basis of signals from M GPS satellites belonging to the combination received by the receiver for every combination obtained by selection; Specifying a GPS satellite that should not be used for detecting the position of the receiver among the N GPS satellites based on the position of the receiver detected for each of the combinations by the first position detecting means. And a position of the receiver based on a signal from a GPS satellite other than the GPS satellite specified by the specifying means among the N GPS satellites received by the receiver. And having a second position detecting means for.

  According to this configuration, for every combination obtained by selecting M GPS satellites from N GPS satellites, the position of the receiver is detected based on signals from the M GPS satellites belonging to the combination. Further, based on each of the detected receiver positions, GPS satellites that should not be used for receiver position detection among the N GPS satellites are identified and excluded when the receiver position is detected. . For this reason, a GPS satellite that should not be used for detecting the position of the receiver can be specified easily and accurately without performing a calculation such as setting a weight when detecting the position of the receiver with respect to the GPS satellite as in the past. It becomes possible to detect the position of a simple receiver.

  The positioning apparatus of the present invention includes a position average value calculating means for calculating a position average value representing an average of receiver positions detected for each of the combinations by the first position detecting means, and the first position. For each of the N GPS satellites, difference calculating means for calculating a difference between each position of the receiver detected for each combination by the detecting means and the position average value calculated by the position average value calculating means, First difference average value calculating means for calculating a first difference average value representing an average of differences corresponding to a combination to which the GPS satellites calculated by the difference calculating means belong, and the specifying means includes the specifying means, When the first difference average value calculated by the first difference average value calculation means is out of the predetermined range, the GPS satellite corresponding to the first difference average value is used for detecting the position of the receiver. It may be specified as a GPS satellite does not come.

  According to this configuration, a GPS satellite in which a multipath has occurred can be identified among N GPS satellites based on the position of the receiver detected for each combination.

  From the same viewpoint, the positioning device of the present invention uses a second difference average value that represents an average of the first difference average values calculated for each of the N GPS satellites by the first difference average value calculation means. Second difference average value calculating means for calculating, and standard deviation calculating means for calculating a standard deviation of the first difference average value calculated for each of the N GPS satellites by the first difference average value calculating means; The first difference average value calculated by the first difference average value calculation means is calculated from the second difference average value calculated by the second difference average value calculation means. The standard deviation calculated by the standard deviation calculation means is added to the value obtained by subtracting the standard deviation calculated by the standard deviation calculation means and the second difference average value calculated by the second difference average value calculation means. Out of range between In some cases, it may be a GPS satellite corresponding to the difference average value of the first to be identified as GPS satellites should not be used to detect the position of the receiver.

  From the same point of view, the positioning device of the present invention is configured such that the first position detection unit uses the receiver for every combination obtained by selecting at least four GPS satellites from the N GPS satellites. The position of the receiver may be detected based on the received signals received from at least four GPS satellites belonging to the combination.

  A car navigation device according to the present invention is mounted on a vehicle, includes any of the positioning devices described above, and uses the position of the receiver detected by the second position detection means as the position of the vehicle. And

  The present invention is a positioning method for performing positioning based on signals from GPS satellites, wherein a receiving step of receiving signals from N GPS satellites by a receiver, and M M from the N GPS satellites. A first position for detecting the position of the receiver based on signals from the M GPS satellites belonging to the combination received in the reception step for every combination obtained by selecting GPS satellites. Based on the position of the receiver detected for each of the combinations in the detection step and the first position detection step, a GPS satellite that should not be used for detecting the position of the receiver among the N GPS satellites. A specifying step for specifying, and a GPS satellite other than the GPS satellite specified by the specifying step among the N GPS satellites received by the receiver Based on al signal, and having a second position detecting step for detecting a position of the receiver.

  The positioning method of the present invention includes a position average value calculating step for calculating a position average value representing an average of the positions of the receivers detected for each of the combinations in the first position detecting step, and the first position detecting step. For each of the N GPS satellites, a difference calculating step for calculating a difference between each position of the receiver detected for each combination in the detecting step and a position average value calculated in the position average value calculating step, A first difference average value calculating step of calculating a first difference average value representing an average of differences corresponding to the combination to which the GPS satellites calculated in the difference calculation step belong, and the specifying step includes the step of GPS satellites corresponding to the first difference average value when the first difference average value calculated by the first difference average value calculation means is outside the predetermined range. It may be specified as a GPS satellite should not be used to detect the position of the receiver.

  In the positioning method of the present invention, a second difference average value representing an average of the first difference average values calculated for each of the N GPS satellites in the first difference average value calculating step is calculated. 2 difference average value calculating step, and a standard deviation calculating step for calculating a standard deviation of the first difference average value calculated for each of the N GPS satellites in the first difference average value calculating step. The first difference average value calculated in the first difference average value calculation step is the standard deviation from the second difference average value calculated in the second difference average value calculation step. The standard calculated in the standard deviation calculating step is calculated by subtracting the standard deviation calculated in the calculating step and the second difference average calculated in the second difference average calculating step. When the value is outside the range between the value added with the deviation, the GPS satellite corresponding to the first difference average value may be specified as a GPS satellite that should not be used for detecting the position of the receiver. .

  According to the present invention, a GPS that should not be used for detecting the position of a receiver, such as a GPS satellite in which a multipath is generated, without performing a calculation such as setting a weight when detecting the position of the receiver with respect to a GPS satellite. It becomes possible to identify the satellite and easily detect the exact position of the receiver.

  Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a car navigation device to which a positioning device of the present invention is applied. A car navigation device 100 shown in FIG. 1 is mounted on a vehicle and includes a main body 10, a hard disk drive (HDD) 20, an operation unit 30, a communication unit 40, a GPS receiver 50, a self-contained navigation sensor 60, a display 70 and a speaker 80. Is done.

  The HDD 20 is equipped with a hard disk 22 and reads map data recorded on the hard disk 22. The map data includes road information. As shown in FIG. 2, this road information identifies a road ID that is identification information of the road, a road name that is identification information of the road, and a plurality of road information having the same road name, as shown in FIG. The house number (No) to be used, the name of the area through which the road passes, the latitude and longitude, and a plurality of road coordinates for representing the shape of the road are arranged in order along the road extending direction. And a coordinate array formed. The map data recording medium is not limited to the hard disk 22, and may be a DVD, a CD-ROM, or the like, and a drive corresponding to the recording medium is prepared.

  The operation unit 30 has operation buttons, joysticks, and the like (not shown), and is operated by the user in setting search information such as setting a destination when searching for a guidance route. The communication unit 40 is, for example, a mobile phone, and communicates with the outside in order to acquire various information necessary for the car navigation device 100. The GPS receiver 50 receives a signal from a GPS satellite necessary for detecting the position of the vehicle, and generates GPS information including information included in the signal and a reception time of the signal. The self-contained navigation sensor 60 is composed of a gyro for detecting the traveling direction of the vehicle, and a distance sensor that generates a pulse (vehicle speed pulse) at every constant travel distance.

  The main body 10 includes a control unit 102, a buffer memory 104, a map drawing unit 106, an operation screen / mark generation unit 108, a guidance route storage unit 110, a guidance route drawing unit 112, a multipath satellite storage unit 114, and an image composition unit 118. Is done.

  The control unit 102 controls the entire car navigation device 100. Specifically, the control unit 102 detects the position of the GPS receiver 50 as the position of the vehicle based on GPS information from the GPS receiver 50. Details of the vehicle position detection will be described later. Further, the control unit 102 calculates the direction and speed of the vehicle based on the traveling direction of the vehicle detected by the self-contained navigation sensor 60 and the output interval of the vehicle speed pulse. Further, the control unit 102 instructs the HDD 20 to read the map data recorded on the hard disk 22. For example, when the vehicle is traveling, the control unit 102 instructs reading of map data corresponding to a predetermined range around the vehicle position. The map data read by the HDD 104 according to this instruction is stored in the buffer memory 104. The map drawing unit 106 generates a map image based on the map data stored in the buffer memory 104.

  In addition, the control unit 102 issues an image generation instruction to the operation screen / mark generation unit 108 according to the operation of the operation unit 30 by the user or the operation state of the car navigation device 10. In response to this instruction, the operation screen / mark generator 108 generates images of various menu screens, vehicle position marks, and cursor marks.

  Further, the control unit 102 reads out map data stored in the buffer memory 104 in accordance with an operation of the operation unit 30 for a guided route search by the user, and uses a predetermined route search algorithm based on the map data. To set up a guide route to the destination. Information on the set guide route is stored in the guide route storage unit 110. The guide route drawing unit 112 generates a guide route image based on the guide route information stored in the guide route storage unit 110.

  Further, the control unit 102 instructs the image composition unit 118 to perform image composition in accordance with the operation of the operation unit 30 by the user or the operation state of the car navigation device 10. In response to this instruction, the image synthesis unit 118 appropriately synthesizes various images generated by the map image drawing unit 106, the operation screen / mark generation unit 108, the guidance route drawing unit 112, and the facility list drawing unit 116, and is obtained. The displayed image is displayed on the display 70.

  In addition, the control unit 102 generates sound according to the operation of the operation unit 30 by the user or the operation state of the car navigation device 10 and causes the speaker 80 to output the sound. For example, the control unit 102 generates guidance voice such as an instruction to turn at an intersection based on the guidance route information during route guidance, and causes the speaker 80 to output the guidance voice.

  Next, details of vehicle position detection in the car navigation apparatus 10 will be described. FIG. 2 is a functional block diagram of a portion related to vehicle position detection of the control unit 102. 2 includes a position detection unit 152 corresponding to the first and second position detection units, a position average value calculation unit 154 corresponding to the position average value calculation unit, and a difference corresponding to the difference calculation unit. Calculation unit 156, first difference average value calculation unit 158 corresponding to the first difference average value calculation unit, second difference average value calculation unit 160 corresponding to the second difference average value calculation unit, and standard deviation calculation The standard deviation calculating unit 162 corresponding to the means and the multipath satellite specifying unit 164 corresponding to the specifying unit are configured. The control unit 102 identifies a GPS satellite in which a multipath is generated among the GPS satellites, and detects a vehicle position based on a signal from a GPS satellite other than the GPS satellite in which the multipath is generated.

  FIG. 3 is a flowchart showing a specific operation of a GPS satellite in which multipath occurs. The position detection unit 152 in the control unit 102 determines whether or not GPS information from the GPS receiver 50 is input (S101). FIG. 4 is a diagram illustrating an example of GPS information. As shown in FIG. 4, the GPS information includes a GPS number that is identification information of a GPS satellite that is a transmission source of a signal received by the GPS receiver 50, orbit information of the GPS satellite that is the transmission source, and a GPS satellite that is the transmission source. And the receiving country of the signal received by the GPS receiver 50 from the source GPS satellite. Among these, the GPS number, orbit information, and transmission time are included in the signal from the GPS satellite, and the GPS receiver 50 extracts the GPS number, orbit information, and transmission time from the received signal, and further receives them. GPS information is generated by adding the time and output to the position detection unit 152.

  When the GPS information from the GPS receiver 50 is input, the position detection unit 152 specifies the GPS satellite that is the transmission source of the signal received by the GPS receiver 50 based on each GPS information, and the GPS satellite that is the transmission source All combinations obtained by selecting four GPS satellites are generated (S102).

  FIG. 5 is a diagram illustrating an example of a positional relationship between a vehicle position and a GPS satellite. In FIG. 5, the GPS satellite with GPS number 3 (GPS satellite # 3), the GPS satellite with GPS number 7 (GPS satellite # 7), the GPS satellite with GPS number 15 (GPS satellite # 15), in the visible range of the vehicle position, There is a GPS satellite with GPS number 24 (GPS satellite # 24) and a GPS satellite with GPS number 29 (GPS satellite # 29). In this case, the GPS receiver 50 receives signals from these five GPS satellites, generates five pieces of GPS information corresponding to each of the signals, and outputs them to the position detector 152. Based on each GPS information, the position detection unit 152 specifies five transmission source GPS satellites of the signal received by the GPS receiver 50, and selects four of the five transmission source GPS satellites. Generate all combinations.

  FIG. 6 is a diagram showing a combination of GPS satellites. The combination of the GPS satellites shown in FIG. 6 is an example in the case where the positional relationship between the vehicle position and the GPS satellite is shown in FIG. All combinations A to E obtained by selecting # 15, four GPS satellites # 24 and four GPS satellites # 29 are shown.

  Next, the position detection unit 152 detects the vehicle position for every combination of the generated GPS satellites based on the GPS information corresponding to the GPS satellites belonging to the combination (S103). Specifically, for each combination generated in S102, the position detection unit 152 specifies the GPS numbers of the four GPS satellites belonging to the combination, and further sets the four GPS information including the specified GPS number as GPS. Extracted from the GPS information from the receiver 50. Then, the position detector 152 detects the position of the GPS satellite based on the orbit information and the transmission information in the GPS information for each of the extracted four pieces of GPS information, and further, the transmission time and the reception time. The distance from the GPS satellite to the vehicle position is calculated based on the time difference. And the position detection part 152 calculates a vehicle position based on the position of the GPS satellite obtained about each of four GPS information, and the distance from the said GPS satellite to a vehicle position. The vehicle position detected for each combination of GPS satellites is sent to the position average value calculation unit 154 after the GPS numbers of the GPS satellites belonging to the combination are associated.

  Next, the position average value calculation unit 154 calculates the average value of the vehicle positions for each combination of GPS satellites (S104). The calculated vehicle position average value is sent to the difference calculation unit 156 together with the vehicle position for each combination of GPS satellites and the GPS numbers of the GPS satellites belonging to the combination corresponding to the vehicle position. The difference calculation unit 156 calculates, for each combination of GPS satellites, a difference (distance) between each vehicle position corresponding to the combination and the vehicle position average value (S105). The difference calculated for each combination of GPS satellites is sent to the first difference average value calculation unit 158 after the GPS numbers of the GPS satellites belonging to the combination are associated.

  FIG. 7 is a diagram illustrating an example of a vehicle position for each combination of GPS, a vehicle position average value, and a difference between a vehicle position and a vehicle position average value for each GPS combination. The vehicle position shown in FIG. 7 is an example when the combination of GPS satellites is the combination A to E shown in FIG. 6, and for each combination A to E, GPS information corresponding to four GPS satellites belonging to the combination. The vehicle position detected based on the vehicle position, the average value of the vehicle positions detected for each combination, and the difference between the vehicle position detected for each combination and the vehicle position average value are shown.

  For each GPS satellite, the first difference average value calculation unit 158 calculates an average value (first difference average value) of differences corresponding to the combination to which the GPS satellite belongs (S106). Specifically, the first difference average value calculation unit 158 determines, for each GPS satellite that is a transmission source of the signal received by the GPS receiver 50, based on the GPS number of the GPS satellite belonging to the combination. Identify the combination to which it belongs. Further, the first difference average value calculation unit 158 specifies, for each GPS satellite that is a transmission source of the signal received by the GPS receiver 50, a difference corresponding to the combination to which the GPS satellite belongs, The average value is calculated. The calculated first difference average value for each GPS satellite is sent to the second difference average value calculation unit 160 and the standard deviation calculation unit 162 after the GPS number of the GPS satellite is associated.

  The second difference average value calculation unit 160 calculates an average value (second difference average value) of the first difference average values for each GPS satellite. The calculated second difference average value is sent to the multipath satellite specifying unit 164. The first difference average value for each GPS satellite is sent to the multipath satellite specifying unit 164 after the GPS number of the GPS satellite is associated. Further, the calculated second difference average value is sent to the standard deviation calculation unit 162 together with the first difference average value for each GPS satellite.

  The standard deviation calculation unit 162 calculates the standard deviation of the first difference average value based on the first difference average value for each GPS satellite and the second difference average value (S108). The calculated standard deviation is sent to the multipath satellite specifying unit 164.

  FIG. 8 is a diagram illustrating an example of the first difference average value, the second difference average value, and the standard deviation for each GPS satellite. FIG. 8 is an example in the case where the difference between each vehicle position detected for each combination of GPS satellites and the vehicle position average value is as shown in FIG.

  The multipath satellite specifying unit 164 sets a range between the value obtained by subtracting the standard deviation from the second difference average value and the value obtained by adding the standard deviation to the second difference average value as an appropriate range. Further, the multipath satellite specifying unit 164 determines the first difference average value for each GPS satellite that is out of the appropriate range, and further, the GPS number associated with the determined first difference average value. GPS satellites are identified as GPS satellites having multipaths (S109). The GPS number associated with the first difference average value outside the aptitude range, in other words, the GPS number of the GPS satellite in which the multipath has occurred is stored in the multipath satellite storage unit 114.

  FIG. 9 is a diagram illustrating a determination result of a GPS satellite in which multipath occurs. FIG. 9 shows an example in which the first difference average value, the second difference average value, and the standard deviation for each GPS satellite are those shown in FIG. In FIG. 9, since the first difference average value corresponding to the GPS satellite with the GPS number 24 is outside the appropriate range, the GPS satellite with the GPS number 24 is identified as a GPS satellite in which a multipath has occurred.

  FIG. 10 is a diagram illustrating an example of a true vehicle position and a vehicle position detected for each combination of GPS satellites. FIG. 10 shows an example in which the vehicle position for each combination of GPS satellites is as shown in FIG. 7 and the determination result of the GPS satellites where multipath is generated is as shown in FIG. In FIG. 10, the vehicle positions detected corresponding to the combinations A, C, D, and E to which the GPS satellite of GPS number 24 in which multipath is generated belong greatly deviate from the true vehicle position. The vehicle position detected corresponding to the combination B to which the GPS satellite of GPS number 24 does not belong is in the vicinity of the true vehicle position.

  After the GPS satellites with multipaths are identified in this way, the GPS satellites with multipaths are excluded, and the vehicle position is determined based on the signals from other GPS satellites. Detected.

  FIG. 11 is a flowchart showing position detection excluding GPS satellites where multipath occurs. The position detection unit 102 in the control unit 102 determines whether GPS information from the GPS receiver 50 has been input (S201).

  When the GPS information is input, the position detection unit 152 reads the GPS number of the GPS satellite where the multipath is generated, which is stored in the multipath satellite storage unit 114. Further, the position detection unit 152 has GPS information corresponding to the GPS satellite in which the multipath is generated, for the input GPS information that matches the GPS number read from the multipath satellite storage unit 114. It judges and excludes from position detection (S202).

  Further, the position detection unit 152 selects at least four pieces of remaining GPS information that has not been excluded, and detects the vehicle position based on the selected GPS information (S203). Specifically, the position detection unit 152 detects the position of the GPS satellite based on the orbit information and the transmission information in the GPS information for each of the selected GPS information, and further, the transmission time and the reception time. The distance from the GPS satellite to the vehicle position is calculated based on the time difference. Then, the position detector 152 calculates the vehicle position based on the position of the GPS satellite and the distance from the GPS satellite to the vehicle position obtained for each of the selected GPS information.

  As described above, the control unit 102 in the main body 10 of the navigation device 100 according to the present embodiment, for every combination in the case where four GPS satellites of the transmission source of the signal received by the GPS receiver 50 are combined, Based on GPS information corresponding to signals from four GPS satellites belonging to the combination, the vehicle position is detected, and based on the vehicle position detected for each combination, the average value of the vehicle position, for each combination The difference between the detected vehicle position and the vehicle position average value, the first difference average value that is the average value of the difference corresponding to the combination to which the GPS satellite belongs for each GPS satellite, and the average value of each first difference average value The second difference average value, the standard deviation of each first difference average value is calculated, and if the first difference average value is outside the appropriate range, the GP corresponding to the first difference average value A GPS satellite that should not be used for vehicle position detection, that is, a GPS satellite in which multipath is generated, is identified, and the vehicle position is determined based on GPS corresponding to signals from GPS satellites other than the GPS satellite. To detect. As a result, it is possible to easily detect an accurate vehicle position by specifying a GPS satellite in which a multipath is generated without performing a calculation such as setting a weight when detecting the vehicle position with respect to the GPS satellite. It becomes possible.

  In the above-described embodiment, the vehicle position is detected for each combination of four GPS satellites, but a combination of five or more GPS satellites may be obtained and the vehicle position may be detected for each combination.

  As described above, the positioning device, the car navigation device, and the positioning method according to the present invention can easily detect the accurate position of the receiver and are useful as a positioning device or the like.

It is a figure which shows the structure of a car navigation apparatus. It is a functional block diagram of a control part. It is a flowchart which shows specific operation | movement of the GPS satellite in which the multipath has generate | occur | produced. It is a figure which shows an example of GPS information. It is a figure which shows an example of the positional relationship of a vehicle position and a GPS satellite. It is a figure which shows the combination of a GPS satellite. It is a figure which shows an example of the difference of the vehicle position for every combination of GPS, a vehicle position average value, and the vehicle position for every combination of GPS, and a vehicle position average value. It is a figure which shows an example of the 1st difference average value for every GPS satellite, a 2nd difference average value, and a standard deviation. It is a figure which shows the determination result of the GPS satellite in which the multipath has generate | occur | produced. It is a figure which shows an example of a true vehicle position and a vehicle position detected for every combination of GPS satellites. It is a flowchart which shows the position detection which excluded the GPS satellite which has generate | occur | produced the multipath.

Explanation of symbols

10 Main body 20 Hard disk drive (HDD)
DESCRIPTION OF SYMBOLS 22 Hard disk 30 Operation part 40 Communication part 50 GPS receiver 60 Autonomous navigation sensor 70 Display 80 Speaker 100 Car navigation apparatus 102 Control part 104 Buffer memory 106 Map drawing part 108 Operation screen and mark generation part 110 Guidance path memory | storage part 112 Guidance path drawing 114 Multipath satellite storage 118 Image composition

Claims (8)

A positioning device that performs positioning based on a signal from a GPS satellite,
A receiver for receiving signals from N GPS satellites;
For each combination obtained by selecting M GPS satellites from the N GPS satellites, the reception is performed based on signals received by the receiver from the M GPS satellites belonging to the combination. First position detecting means for detecting the position of the machine;
Identification means for identifying a GPS satellite that should not be used for detecting the position of the receiver among the N GPS satellites based on the position of the receiver detected for each combination by the first position detection means. When,
Second position detecting means for detecting the position of the receiver based on a signal from a GPS satellite other than the GPS satellite specified by the specifying means among the N GPS satellites received by the receiver. And a positioning device. Position average value calculating means for calculating a position average value representing an average of the positions of the receivers detected for each of the combinations by the first position detecting means;
Difference calculating means for calculating a difference between each position of the receiver detected for each of the combinations by the first position detecting means and the position average value calculated by the position average value calculating means;
For each of the N GPS satellites, a first difference average value calculating unit that calculates a first difference average value that represents an average of differences corresponding to the combination to which the GPS satellite belongs calculated by the difference calculating unit; Have
The specifying means, when the first difference average value calculated by the first difference average value calculation means is outside a predetermined range, determines the GPS satellite corresponding to the first difference average value of the receiver. The positioning device according to claim 1, wherein the positioning device is specified as a GPS satellite that should not be used for position detection. A second difference average value calculating means for calculating a second difference average value representing an average of the first difference average values calculated for each of the N GPS satellites by the first difference average value calculating means;
Standard deviation calculation means for calculating a standard deviation of the first difference average value calculated for each of the N GPS satellites by the first difference average value calculation means;
The specifying means calculates the standard deviation of the first difference average value calculated by the first difference average value calculation means from the second difference average value calculated by the second difference average value calculation means. A value obtained by subtracting the standard deviation calculated by the means, and a value obtained by adding the standard deviation calculated by the standard deviation calculating means to the second difference average value calculated by the second difference average value calculating means. 4. The positioning according to claim 3, wherein a GPS satellite that corresponds to the first difference average value is specified as a GPS satellite that should not be used for detecting the position of the receiver when it is out of a range between apparatus.   The first position detecting means receives at least four of the combinations received by the receiver for every combination obtained by selecting at least four GPS satellites from the N GPS satellites. 4. The positioning device according to claim 1, wherein the position of the receiver is detected based on a signal received from a GPS satellite.   It is mounted on a vehicle, has the positioning device according to any one of claims 1 to 4, and uses the position of the receiver detected by the second position detection means as the position of the vehicle. Car navigation device. A positioning method for performing positioning based on a signal from a GPS satellite,
Receiving a signal from N GPS satellites by a receiver;
For each combination obtained by selecting M GPS satellites from the N GPS satellites, the reception is performed based on signals from the M GPS satellites belonging to the combination received in the reception step. A first position detecting step for detecting the position of the machine;
A specifying step of specifying a GPS satellite that should not be used for detecting the position of the receiver among the N GPS satellites based on the position of the receiver detected for each of the combinations in the first position detecting step. When,
A second position detecting step of detecting the position of the receiver based on a signal from a GPS satellite other than the GPS satellite specified by the specifying step among the N GPS satellites received by the receiver; A positioning method characterized by comprising: A position average value calculating step for calculating a position average value representing an average of the positions of the receivers detected for each of the combinations in the first position detecting step;
A difference calculating step for calculating a difference between each of the positions of the receivers detected for each of the combinations in the first position detecting step and the position average value calculated in the position average value calculating step;
For each of the N GPS satellites, a first difference average value calculating step for calculating a first difference average value representing an average of differences corresponding to the combination to which the GPS satellites calculated in the difference calculating step belongs; Have
In the specifying step, when the first difference average value calculated by the first difference average value calculation means is out of a predetermined range, the GPS satellite corresponding to the first difference average value is determined by the receiver. The positioning method according to claim 6, wherein the positioning method is specified as a GPS satellite that should not be used for position detection. A second difference average value calculating step for calculating a second difference average value representing an average of the first difference average values calculated for each of the N GPS satellites in the first difference average value calculating step;
A standard deviation calculating step of calculating a standard deviation of the first difference average value calculated for each of the N GPS satellites in the first difference average value calculating step;
In the specifying step, the first difference average value calculated in the first difference average value calculation step is calculated from the second difference average value calculated in the second difference average value calculation step. A value obtained by subtracting the standard deviation calculated in the step, and a value obtained by adding the standard deviation calculated in the standard deviation calculating step to the second difference average value calculated in the second differential average value calculating step. The positioning according to claim 7, wherein a GPS satellite corresponding to the first difference average value is identified as a GPS satellite that should not be used for detecting the position of the receiver when the average value is out of the range. Method.

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