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WO2010073113A8 - Gnss receiver and positioning method - Google Patents

Gnss receiver and positioning method Download PDF

Info

Publication number
WO2010073113A8
WO2010073113A8 PCT/IB2009/007881 IB2009007881W WO2010073113A8 WO 2010073113 A8 WO2010073113 A8 WO 2010073113A8 IB 2009007881 W IB2009007881 W IB 2009007881W WO 2010073113 A8 WO2010073113 A8 WO 2010073113A8
Authority
WO
WIPO (PCT)
Prior art keywords
observation data
error
estimates
receiver
gnss receiver
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2009/007881
Other languages
French (fr)
Other versions
WO2010073113A1 (en
Inventor
Naoto Hasegawa
Hideaki Tampo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of WO2010073113A1 publication Critical patent/WO2010073113A1/en
Publication of WO2010073113A8 publication Critical patent/WO2010073113A8/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)

Abstract

A GNSS receiver includes an observation data computation portion (104) that obtains observation data; a position calculation portion (108) that calculates a position of the GNSS satellite; a position estimation portion (112) that estimates a position of the GNSS receiver, based on information other than a positioning signal; an observation data estimation portion (114) that estimates the observation data, based on the calculated position of the GNSS satellite, and the estimated position of the GNSS receiver; a receiver error estimation portion (118) that estimates a receiver error; an observation data error estimation portion (106) that estimates a common error in the observation data, based on the estimated receiver error, and estimates an error in the observation data, based on the observation data, the estimated observation data, and the common error; and a positioning computation portion (116) that performs the positioning computation using the observation data whose error is equal to or smaller than a predetermined threshold value.
PCT/IB2009/007881 2008-12-26 2009-12-23 Gnss receiver and positioning method Ceased WO2010073113A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008-332125 2008-12-26
JP2008332125A JP2010151725A (en) 2008-12-26 2008-12-26 Gnss receiving apparatus and positioning method

Publications (2)

Publication Number Publication Date
WO2010073113A1 WO2010073113A1 (en) 2010-07-01
WO2010073113A8 true WO2010073113A8 (en) 2010-10-14

Family

ID=42026115

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2009/007881 Ceased WO2010073113A1 (en) 2008-12-26 2009-12-23 Gnss receiver and positioning method

Country Status (2)

Country Link
JP (1) JP2010151725A (en)
WO (1) WO2010073113A1 (en)

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JP5163511B2 (en) * 2009-01-19 2013-03-13 トヨタ自動車株式会社 GNSS receiver and positioning method
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JP5614800B2 (en) 2010-07-02 2014-10-29 矢崎総業株式会社 Switch device
DE102012216211A1 (en) * 2011-09-12 2013-03-14 Continental Teves Ag & Co. Ohg Method for selecting a satellite
US9973884B2 (en) 2012-03-07 2018-05-15 Intel Corporation Device, system and method of controlling access to location sources
CN104205961A (en) * 2012-03-29 2014-12-10 英特尔公司 Device, system and method of location estimation of a mobile device
US9645242B2 (en) 2012-04-10 2017-05-09 Intel Corporation Device, system and method of collaborative location error correction
DE112012006603T5 (en) * 2012-06-27 2015-04-02 Mitsubishi Electric Corporation positioning device
US10317538B2 (en) * 2013-08-27 2019-06-11 Microsoft Technology Licensing, Llc Cloud-offloaded global satellite positioning
CN104536023B (en) * 2015-01-09 2017-05-03 山东天星北斗信息科技有限公司 Non-delayed sub-meter differential positioning method of high and low frequency error shunting prediction
WO2017046914A1 (en) 2015-09-17 2017-03-23 三菱電機株式会社 Positioning satellite selecting device, positioning device, positioning system, positioning information transmitting device and positioning terminal
CN105891865B (en) * 2016-03-28 2018-09-25 南京工程学院 Based on Markov chain Monte-Carlo particle filtering localization method
DE102016205843A1 (en) 2016-04-07 2017-10-12 Volkswagen Aktiengesellschaft Navigation method, navigation device and navigation system
WO2018083803A1 (en) 2016-11-07 2018-05-11 三菱電機株式会社 Positioning augmentation device, positioning augmentation system, and positioning augmentation method
JP6877854B2 (en) 2017-01-30 2021-05-26 三菱電機株式会社 Positioning device and positioning method
US10332395B1 (en) 2017-12-21 2019-06-25 Denso International America, Inc. System and method for translating roadside device position data according to differential position data
JP7111298B2 (en) * 2019-01-15 2022-08-02 株式会社豊田中央研究所 Satellite selection device and program
WO2021073753A1 (en) 2019-10-18 2021-04-22 Volvo Truck Corporation An electronic arrangement for determining a movement
US11474263B2 (en) * 2020-02-13 2022-10-18 Mitsubishi Electric Research Laboratories, Inc. System and method for GNSS ambiguity resolution
EP3889647A1 (en) * 2020-03-30 2021-10-06 Polar Electro Oy Positioning of wearable training computer
KR102472785B1 (en) * 2021-01-15 2022-11-30 한국항공대학교산학협력단 Apparatus and method for screening doppler measurement fault, and apparatus and method for detecting gnss measurement fault
CN113109850B (en) * 2021-05-14 2022-07-15 长沙学院 A fast and rough frequency difference estimation method for GNSS satellite navigation without positioning
WO2023135683A1 (en) * 2022-01-12 2023-07-20 日本電信電話株式会社 Satellite signal receiving device, satellite signal selection method, and program
WO2024069760A1 (en) * 2022-09-27 2024-04-04 日本電信電話株式会社 Environmental map production device, environmental map production method, and program
CN116626723B (en) * 2023-07-21 2023-10-17 中国科学院空天信息创新研究院 LcUPD and TcUPD estimation method and device of GNSS
CN119738859B (en) * 2024-11-18 2025-10-17 湖南矩阵电子科技有限公司 Railway special satellite positioning test method and system based on parallel multi-index

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JP3267310B2 (en) * 1991-07-10 2002-03-18 パイオニア株式会社 GPS navigation device
JP3662098B2 (en) * 1997-09-03 2005-06-22 日本無線株式会社 GPS receiver
JP2001264409A (en) 2000-03-21 2001-09-26 Clarion Co Ltd Multipass judgement method for car navigation device
JP2003057327A (en) * 2001-08-09 2003-02-26 Matsushita Electric Ind Co Ltd Navigation satellite signal receiver
US7623871B2 (en) * 2002-04-24 2009-11-24 Qualcomm Incorporated Position determination for a wireless terminal in a hybrid position determination system
JP2006133142A (en) * 2004-11-08 2006-05-25 Furuno Electric Co Ltd Positioning receiver
US7313404B2 (en) * 2005-02-23 2007-12-25 Deere & Company Vehicular navigation based on site specific sensor quality data
US7733268B2 (en) * 2006-05-16 2010-06-08 Andrew Corporation Method and apparatus for determining the geographic location of a device
JP2008157705A (en) * 2006-12-22 2008-07-10 Clarion Co Ltd Navigation system and gps position accuracy determination method

Also Published As

Publication number Publication date
JP2010151725A (en) 2010-07-08
WO2010073113A1 (en) 2010-07-01

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