JP2001083227A - Gps receiver - Google Patents
Gps receiverInfo
- Publication number
- JP2001083227A JP2001083227A JP26174999A JP26174999A JP2001083227A JP 2001083227 A JP2001083227 A JP 2001083227A JP 26174999 A JP26174999 A JP 26174999A JP 26174999 A JP26174999 A JP 26174999A JP 2001083227 A JP2001083227 A JP 2001083227A
- Authority
- JP
- Japan
- Prior art keywords
- positioning
- range frame
- gps
- power
- gps 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.)
- Granted
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、ＧＰＳ受信機、特
に誤った測位位置を出力しないようにしたＧＰＳ受信機
に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS receiver, and more particularly, to a GPS receiver which does not output an incorrect positioning position.
【０００２】[0002]
【従来の技術】ＧＰＳ（Grobal Positioning Syste
m）は、海・空のナビゲーションからカーナビ・測量・
通信など、幅広い分野で使用されており、今後ますます
その利用が拡大するものと考えられている。2. Description of the Related Art GPS (Global Positioning System)
m) Navigation from sea / sky, car navigation, surveying /
It is used in a wide range of fields, such as telecommunications, and its use is expected to expand more and more in the future.
【０００３】ＧＰＳにおいては、ＧＰＳ衛星が送信した
信号の伝搬時間に伝搬速度を掛けた伝搬距離を計測し位
置の線を得、この位置の線を複数計測してそれらの交点
から位置を計測する。実際にはこれら伝搬距離（誤差を
含むため、擬似距離、という）に加えてＧＰＳ衛星から
の軌道データ等航法メッセージデータから衛星位置、衛
星時計誤差、電離層伝搬補正値を得る。そして、利用者
（受信機）位置の４個の未知数（３次元位置Ｘ，Ｙ，Ｚ
と受信機基準時計のバイアス値）の４元１次方程式を解
いて、位置、時刻を計算する。In GPS, a propagation distance is calculated by multiplying a propagation time of a signal transmitted by a GPS satellite by a propagation speed to obtain a position line, a plurality of lines at this position are measured, and a position is measured from an intersection thereof. . Actually, satellite position, satellite clock error, and ionospheric propagation correction value are obtained from navigation message data such as orbit data from GPS satellites in addition to these propagation distances (pseudoranges including errors). Then, the four unknowns of the user (receiver) position (three-dimensional position X, Y, Z
Then, the position and time are calculated by solving the quaternary linear equation of (the bias value of the receiver reference clock).
【０００４】従来のＧＰＳ受信機では、ＧＰＳ衛星の異
常などにより、測定された擬似距離や、復調された軌道
データに異常が生じている場合には、誤った測位データ
を出力してしまう。ただ、連続して測位している場合に
は、誤った測位データがそれまでの測位データと大幅に
異なったものとなるため、誤りデータであることを比較
的簡単に判定することができる。A conventional GPS receiver outputs erroneous positioning data when an abnormality occurs in a measured pseudorange or demodulated orbit data due to an abnormality of a GPS satellite or the like. However, when positioning is performed continuously, erroneous positioning data is significantly different from previous positioning data, so that it is relatively easy to determine that the data is erroneous.
【０００５】[0005]
【発明が解決しようとする課題】しかし、移動体に搭載
して使用されるＧＰＳ受信機では、電源投入後の初期測
位時にその測位結果が、電源遮断前の前回測位結果と大
きく離れた測位結果となった場合に、直ちに異常値と判
断することができない。すなわち、ＧＰＳ受信機の電源
断の間にその移動体が移動することが予測されるため、
電源投入後の初期測位結果が電源遮断前の前回測位結果
と異なっていたとしても、これが受信機の移動によるも
のであるか、あるいは誤った測位データによるものであ
るか判定することが困難である。このため、ＧＰＳ衛星
の異常などにより、測定された擬似距離や、復調された
軌道データに異常が生じている場合に、本来の位置とは
異なった誤った測位位置を出力し、また正しい位置への
復帰が困難になる場合があるという問題があった。However, in a GPS receiver mounted and used on a mobile object, the positioning result at the time of initial positioning after power-on is greatly different from the previous positioning result before power-off. , It cannot be determined immediately as an abnormal value. That is, since it is predicted that the moving object moves while the power of the GPS receiver is turned off,
Even if the initial positioning result after power-on is different from the previous positioning result before power-off, it is difficult to determine whether this is due to the movement of the receiver or due to incorrect positioning data. . Therefore, when an error occurs in the measured pseudorange or the demodulated orbit data due to an abnormality of a GPS satellite or the like, an erroneous positioning position different from the original position is output, and a correct position is output. However, there is a problem that it may be difficult to return the vehicle.
【０００６】本発明はかかる問題点を解決するためにな
されたものであり、電源投入後の初期測位の結果が、電
源遮断前の前回測位結果と大きく離れた測位結果であっ
ても、正常か異常かを判断可能にするとともに、異常と
判断した場合には新たな判断基準を設けて再測位し、正
しい測位位置を得るようにしたＧＰＳ受信機を提供する
ことを目的とする。The present invention has been made in order to solve such a problem. Even if the result of the initial positioning after the power is turned on is a positioning result greatly different from the previous positioning result before the power is turned off, whether the result is normal or not is determined. It is an object of the present invention to provide a GPS receiver which can determine whether or not it is abnormal, and when it is determined to be abnormal, establishes a new criterion for re-positioning to obtain a correct positioning position.
【０００７】[0007]
【課題を解決するための手段】本発明の請求項１に係る
ＧＰＳ受信機は、ＧＰＳ衛星から送信される衛星信号を
受信する手段と、受信した衛星信号に基づきＧＰＳ衛星
からＧＰＳ受信機までの擬似距離を測定する手段と、受
信した衛星信号からＧＰＳ衛星の時刻、軌道を示す航法
データを復調する手段と、所定個数のＧＰＳ衛星につい
て測定された擬似距離及び当該ＧＰＳ衛星の軌道データ
に基づき測位を行い位置データを出力する手段と、この
位置データ及び各ＧＰＳ衛星の軌道データに基づき擬似
距離の測定部及び航法データの復調部を制御する手段と
を備えるＧＰＳ受信機において、保持している以前の測
位位置と電源断継続時間に応じて定まる移動範囲枠を設
定する手段と、電源投入後の初期測位位置が前記移動範
囲枠内にあるか否かに応じて、前記初期測位位置が正常
測位か異常測位かを判定する手段を有することを特徴と
する。According to a first aspect of the present invention, there is provided a GPS receiver for receiving a satellite signal transmitted from a GPS satellite, and for transmitting a signal from the GPS satellite to the GPS receiver based on the received satellite signal. Means for measuring the pseudorange, means for demodulating navigation data indicating the time and orbit of the GPS satellite from the received satellite signal, and positioning based on the pseudorange measured for a predetermined number of GPS satellites and the orbit data of the GPS satellite. And a means for controlling a pseudo-range measuring unit and a navigation data demodulating unit based on the position data and the orbital data of each GPS satellite. Means for setting a movement range frame determined according to the positioning position and the power-off continuation time, and whether an initial positioning position after power-on is within the movement range frame Depending on the initial positioning position and having a means for determining whether normal positioning or abnormal positioning.
【０００８】本発明の請求項２に係るＧＰＳ受信機は、
請求項１記載のＧＰＳ受信機において、前記初期測位位
置が異常測位と判定された場合に、各ＧＰＳ衛星からＧ
ＰＳ受信機までの擬似距離を再度測定させるとともに、
各ＧＰＳ衛星の時刻、軌道を示す航法データを一旦破棄
し、再度収集させる手段と、前回異常測位と判定された
測位位置から定まる固定範囲枠を設定する手段と、再度
の測位位置が、前記移動範囲枠あるいは前記固定範囲枠
のいずれかの枠内にあるか否かにより、前記再度の測位
位置が正常測位か異常測位かを判定する手段を有するこ
とを特徴とする。[0008] The GPS receiver according to claim 2 of the present invention comprises:
2. The GPS receiver according to claim 1, wherein when the initial positioning position is determined to be an abnormal positioning, a GPS signal is transmitted from each GPS satellite.
The pseudo distance to the PS receiver is measured again,
Means for temporarily discarding and re-collecting navigation data indicating the time and orbit of each GPS satellite, means for setting a fixed range frame determined from the positioning position determined to be the abnormal positioning last time, and There is provided a means for determining whether the re-located position is normal positioning or abnormal positioning, based on whether the position is within one of the range frame and the fixed range frame.
【０００９】この構成によれば、電源投入後の初期測位
位置が、電源断継続時間に応じて定められる移動範囲枠
を越えているか否かを判定し、異常な初期測位位置を検
出することができる。According to this configuration, it is determined whether or not the initial positioning position after the power is turned on exceeds a moving range frame determined according to the power-off duration, and an abnormal initial positioning position can be detected. it can.
【００１０】また、初期測位位置が異常であると判定さ
れた場合に、この測位結果は出力データとして使用され
ず、次回の測位は、各ＧＰＳ衛星の航法データを一旦破
棄し、再度収集して、再度測位計算を行うとともに、こ
の再度の測位計算の結果に対して、前記移動範囲枠、あ
るいは前回異常測位とされた位置からの固定枠による異
常値検出を行い、いずれかの枠内にあれば正しい位置デ
ータとして出力される。When it is determined that the initial positioning position is abnormal, the positioning result is not used as output data. In the next positioning, the navigation data of each GPS satellite is temporarily discarded and collected again. In addition, the positioning calculation is performed again, and the result of the positioning calculation is performed again, and an abnormal value is detected in the moving range frame or the fixed frame from the position where the abnormal positioning was performed last time. If it is, it is output as correct position data.
【００１１】このような動作によって、異常位置の値を
出力することを防ぐとともに、正常測位に復帰すること
ができる。By such an operation, it is possible to prevent output of the value of the abnormal position and to return to the normal positioning.
【００１２】[0012]
【発明の実施の形態】以下、本発明の実施例について、
図を参照して説明する。BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described.
This will be described with reference to the drawings.
【００１３】図１は、本発明の実施例に係るＧＰＳ受信
機の全体構成を示すブロック図である。同図に示される
ように、本発明のＧＰＳ受信機は、受信アンテナ１と、
周波数変換部２と、ドップラ周波数・擬似距離測定部３
と、航法データ復調部４と、測位演算部５と、受信制御
演算部６と、位置異常検出部７とから構成されている。FIG. 1 is a block diagram showing the overall configuration of a GPS receiver according to an embodiment of the present invention. As shown in the figure, the GPS receiver of the present invention includes a receiving antenna 1 and
Frequency converter 2 and Doppler frequency / pseudo distance measuring unit 3
, A navigation data demodulation unit 4, a positioning operation unit 5, a reception control operation unit 6, and a position abnormality detection unit 7.
【００１４】受信アンテナ１よりＧＰＳ信号を受信し、
周波数変換部２により増幅されるとともに所定の周波数
を有する中間周波数信号に変換される。中間周波数に変
換された衛星信号はドップラ周波数・擬似距離測定部３
と航法データ復調部４に供給される。A GPS signal is received from the receiving antenna 1,
The signal is amplified by the frequency converter 2 and converted into an intermediate frequency signal having a predetermined frequency. The satellite signal converted to the intermediate frequency is a Doppler frequency / pseudorange measuring unit 3
Is supplied to the navigation data demodulation unit 4.
【００１５】位置測定に際して、受信制御演算部６での
制御の元に、まずドップラ周波数・擬似距離測定部３で
は、衛星選択で選ばれた衛星それぞれについてドプラ変
位を推定計算し、その中心値を発生させ一定の周波数範
囲をスキャンし受信周波数と相関比較する。同時に対応
する衛星のＣ／Ａコードと同一なコード発生部のＣ／Ａ
コード位相を１０２３チップの範囲でシフトさせて、相
関値が最大になる周波数とコード位相を検出し捕捉す
る。衛星信号の捕捉後は、搬送波とコード位相の追尾を
連続的に行う。At the time of position measurement, the Doppler frequency / pseudorange measuring unit 3 first estimates and calculates the Doppler displacement for each of the satellites selected by satellite selection under the control of the reception control arithmetic unit 6, and calculates the center value thereof. The generated frequency is scanned in a certain frequency range and is compared with the reception frequency. At the same time, the C / A of the same code generator as the C / A code of the corresponding satellite
The code phase is shifted within a range of 1023 chips, and the frequency and the code phase at which the correlation value becomes maximum are detected and captured. After the acquisition of the satellite signal, the tracking of the carrier and the code phase is continuously performed.
【００１６】そして、受信信号処理におけるＣ／Ａ相関
部で受信中のＣ／Ａコード位相を測定することにより信
号の送信時刻を得、この測定時点の受信機内蔵時計の時
刻との差を求め電波伝搬時間とする。この電波伝搬時間
に光速を乗じて擬似距離を得る。Then, the C / A code phase during reception is measured by a C / A correlation section in the reception signal processing to obtain a signal transmission time, and a difference between the measurement time and the time of the receiver built-in clock is obtained. Radio wave propagation time. The pseudorange is obtained by multiplying the radio wave propagation time by the speed of light.
【００１７】航法データ復調部４は、電離層や時刻の補
正情報とともに衛星から送信されるメッセージデータに
含まれている軌道上の衛星位置に関するデータを復調す
る。この軌道情報は概略位置を示すアルマナックデー
タ、ＧＰＳ測位計算に用いられる正確なエフェメリスデ
ータを含んでおり、これらのデータを基に地球中心に固
定した座標上のそれぞれの衛星の３次元位置が計算され
る。The navigation data demodulation unit 4 demodulates data relating to the satellite position in orbit included in the message data transmitted from the satellite together with the ionosphere and time correction information. This orbital information includes almanac data indicating the approximate position and accurate ephemeris data used for GPS positioning calculation. Based on these data, the three-dimensional position of each satellite on coordinates fixed at the center of the earth is calculated. You.
【００１８】測位演算部５では、４個以上の衛星につい
ての、航法データ復調部４とドップラ周波数・擬似距離
測定部３からの信号送信時刻における各衛星の軌道上で
の位置及び各衛星と受信機間の擬似距離から、未知数で
ある受信機位置（Ｘ，Ｙ，Ｚ）と受信機内蔵時計のオフ
セット誤差を求めて、位置決定を行う。このようにして
決定された位置データが出力される。In the positioning operation unit 5, the position of each satellite on the orbit and the reception time of each satellite with respect to four or more satellites at the signal transmission time from the navigation data demodulation unit 4 and the Doppler frequency / pseudorange measurement unit 3 Based on the pseudo distance between the devices, the receiver position (X, Y, Z), which is an unknown value, and the offset error of the receiver built-in clock are determined to determine the position. The position data determined in this way is output.
【００１９】このように計算され求められたＧＰＳ受信
機の位置データは、例えある時点で誤った位置データが
出力されたとしても、連続使用している場合には直ちに
誤データと判断可能であるから、適切に対処することが
できる。The position data of the GPS receiver calculated and obtained in this way can be immediately determined to be erroneous data even when erroneous position data is output at a certain point in time when the GPS receiver is continuously used. , It is possible to deal with it appropriately.
【００２０】しかし、ＧＰＳ受信機の電源遮断状態から
電源投入された初期測定時には事情が異なる。すなわ
ち、ＧＰＳ受信機が移動体に搭載されている場合、ＧＰ
Ｓ受信機の電源遮断状態中でもこれを搭載した移動体が
移動するから、初期測定時の測位位置が電源遮断前であ
る前回の測位位置と異なっていることをもって、この測
位位置が誤りデータであると判断することができない。However, the situation is different at the time of the initial measurement when the power is turned on from the power-off state of the GPS receiver. That is, when a GPS receiver is mounted on a mobile object,
Since the moving body equipped with the S receiver moves even when the power of the S receiver is shut off, the positioning position at the time of the initial measurement is different from the previous positioning position before the power shutdown, so that the positioning position is error data. Can not be determined.
【００２１】そこで、本発明のＧＰＳ受信機では、前回
の電源遮断前の測位位置から電源投入時までの取り得る
移動範囲枠を設定する。この移動範囲枠は、電源遮断前
の測位時刻から電源投入後の初期測位時刻までの時間間
隔（電源断継続時間）、ＧＰＳ受信機を搭載した移動体
の推定最大速度（例えば自動車であれば、約２００ｋｍ
／ｈ）を掛けた大きさとする。また、前回の電源遮断前
の測位位置は、受信機の電源を落とす直前まで測位して
いた位置を位置異常検出部７のバックアップされたメモ
リに保存しておいて再利用する。Therefore, in the GPS receiver according to the present invention, a possible movement range frame from the positioning position before the last power-off to the power-on is set. The moving range frame includes a time interval from the positioning time before the power is turned off to the initial positioning time after the power is turned on (power-off continuation time), an estimated maximum speed of the moving object equipped with the GPS receiver (for example, in the case of a car, About 200km
/ H). As the positioning position before the previous power-off, the position measured until immediately before the power of the receiver is turned off is saved in the memory backed up by the position abnormality detection unit 7 and reused.
【００２２】そして、電源投入後に測位演算部５で計算
された測位結果は位置異常検出部７に送られ、保持され
ている前回の電源遮断前の測位位置からの移動範囲枠内
であるかどうかのチェックを行う。測位結果がこの移動
範囲枠内である場合には正常な位置データであると判定
し、以後この位置データに基づいて必要な処理が行われ
る。The positioning result calculated by the positioning calculating unit 5 after the power is turned on is sent to the position abnormality detecting unit 7 to determine whether or not the position is within the moving range frame from the previously held positioning position before the power was turned off. Check. If the positioning result is within the moving range frame, it is determined that the data is normal position data, and necessary processing is performed based on the position data.
【００２３】しかし、測位結果が移動範囲枠内でない場
合には、受信制御演算部６に位置データの異常を知らせ
る。受信制御演算部６は、ドップラ周波数・擬似距離測
定部３，航法データ復調部４に命令を送り、測位に使用
していた衛星をサーチ動作から再実行し、ＧＰＳ衛星か
らＧＰＳ受信機までの擬似距離を再度測定させるととも
に、各ＧＰＳ衛星の時刻、軌道を示すエフェメリスデー
タなど航法データを一旦破棄し、再度収集させる。However, when the positioning result is not within the moving range frame, the reception control calculation unit 6 is notified of the abnormality of the position data. The reception control calculation unit 6 sends a command to the Doppler frequency / pseudo distance measurement unit 3 and the navigation data demodulation unit 4 to re-execute the satellite used for positioning from the search operation, and to execute a pseudo operation from the GPS satellite to the GPS receiver. The distance is measured again, and the navigation data such as the ephemeris data indicating the time and the orbit of each GPS satellite is once discarded and collected again.
【００２４】そして、新しい航法データ、擬似距離を使
用して、再度測位計算を行い、その測位計算について再
度移動範囲枠のチェックを行う。Then, the positioning calculation is performed again using the new navigation data and the pseudo distance, and the moving range frame is checked again for the positioning calculation.
【００２５】また、ＧＰＳ受信機の電源が遮断されてい
る間に、搭載する移動体の速度を越えて高速に移動され
た場合、例えば飛行機などによる輸送を考慮して、今回
の測位位置が前回測位位置（すなわち電源投入後の初期
測位位置）とほぼ同じ位置になった場合、正常測位と判
断するための固定範囲枠のチェックを行う。この固定範
囲枠の大きさは、再度測位するまでの時間間隔で自動車
などの移動体が移動しうる距離範囲と発生しうる測定誤
差を加えた値とする。具体的には、通常再測位するまで
の中断時間は航法データの再収集などを見込んでも数分
程度であるから、固定範囲枠の大きさは１０ｋｍ程度と
する。If the mobile device is moved at a high speed exceeding the speed of the mounted mobile unit while the power of the GPS receiver is shut off, the current positioning position is set to the previous position in consideration of transportation by an airplane, for example. When the position is almost the same as the positioning position (that is, the initial positioning position after the power is turned on), the fixed range frame for determining the normal positioning is checked. The size of the fixed range frame is a value obtained by adding a distance range in which a moving object such as an automobile can move at a time interval until positioning is performed again and a measurement error that may occur. More specifically, the interruption time until the re-positioning is normally several minutes in consideration of the re-collection of navigation data, etc., so that the size of the fixed range frame is set to about 10 km.
【００２６】すなわち、再度の測位位置を、移動範囲枠
及び固定範囲枠と比較し、これら移動範囲枠あるいは固
定範囲枠のいずれかの枠内にある場合に、再度の測位位
置が正常測位であると判定することになる。That is, the relocated position is compared with the moving range frame and the fixed range frame, and if the relocated position is within one of the moving range frame and the fixed range frame, the relocated position is the normal positioning. Is determined.
【００２７】ほとんどの場合には、再度の測位位置が移
動範囲枠あるいは固定範囲枠のいずれかの枠内にあると
考えられるが、再度の測位位置がいずれの枠内にも入ら
ない場合には再度航法データの破棄、再収集、衛星サー
チからの測位動作が行われ、測位結果が、いずれかの枠
内になるまで、この動作が繰り返される。In most cases, it is considered that the re-positioned position is in either the moving range frame or the fixed range frame, but if the re-positioned position does not fall in any of the frames, The positioning operation from the discarding, re-collection, and satellite search of the navigation data is performed again, and this operation is repeated until the positioning result falls within any of the frames.
【００２８】次に、本発明のＧＰＳ受信機の動作を、図
２の動作フロー図、及び図４〜図６の動作例を参照して
説明する。Next, the operation of the GPS receiver according to the present invention will be described with reference to the operation flowchart of FIG. 2 and the operation examples of FIGS.
【００２９】まず、ＧＰＳ受信機の電源が遮断される
と、その直前の位置を初期位置Ｐ０として保持する（ス
テップＳ１）。First, when the power of the GPS receiver is cut off, the position immediately before the power is held as the initial position P0 (step S1).
【００３０】そして、任意の電源断時間の後にＧＰＳ受
信機の電源が投入される（ステップＳ２）と、必要なデ
ータを収集して測位計算が行われ、１回目の測位位置Ｐ
１を得る（ステップＳ３）。この時、図３に示すよう
に、ＧＰＳ受信機の電源断時間に応じて、前述のように
前回の電源遮断前の測位位置Ｐ０から電源投入時までの
取り得る移動範囲枠Ｂ０を設定する（ステップＳ４）。When the power of the GPS receiver is turned on after an arbitrary power-off time (step S2), necessary data is collected and positioning calculation is performed, and the first positioning position P is obtained.
1 is obtained (step S3). At this time, as shown in FIG. 3, according to the power-off time of the GPS receiver, the possible movement range frame B0 from the positioning position P0 before the previous power-off to the power-on is set as described above ( Step S4).
【００３１】次に、１回目の測位位置Ｐ１と保持されて
いる初期位置Ｐ０との差を計算し（ステップＳ５）、そ
の差が移動範囲枠Ｂ０を越えているかどうかを判定する
（ステップＳ６）。Next, the difference between the first positioning position P1 and the held initial position P0 is calculated (step S5), and it is determined whether or not the difference exceeds the moving range frame B0 (step S6). .
【００３２】１回目の測位位置Ｐ１と初期位置Ｐ０との
差が、図３のように、移動範囲枠Ｂ０を越えていない場
合には、その差は電源断の間にＧＰＳ受信機が搭載され
ている移動体が移動した距離であると判断され、１回目
の測位位置Ｐ１は正常測位位置として出力される（ステ
ップＳ７）。If the difference between the first positioning position P1 and the initial position P0 does not exceed the moving range frame B0 as shown in FIG. 3, the difference is determined by mounting the GPS receiver while the power is turned off. It is determined that it is the distance that the moving object has moved, and the first positioning position P1 is output as a normal positioning position (step S7).
【００３３】しかし、１回目の測位位置Ｐ１と初期位置
Ｐ０との差が移動範囲枠Ｂ０を越えている場合には、こ
の１回目の測位位置Ｐ１を候補として１回だけ保持する
とともに、エフェメリスデータなど航法データを一旦破
棄し、測位に使用していた衛星をサーチ動作から再実行
し、擬似距離、航法データ等を再度取得する（ステップ
Ｓ８）。However, if the difference between the first positioning position P1 and the initial position P0 exceeds the moving range frame B0, the first positioning position P1 is held as a candidate only once and the ephemeris data is stored. For example, the navigation data is once discarded, the satellite used for positioning is re-executed from the search operation, and the pseudo distance, navigation data, and the like are obtained again (step S8).
【００３４】この再度取得した擬似距離、航法データ等
に基づいて測位計算を行い、２回目の測位位置Ｐ２を求
める（ステップＳ９）。The positioning is calculated based on the pseudo distance, the navigation data, and the like acquired again to obtain a second positioning position P2 (step S9).
【００３５】次に、候補である１回目の測位位置Ｐ１に
対しての固定範囲枠Ｂ１を、図３，図４のように、前述
した条件に従って設定する（ステップＳ１０）。Next, as shown in FIGS. 3 and 4, the fixed range frame B1 for the first positioning position P1 as a candidate is set in accordance with the above-described conditions (step S10).
【００３６】次に、２回目の測位位置Ｐ２と保持されて
いる初期位置Ｐ０との差を計算するとともに、２回目の
測位位置Ｐ２と候補として保持されている１回目の測位
位置Ｐ１との差を計算する（ステップＳ１１）。Next, the difference between the second measured position P2 and the held initial position P0 is calculated, and the difference between the second measured position P2 and the first measured position P1 held as a candidate is calculated. Is calculated (step S11).
【００３７】そして、２回目の測位位置Ｐ２と１回目の
測位位置Ｐ１との差が、図４のように、固定範囲枠Ｂ１
を越えていない場合には、測位位置Ｐ１，Ｐ２はＧＰＳ
受信機の電源が遮断されている間に搭載する移動体の速
度を越えて高速に移動された結果であると判断され（ス
テップＳ１２）、２回目の測位位置Ｐ２は正常測位位置
として出力される（ステップＳ７）。この場合、初期位
置Ｐ０は破棄される。The difference between the second measured position P2 and the first measured position P1 is, as shown in FIG.
If the position does not exceed GPS, the positioning positions P1 and P2 are GPS
While the power of the receiver is cut off, it is determined that the moving speed is higher than the speed of the mounted mobile body (step S12), and the second positioning position P2 is output as the normal positioning position. (Step S7). In this case, the initial position P0 is discarded.
【００３８】同じく、２回目の測位位置Ｐ２と初期位置
Ｐ０との差が、図５のように、移動範囲枠Ｂ０を越えて
いない場合には、この２回目の測位位置Ｐ２は正しい測
位位置でありその差は電源断の間にＧＰＳ受信機が搭載
されている移動体が移動した距離であると判断され（ス
テップＳ１２）、２回目の測位位置Ｐ２は正常測位位置
として出力される（ステップＳ７）。この場合、１回目
の測位位置Ｐ１は破棄される。Similarly, when the difference between the second positioning position P2 and the initial position P0 does not exceed the moving range frame B0 as shown in FIG. 5, the second positioning position P2 is a correct positioning position. It is determined that the difference is the distance moved by the moving object on which the GPS receiver is mounted during the power-off (step S12), and the second positioning position P2 is output as the normal positioning position (step S7). ). In this case, the first positioning position P1 is discarded.
【００３９】しかし、図６に示されるように、２回目の
測位位置Ｐ２と１回目の測位位置Ｐ１との差が固定範囲
枠Ｂ１を越えており、かつ２回目の測位位置Ｐ２と初期
位置Ｐ０との差が移動範囲枠Ｂ０を越えている場合、す
なわち２回目の測位位置Ｐ２が移動範囲枠Ｂ０，固定範
囲枠Ｂ１のいずれの枠にも入らない場合には、１回目の
測位位置Ｐ１を破棄し、正常な測位位置を得るために、
ステップＳ８〜ステップＳ１２の処理を繰り返して行う
ことになる。However, as shown in FIG. 6, the difference between the second measured position P2 and the first measured position P1 exceeds the fixed range frame B1, and the second measured position P2 and the initial position P0 are different. If the difference between the first and second positioning positions P1 and P2 exceeds the moving range frame B0, that is, if the second positioning position P2 does not fall within any of the moving range frame B0 and the fixed range frame B1. To discard and obtain a normal positioning position,
Steps S8 to S12 are repeatedly performed.
【００４０】なお、図６の例では、候補としての２回目
の測位位置Ｐ２に対しての固定範囲枠Ｂ２内に、３回目
の測位位置Ｐ３が入っているから、この場合測位位置Ｐ
３をを正常測位位置として出力することになる。In the example of FIG. 6, the third positioning position P3 is included in the fixed range frame B2 for the second positioning position P2 as a candidate.
3 is output as the normal positioning position.
【００４１】以上のように、図３〜図６を例に具体的に
説明したが、本発明のＧＰＳ受信機では、ＧＰＳ受信機
が搭載される自動車などの移動体の速度と、電源断継続
時間とを考慮して、その大きさが変わる移動範囲枠Ｂ０
を設定し、この移動範囲枠Ｂ０内に電源投入時の測位結
果Ｐ１があるかどうかで正常測位かどうかを判断する。
したがって、電源投入時の測位結果が、電源遮断前の測
位位置と異なっている場合でも、その測位位置が正常測
位位置であるか、衛星異常などによる異常測位位置であ
るかを的確に認識する。As described above, the GPS receiver according to the present invention has been described in detail with reference to FIGS. 3 to 6 as an example. Moving range frame B0 whose size changes in consideration of time
Is set, and it is determined whether or not the positioning is normal based on whether or not the positioning result P1 at the time of turning on the power is within the moving range frame B0.
Therefore, even when the positioning result at the time of turning on the power is different from the positioning position before the power is turned off, it is accurately recognized whether the positioning position is a normal positioning position or an abnormal positioning position due to a satellite abnormality or the like.
【００４２】さらに、測位結果Ｐ１が移動範囲枠Ｂ０内
でない場合には、ＧＰＳ衛星からＧＰＳ受信機までの擬
似距離を再度測定させるとともに、各ＧＰＳ衛星の時
刻、軌道を示すエフェメリスデータなど航法データを一
旦破棄し、再度収集させる。Further, when the positioning result P1 is not within the moving range frame B0, the pseudo distance from the GPS satellite to the GPS receiver is measured again, and the navigation data such as the ephemeris data indicating the time and orbit of each GPS satellite is transmitted. Discard it once and let it be collected again.
【００４３】そして、新しい航法データ、擬似距離を使
用して、再度測位計算を行い、その測位計算について再
度移動範囲枠Ｂ０のチェックを行うとともに、さらに、
ＧＰＳ受信機の電源が遮断されている間に、搭載する自
動車などの移動体の速度を越えて高速に移動された場合
（例えば飛行機などによる輸送）を考慮して、今回の測
位位置Ｐ２が前回測位位置Ｐ１（すなわち電源投入後の
初期測位位置）とほぼ同じ位置になった場合、正常測位
と判断するための固定範囲枠Ｂ１のチェックを行う。Then, the positioning calculation is performed again using the new navigation data and the pseudo distance, and the moving range frame B0 is checked again for the positioning calculation.
In consideration of a case where the vehicle is moved at a high speed exceeding the speed of a moving body such as a mounted vehicle while the power of the GPS receiver is cut off (for example, transportation by an airplane or the like), the current positioning position P2 is set to the previous position. When the position is almost the same as the positioning position P1 (that is, the initial positioning position after the power is turned on), the fixed range frame B1 is checked to determine the normal positioning.
【００４４】すなわち、新しい航法データ、擬似距離を
使用して計算した再度の測位位置を、移動範囲枠及び固
定範囲枠と比較し、これら移動範囲枠あるいは固定範囲
枠のいずれかの枠内にある場合に、再度の測位位置が正
常測位であると判定するから、衛星異常などのデータが
誤っている場合や、受信機が高速に移動された場合に
も、正常な測位位置を出力する。That is, the re-positioned position calculated using the new navigation data and the pseudo distance is compared with the moving range frame and the fixed range frame, and is located in either the moving range frame or the fixed range frame. In such a case, since the positioning position is determined to be the normal positioning position again, the normal positioning position is output even when data such as a satellite error is incorrect or when the receiver is moved at high speed.
【００４５】[0045]
【発明の効果】本発明の構成によれば、電源投入後の初
期測位位置が、電源断継続時間に応じてその大きさが設
定される移動範囲枠を越えているか否かを判定し、異常
な初期測位位置を検出することができる。According to the configuration of the present invention, it is determined whether or not the initial positioning position after the power is turned on exceeds the moving range frame whose size is set according to the power-off continuation time. A simple initial positioning position can be detected.
【００４６】また、初期測位位置が異常であると判定さ
れた場合に、この測位結果は出力データとして使用され
ず、次回の測位は、各ＧＰＳ衛星の航法データを一旦破
棄し、再度収集して、再度測位計算を行うとともに、こ
の再度の測位計算の結果に対して、前記移動範囲枠、あ
るいは前回異常測位とされた位置からの固定枠による異
常値検出を行い、いずれかの枠内にあれば正しい位置デ
ータとして出力される。When it is determined that the initial positioning position is abnormal, this positioning result is not used as output data, and the next positioning operation is performed by once discarding the navigation data of each GPS satellite and collecting it again. In addition, the positioning calculation is performed again, and the result of the positioning calculation is performed again, and an abnormal value is detected in the moving range frame or the fixed frame from the position where the abnormal positioning was performed last time. If it is, it is output as correct position data.
【００４７】このような動作によって、異常位置の値を
出力することを防ぐとともに、正常測位に復帰すること
ができる。By such an operation, it is possible to prevent the output of the value of the abnormal position and to return to the normal positioning.
【図１】本発明の実施例に係るＧＰＳ受信機の全体構成
図。FIG. 1 is an overall configuration diagram of a GPS receiver according to an embodiment of the present invention.
【図２】本発明の実施例に係るＧＰＳ受信機の動作フロ
ー図。FIG. 2 is an operation flowchart of the GPS receiver according to the embodiment of the present invention.
【図３】本発明の実施例に係るＧＰＳ受信機の動作例を
説明する図。FIG. 3 is a view for explaining an operation example of the GPS receiver according to the embodiment of the present invention.
【図４】本発明の実施例に係るＧＰＳ受信機の動作例を
説明する図。FIG. 4 is a view for explaining an operation example of the GPS receiver according to the embodiment of the present invention.
【図５】本発明の実施例に係るＧＰＳ受信機の動作例を
説明する図。FIG. 5 is a view for explaining an operation example of the GPS receiver according to the embodiment of the present invention.
【図６】本発明の実施例に係るＧＰＳ受信機の動作例を
説明する図。FIG. 6 is a view for explaining an operation example of the GPS receiver according to the embodiment of the present invention.
１ 受信アンテナ ２ 周波数変換部 ３ ドプラ周波数・擬似距離測定部 ４ 航法データ復調部 ５ 測位演算部 ６ 受信制御演算部 ７ 位置異常検出部 Ｐ０ 初期位置 Ｐ１〜Ｐ３ １〜３回目測位位置 Ｂ０ 移動範囲枠 Ｂ１，Ｂ２ 固定範囲枠 DESCRIPTION OF SYMBOLS 1 Receiving antenna 2 Frequency conversion part 3 Doppler frequency / pseudorange measurement part 4 Navigation data demodulation part 5 Positioning calculation part 6 Reception control calculation part 7 Position abnormality detection part P0 Initial position P1 to P3 First to third positioning position B0 Moving range frame B1, B2 Fixed range frame
───────────────────────────────────────────────────── フロントページの続き (72)発明者 山本 知弘 愛知県刈谷市朝日町２丁目１番地 アイシ ン精機株式会社内 Ｆターム(参考） 5J062 AA13 BB01 BB03 CC07 DD05 ────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tomohiro Yamamoto 2-1-1 Asahi-cho, Kariya-shi, Aichi F-term in Aisin Seiki Co., Ltd. (reference) 5J062 AA13 BB01 BB03 CC07 DD05
Claims (2)
信する手段と、 受信した衛星信号に基づきＧＰＳ衛星からＧＰＳ受信機
までの擬似距離を測定する手段と、 受信した衛星信号からＧＰＳ衛星の時刻、軌道を示す航
法データを復調する手段と、 所定個数のＧＰＳ衛星について測定された擬似距離及び
当該ＧＰＳ衛星の軌道データに基づき測位を行い位置デ
ータを出力する手段と、 この位置データ及び各ＧＰＳ衛星の軌道データに基づき
擬似距離の測定部及び航法データの復調部を制御する手
段と、を備えるＧＰＳ受信機において、 保持している以前の測位位置と電源断継続時間に応じて
定まる移動範囲枠を設定する手段と、 電源投入後の初期測位位置が前記移動範囲枠内にあるか
否かに応じて、前記初期測位位置が正常測位か異常測位
かを判定する手段を有することを特徴とするＧＰＳ受信
機。A means for receiving a satellite signal transmitted from a GPS satellite; a means for measuring a pseudo distance from the GPS satellite to the GPS receiver based on the received satellite signal; and a time of the GPS satellite based on the received satellite signal. Means for demodulating navigation data indicating the orbit, means for performing positioning based on the pseudo distance measured for a predetermined number of GPS satellites and the orbit data of the GPS satellites, and outputting position data, and the position data and each GPS satellite. And a means for controlling a pseudo-range measuring unit and a navigation data demodulating unit based on the orbit data of the GPS receiver. A moving range frame determined according to the held previous positioning position and the power-off duration is stored in the GPS receiver. Means for setting, and whether the initial positioning position is normal positioning or abnormal positioning depending on whether the initial positioning position after power-on is within the movement range frame. A GPS receiver comprising means for determining
前記初期測位位置が異常測位と判定された場合に、各Ｇ
ＰＳ衛星からＧＰＳ受信機までの擬似距離を再度測定さ
せるとともに、各ＧＰＳ衛星の時刻、軌道を示す航法デ
ータを一旦破棄し、再度収集させる手段と、 前回異常測位と判定された測位位置から定まる固定範囲
枠を設定する手段と、再度の測位位置が、前記移動範囲
枠あるいは前記固定範囲枠のいずれかの枠内にあるか否
かにより、前記再度の測位位置が正常測位か異常測位か
を判定する手段を有することを特徴とするＧＰＳ受信
機。2. The GPS receiver according to claim 1, wherein
When the initial positioning position is determined to be abnormal positioning, each G
A means for re-measuring the pseudo-range from the PS satellite to the GPS receiver, for once discarding the navigation data indicating the time and orbit of each GPS satellite, and for collecting the data again, A means for setting a range frame and whether or not the re-positioned position is within any of the moving range frame and the fixed range frame determine whether the re-positioned position is normal positioning or abnormal positioning. A GPS receiver, comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26174999A JP4301472B2 (en) | 1999-09-16 | 1999-09-16 | GPS receiver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP26174999A JP4301472B2 (en) | 1999-09-16 | 1999-09-16 | GPS receiver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2001083227A true JP2001083227A (en) | 2001-03-30 |
| JP4301472B2 JP4301472B2 (en) | 2009-07-22 |
Family
ID=17366184
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP26174999A Expired - Fee Related JP4301472B2 (en) | 1999-09-16 | 1999-09-16 | GPS receiver |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP4301472B2 (en) |
Cited By (6)
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|---|---|---|---|---|
| JP2013533961A (en) * | 2010-06-02 | 2013-08-29 | クアルコム，インコーポレイテッド | Positioning using measurements from past and current epochs |
| US9074897B2 (en) | 2009-06-15 | 2015-07-07 | Qualcomm Incorporated | Real-time data with post-processing |
| US9354321B2 (en) | 2006-03-06 | 2016-05-31 | Qualcomm Incorporated | Method for position determination with measurement stitching |
| JP2018165701A (en) * | 2017-03-28 | 2018-10-25 | カシオ計算機株式会社 | Electronic apparatus, position specification system, position specification method, and program |
| JP2019066444A (en) * | 2017-10-05 | 2019-04-25 | 日産自動車株式会社 | Position calculation method, vehicle control method, and position calculation device |
| US11561514B2 (en) | 2019-03-25 | 2023-01-24 | Casio Computer Co., Ltd. | Electronic device, timepiece, and control method |
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| JPH0429079A (en) * | 1990-05-25 | 1992-01-31 | Pioneer Electron Corp | Position measuring system for on-vehicle gps receiver |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US9354321B2 (en) | 2006-03-06 | 2016-05-31 | Qualcomm Incorporated | Method for position determination with measurement stitching |
| US9074897B2 (en) | 2009-06-15 | 2015-07-07 | Qualcomm Incorporated | Real-time data with post-processing |
| JP2013533961A (en) * | 2010-06-02 | 2013-08-29 | クアルコム，インコーポレイテッド | Positioning using measurements from past and current epochs |
| US10247828B2 (en) | 2010-06-02 | 2019-04-02 | Qualcomm Incorporated | Position determination using measurements from past and present epochs |
| JP2018165701A (en) * | 2017-03-28 | 2018-10-25 | カシオ計算機株式会社 | Electronic apparatus, position specification system, position specification method, and program |
| JP2019066444A (en) * | 2017-10-05 | 2019-04-25 | 日産自動車株式会社 | Position calculation method, vehicle control method, and position calculation device |
| JP7069624B2 (en) | 2017-10-05 | 2022-05-18 | 日産自動車株式会社 | Position calculation method, vehicle control method and position calculation device |
| US11561514B2 (en) | 2019-03-25 | 2023-01-24 | Casio Computer Co., Ltd. | Electronic device, timepiece, and control method |
| US11860586B2 (en) | 2019-03-25 | 2024-01-02 | Casio Computer Co., Ltd. | Electronic device, timepiece, and control method |
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| JP4301472B2 (en) | 2009-07-22 |
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