JP2008232869A - Gps複合航法装置 - Google Patents
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- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
-
- 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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
- G01S19/40—Correcting position, velocity or attitude
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
【解決手段】移動体の静止を判定する静止判定部を設け、該静止判定部で静止状態と判定されたとき、カルマン・フィルタの観測更新に用いる観測モデルを変更すると共に、更新による誤差共分散行列の変化分を補正することを特徴とする。
【選択図】 図1
Description
Anastasia Olegovna Salytcheva," Medium Accuracy INS/GPS Integration in Various GPS Environments"UCGE Reports Number 20200,canada,UNIVERSITY OF CALGARY,2004,pp107 Yufeng Zhang and Yang Gao, " Observability Analysis of Initial Alignment and Its Accuracy Improvement",ION GNSS 18th International Technical Meeting of the Satellite Division, 13-16 September 2005, Long Beach, CA,pp1
静止中において維持するようにすることによって、移動体が静止にも係らず、推定位置や推定方位が変化する不具合を解消することができる。
図1は単一のGPSアンテナで構成されるGPS受信機と、1軸の加速度センサ及び1軸の角速度センサから構成される慣性センサと、速度センサで構成されるGPS複合航法装置の機能構成図を示している。図1において、GPSアンテナ1で受信されたGPS測位信号はGPS受信機2に導かれ、GPS受信機2において、GPS位置及びGPS速度が演算され、エフェメリス情報やGPS時刻などを含むGPS航法データと共に、GPS/INS統合演算部5に送出される。
また、Pp、Pψは誤差共分散行列の観測更新値の代わりに誤差共分散行列の時間更新値を用いてもよい。
実施の形態2の構成を図2に示している。これは複数のGPSアンテナ1で構成されるGPS受信機2と、3軸の加速度センサ及び3軸加速度センサで構成された慣性センサ3を用いたGPS複合航法装置の構成機能図である。複数のGPSアンテナ構成の場合、少なくとも1個以上の基線長ベクトルが生成できるから、GPS受信機2は少なくとも方位とピッチまたはロールが算出できる。また、上述の構成の慣性センサ3を用いると、[数1]〜[数6]とは違う公知の航法演算式で位置、速度、姿勢及び方位などが算出できる。
2 GPS受信機
3 慣性センサ
4 速度センサ
5 GPS/INS統合演算部
10 姿勢演算部
51 航法演算部
52 誤差推定部
53 静止判定部
Claims (8)
- 少なくともGPS受信機と慣性センサで構成されるGPS複合航法装置において、
移動体の少なくとも位置、速度及び方位のいずれかを演算する航法演算部と、
前記航法演算部出力と前記GPS受信機出力に基づいて、前記航法演算部出力の少なくとも位置、速度及び方位のいずれかの誤差を推定するカルマン・フィルタ誤差推定部と、
移動体の静止状態を判定する静止判定部とを備え、
前記静止判定部で静止状態と判定された場合に、カルマン・フィルタの観測更新に用いる移動時用観測モデルを静止時用観測モデルに変更すると共に、誤差共分散行列の更新による変化分を補正することを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
前記静止時用観測モデルの内、位置及び/或いは方位の観測量は、現在推定値と前回推定値との差とすることを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
前記誤差共分散行列の更新による変化分の補正は、該誤差共分散行列の現在観測更新値と前回観測更新値との差を補正量とし、該補正量を前記現在観測更新値、前記現在観測更新値の時間更新値またはダイナミック・モデルの誤差分散行列のいずれかに加減算することを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
前記誤差共分散行列の更新による変化分の補正は、該誤差共分散行列の対角要素の現在観測更新値と前回観測更新値との差を補正量とし、該補正量を前記現在観測更新値、前記現在観測更新値の時間更新値またはダイナミック・モデルの誤差分散行列のいずれかの対角要素に加減算することを特徴とするGPS複合航法装置。 - 請求項2から4のいずれかに記載のGPS複合航法装置において、
前記前回推定値または前記前回観測更新値は静止時の推定値、静止直前の推定値または観測更新値とすることを特徴とするGPS複合航法装置。 - 請求項1に記載のGPS複合航法装置において、
前記航法演算部は少なくとも、前記GPS受信機出力の位置、移動体の進行方向成分の加速度を計測する加速度センサ及び移動体の方位軸回転成分を計測する角速度センサ出力に基づいて、移動体の位置、速度及び方位を演算することを特徴とするGPS複合航法装置。 - 請求項6に記載のGPS複合航法装置において、
移動体の進行方向成分の速度を計測する速度センサを追加し、前記加速度センサ出力を前記速度センサ出力で置換することを特徴とするGPS複合航法装置。 - 請求項2に記載のGPS複合航法装置において、
前記静止時用観測モデルの観測量として、速度及び/或いは移動体の方位軸回転成分角速度の観測量を追加し、前記速度及び/或いは前記角速度の観測量は現在推定値とすることを特徴とするGPS複合航法装置。
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JP2007073836A JP5398120B2 (ja) | 2007-03-22 | 2007-03-22 | Gps複合航法装置 |
US12/532,368 US8649977B2 (en) | 2007-03-22 | 2007-11-26 | GPS composite navigation apparatus |
EP07832441.5A EP2128644B1 (en) | 2007-03-22 | 2007-11-26 | Gps integrated navigation apparatus |
PCT/JP2007/072716 WO2008117492A1 (ja) | 2007-03-22 | 2007-11-26 | Gps複合航法装置 |
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JP2007073836A JP5398120B2 (ja) | 2007-03-22 | 2007-03-22 | Gps複合航法装置 |
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JP (1) | JP5398120B2 (ja) |
WO (1) | WO2008117492A1 (ja) |
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WO2008117492A1 (ja) | 2008-10-02 |
US20100211315A1 (en) | 2010-08-19 |
EP2128644B1 (en) | 2019-02-13 |
EP2128644A4 (en) | 2015-11-18 |
US8649977B2 (en) | 2014-02-11 |
EP2128644A1 (en) | 2009-12-02 |
JP5398120B2 (ja) | 2014-01-29 |
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