JP2015052486A - Satellite positioning device - Google Patents

Satellite positioning device Download PDF

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JP2015052486A
JP2015052486A JP2013184564A JP2013184564A JP2015052486A JP 2015052486 A JP2015052486 A JP 2015052486A JP 2013184564 A JP2013184564 A JP 2013184564A JP 2013184564 A JP2013184564 A JP 2013184564A JP 2015052486 A JP2015052486 A JP 2015052486A
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time
movement amount
movement
positioning
speed
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吉田　直人
Naoto Yoshida
直人 吉田
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Japan Radio Co Ltd
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Japan Radio Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To prevent a wrong appropriateness determination of high-speed positioning for vehicles and the like performing large acceleration/deceleration in an advance direction, but not so much in a lateral direction in satellite positioning devices concurrently using high-precision positioning and high-speed positioning.SOLUTION: A satellite positioning device S comprises: a high-precision positioning unit 1 that calculates an own location and speed with satellite positioning at an interval of a long time T; a high-speed positioning unit 2 that calculates an amount of own movement for each time Ton the basis of an integration result of a carrier wave phase of a satellite signal for each time Tat an interval of a short time T; a positioning correction unit 3 that calculates an own location for each time Ton the basis of the own location in the high-precision positioning and the amount of own movement for each time Tin the high-speed positioning; and a movement amount abnormality determination unit 4 that, when an own movement direction deriving from the amount of own movement for each time Tin the high-speed positioning varies at a predetermined angular velocity equal to ωor more, determines that the amount of own movement for each time Tin the high-speed positioning is abnormal.

Description

本発明は、高精度測位及び高速測位を併用する衛星測位装置に関する。   The present invention relates to a satellite positioning device that uses both high-precision positioning and high-speed positioning.

高精度測位及び高速測位を併用する衛星測位装置が、特許文献１等で知られている。最初に、衛星測位装置は、高精度測位において、長い時間Ｔ１の間隔で、衛星測位により自己の位置及び速度を算出する。次に、衛星測位装置は、高速測位において、短い時間Ｔ２の間隔で、時間Ｔ２毎の衛星信号の搬送波位相の積算結果に基づいて、時間Ｔ２毎の自己の移動量を算出する。最後に、衛星測位装置は、高精度測位における自己の位置及び高速測位における時間Ｔ２毎の自己の移動量に基づいて、時間Ｔ２毎の自己の位置を算出する。 A satellite positioning device using both high-precision positioning and high-speed positioning is known from Patent Document 1 and the like. First, the satellite positioning device, in the high-precision positioning, a long time T 1 interval, to calculate the position and velocity of the self by the satellite positioning. Next, the satellite positioning device calculates its own movement amount at each time T 2 based on the integration result of the carrier wave phases of the satellite signals at every time T 2 at short time T 2 intervals in high-speed positioning. Finally, the satellite positioning device calculates its own position at each time T 2 based on its own position in high-precision positioning and its own movement amount at every time T 2 in high-speed positioning.

特開２００７−０３３２１１号公報JP 2007-033211 A 特開２００９−２８１７３７号公報JP 2009-281737 A 特開２００７−０７１８６９号公報JP 2007-071869 A

衛星信号の搬送波位相の積算結果に基づいて、自己の移動量を算出する方法は、特許文献１〜３等で知られている。ここで、衛星信号がノイズや遮蔽や反射に影響され、自己の移動量の精度が劣化して、自己の位置の精度が劣化することがある。しかし、特許文献２では、衛星信号に対する悪影響が考慮されていない。また、特許文献１では、衛星信号に対する悪影響が考慮されており、高速測位における自己の速度が異常であるか否かは、高精度測位における自己の速度との比較で判定される。また、特許文献３では、衛星信号に対する悪影響が考慮されており、時間エポック毎の衛星信号の搬送波位相の積算結果のうち、異常である結果が判定されて排除される。しかし、特許文献１、３では、高速測位における自己の速度が、高精度測位における自己の速度と比較して、どの程度相違すれば異常であるかは、具体的には記載も示唆もされていない。   A method for calculating the amount of movement of itself based on the integration result of the carrier phase of the satellite signal is known from Patent Documents 1 to 3, and the like. Here, the satellite signal is affected by noise, shielding, and reflection, so that the accuracy of its own movement amount deteriorates and the accuracy of its own position may deteriorate. However, Patent Document 2 does not consider adverse effects on satellite signals. Further, in Patent Document 1, an adverse effect on satellite signals is taken into consideration, and whether or not the own speed in high-speed positioning is abnormal is determined by comparison with the own speed in high-precision positioning. Further, in Patent Document 3, an adverse effect on the satellite signal is taken into consideration, and an abnormal result is determined and excluded from the integration results of the carrier phase of the satellite signal for each time epoch. However, Patent Documents 1 and 3 specifically describe and suggest how much the self-speed in high-speed positioning is abnormal compared to the self-speed in high-precision positioning. Absent.

ところで、自動車等は、進行方向には大きく加減速するが、横方向には直進の際はもちろん転回の際であってもあまり加減速しない。よって、高速測位における自動車等の進行方向の速度は、高精度測位における自動車等の進行方向の速度と比較して、大きく変化しなければ正常である、と判定することが望ましい。つまり、自動車等の進行方向の速度変化に対して、異常判定閾値を大きくすることが望ましい。そして、高速測位における自動車等の横方向の速度は、高精度測位における自動車等の横方向の速度と比較して、大きく変化したときは異常である、と判定することが望ましい。つまり、自動車等の横方向の速度変化に対して、異常判定閾値を小さくすることが望ましい。   By the way, an automobile or the like greatly accelerates / decelerates in the traveling direction, but does not accelerate / decelerate much in the lateral direction even when the vehicle goes straight. Therefore, it is desirable to determine that the speed in the traveling direction of an automobile or the like in high-speed positioning is normal if it does not change significantly compared to the speed in the traveling direction of an automobile or the like in high-precision positioning. That is, it is desirable to increase the abnormality determination threshold with respect to a speed change in the traveling direction of an automobile or the like. Then, it is desirable to determine that the lateral speed of the automobile or the like in the high-speed positioning is abnormal when it greatly changes compared to the lateral speed of the automobile or the like in the high-precision positioning. That is, it is desirable to make the abnormality determination threshold small with respect to a lateral speed change of an automobile or the like.

しかし、従来技術では、地球座標系の各次元方向について、位置や速度や移動量を同等に算出している。つまり、従来技術では、地球座標系の各次元方向について、自動車等の速度変化に対して、異常判定閾値を同等に設定している。よって、従来技術では、自動車等の進行方向の速度変化に対して、本来は正常であるが誤って異常であると判定することが生じうる。そして、従来技術では、自動車等の横方向の速度変化に対して、本来は異常であるが誤って正常であると判定することが生じうる。このように、従来技術では、高速測位における自己の速度が異常であるか否かを、高精度測位における自己の速度との比較で判定する際に、判定の誤りが生じうるため、測位の誤りも生じうる。   However, in the prior art, the position, speed, and amount of movement are calculated equally for each dimension of the earth coordinate system. That is, in the prior art, the abnormality determination threshold is set to be equal to the speed change of the automobile or the like in each dimension direction of the earth coordinate system. Therefore, in the prior art, it may be determined that the speed change in the traveling direction of an automobile or the like is normally normal but erroneously abnormal. In the prior art, it may be determined that the vehicle is originally abnormal but erroneously normal with respect to a lateral speed change of an automobile or the like. Thus, in the prior art, when determining whether or not the own speed in high-speed positioning is abnormal by comparing with the own speed in high-precision positioning, a determination error may occur. Can also occur.

そこで、前記課題を解決するために、本発明は、高精度測位及び高速測位を併用する衛星測位装置において、進行方向には大きく加減速するが横方向にはあまり加減速しない自動車等について、高速測位の可否判定の誤りが生じないようにすることを目的とする。   Therefore, in order to solve the above-mentioned problem, the present invention is a satellite positioning device that uses both high-precision positioning and high-speed positioning. The purpose is to prevent an error in determining whether positioning is possible.

上記目的を達成するために、高速測位における移動量から導かれる移動方向が、所定角速度以上の変化をしたとき、高速測位における移動量を異常と判定することとした。   In order to achieve the above object, the moving amount in the high-speed positioning is determined to be abnormal when the moving direction derived from the moving amount in the high-speed positioning changes more than a predetermined angular velocity.

具体的には、本発明は、第１時間の間隔で、衛星測位により自己の位置及び速度を算出する位置速度算出部と、前記第１時間より短い第２時間の間隔で、前記第２時間毎の衛星信号の搬送波位相の積算結果に基づいて、前記第２時間毎の自己の移動量を算出する移動量算出部と、前記位置速度算出部が算出した自己の位置及び前記移動量算出部が算出した前記第２時間毎の自己の移動量に基づいて、前記第２時間毎の自己の位置を算出する測位補正部と、前記移動量算出部が算出した前記第２時間毎の自己の移動量から導かれる自己の移動方向が、所定角速度以上の変化をしたとき、前記移動量算出部が算出した前記第２時間毎の自己の移動量を異常と判定する移動量異常判定部と、を備えることを特徴とする衛星測位装置である。   Specifically, the present invention provides a position / velocity calculation unit that calculates its own position and velocity by satellite positioning at a first time interval, and a second time interval that is shorter than the first time. A movement amount calculation unit for calculating the movement amount of the satellite signal for each second time based on the integration result of the carrier wave phase of each satellite signal; the own position calculated by the position speed calculation unit; and the movement amount calculation unit Based on the movement amount of the self for each second time calculated by the positioning correction unit that calculates the position of the self for the second time, and the self of the movement for each second time calculated by the movement amount calculation unit. A movement amount abnormality determination unit that determines that the movement amount of the self for each second time calculated by the movement amount calculation unit is abnormal when the movement direction of the self derived from the movement amount changes by a predetermined angular velocity or more; It is a satellite positioning device characterized by comprising.

この構成によれば、自動車等の移動方向の変化度合に対して、異常判定閾値を設定しているため、自動車等の進行方向／横方向の速度変化に対して、異常判定閾値を大きく／小さく設定することができる。よって、高精度測位及び高速測位を併用する衛星測位装置において、進行方向には大きく加減速するが横方向にはあまり加減速しない自動車等について、高速測位の可否判定の誤りが生じないようにすることができる。   According to this configuration, since the abnormality determination threshold is set with respect to the degree of change in the moving direction of the automobile or the like, the abnormality determination threshold is increased / decreased with respect to the speed change in the traveling direction / lateral direction of the automobile or the like. Can be set. Therefore, in a satellite positioning device that uses both high-accuracy positioning and high-speed positioning, avoid errors in determining whether high-speed positioning is possible for automobiles that greatly accelerate and decelerate in the direction of travel but do not significantly accelerate or decelerate in the lateral direction. be able to.

また、本発明は、前記移動量異常判定部は、前記移動量算出部が最新に算出した前記第２時間毎の自己の移動量から導かれる自己の移動方向が、前記位置速度算出部が直近に算出した自己の速度から導かれる自己の移動方向と比較して、前記所定角速度以上の変化をしたとき、前記移動量算出部が前記位置速度算出部の直近の算出の後に算出した前記第２時間毎の自己の移動量を異常と判定することを特徴とする衛星測位装置である。   Further, according to the present invention, the movement amount abnormality determination unit is configured so that the position / velocity calculation unit is the closest to the movement direction derived from the movement amount of the second time calculated by the movement amount calculation unit. The second amount calculated by the movement amount calculation unit after the most recent calculation of the position / velocity calculation unit when a change equal to or greater than the predetermined angular velocity is made in comparison with the own movement direction derived from the own velocity calculated in step (b). It is a satellite positioning device characterized in that its own movement amount per time is determined to be abnormal.

この構成によれば、直近の高精度測位を重んじたうえで、最新の高速測位を直近の高精度測位と比較して異常と判定したとき、直近の高精度測位の後の高速測位を破棄する。   According to this configuration, after valuing the latest high-precision positioning, when the latest high-speed positioning is judged to be abnormal compared to the latest high-precision positioning, the high-speed positioning after the latest high-precision positioning is discarded. .

また、本発明は、前記測位補正部は、前記移動量異常判定部が異常と判定した前記移動量算出部が前記位置速度算出部の直近の算出の後に算出した前記第２時間毎の自己の移動量から導かれる自己の速度を、前記位置速度算出部が直近に算出した自己の速度に置き換えて、前記第２時間毎の自己の位置を算出することを特徴とする衛星測位装置である。   Further, according to the present invention, the positioning correction unit is configured so that the movement amount calculation unit that is determined to be abnormal by the movement amount abnormality determination unit is self-calculated every second time that is calculated after the latest calculation of the position / speed calculation unit. The satellite positioning apparatus is characterized in that its own speed derived from a moving amount is replaced with its own speed calculated by the position / velocity calculation unit most recently, and its own position is calculated every second time.

この構成によれば、上述のように直近の高精度測位の後の高速測位を破棄した後に、直近の高精度測位の後の高速測位での速度を、直近の高精度測位での速度で代用する。   According to this configuration, after discarding the high-speed positioning after the most recent high-precision positioning as described above, the speed at the high-speed positioning after the most recent high-precision positioning is substituted with the speed at the most recent high-precision positioning. To do.

また、本発明は、前記移動量異常判定部は、前記移動量算出部が最新に算出した前記第２時間毎の自己の移動量から導かれる自己の移動方向が、前記移動量算出部が直近に算出した前記第２時間毎の自己の移動量から導かれる自己の移動方向と比較して、前記所定角速度以上の変化をしたとき、前記移動量算出部が最新に算出した前記第２時間毎の自己の移動量を異常と判定することを特徴とする衛星測位装置である。   Further, according to the present invention, the movement amount abnormality determination unit is configured so that the movement amount calculation unit is closest to a movement direction derived from the movement amount of the self every second time calculated by the movement amount calculation unit. When the change is greater than the predetermined angular velocity compared to the direction of movement of the self derived from the amount of movement of the self for every second time calculated in the above, It is a satellite positioning device characterized in that its own movement amount is determined to be abnormal.

この構成によれば、直近の高速測位を正常と判定したうえで、最新の高速測位を直近の高速測位と比較して異常と判定したとき、最新の高速測位を破棄する。   According to this configuration, when the latest high-speed positioning is determined to be normal and the latest high-speed positioning is compared with the latest high-speed positioning and determined to be abnormal, the latest high-speed positioning is discarded.

また、本発明は、前記測位補正部は、前記移動量異常判定部が異常と判定した前記移動量算出部が最新に算出した前記第２時間毎の自己の移動量から導かれる自己の速度を、前記移動量算出部が直近に算出した前記第２時間毎の自己の移動量から導かれる自己の速度に置き換えて、前記第２時間毎の自己の位置を算出することを特徴とする衛星測位装置である。   Further, according to the present invention, the positioning correction unit is configured to determine the own speed derived from the own movement amount every second time calculated by the movement amount calculation unit that is determined to be abnormal by the movement amount abnormality determination unit. The satellite positioning is calculated by replacing the self-speed derived from the self-movement amount at the second time most recently calculated by the movement amount calculating unit with the second time. Device.

この構成によれば、上述のように最新の高速測位を破棄した後に、最新の高速測位での速度を、直近の高速測位での速度で代用する。   According to this configuration, after discarding the latest high-speed positioning as described above, the speed at the latest high-speed positioning is substituted with the speed at the latest high-speed positioning.

このように、本発明は、高精度測位及び高速測位を併用する衛星測位装置において、進行方向には大きく加減速するが横方向にはあまり加減速しない自動車等について、高速測位の可否判定の誤りが生じないようにすることができる。   As described above, the present invention is a satellite positioning apparatus that uses both high-precision positioning and high-speed positioning. Can be prevented from occurring.

本発明の衛星測位装置の構成を示す図である。It is a figure which shows the structure of the satellite positioning apparatus of this invention. 本発明の衛星測位装置の処理を示す図である。It is a figure which shows the process of the satellite positioning apparatus of this invention. 移動量正常判定時の測位補正の処理を示す図である。It is a figure which shows the process of the positioning correction | amendment at the time of a movement amount normal determination. 第１の移動量異常判定時の測位補正の処理を示す図である。It is a figure which shows the process of the positioning correction | amendment at the time of 1st movement amount abnormality determination. 第２の移動量異常判定時の測位補正の処理を示す図である。It is a figure which shows the process of the positioning correction | amendment at the time of 2nd movement amount abnormality determination.

添付の図面を参照して本発明の実施形態を説明する。以下に説明する実施形態は本発明の実施の例であり、本発明は以下の実施形態に制限されるものではない。なお、本明細書及び図面において符号が同じ構成要素は、相互に同一のものを示すものとする。   Embodiments of the present invention will be described with reference to the accompanying drawings. The embodiments described below are examples of the present invention, and the present invention is not limited to the following embodiments. In the present specification and drawings, the same reference numerals denote the same components.

本発明の衛星測位装置の構成を図１に示す。本発明の衛星測位装置の処理を図２に示す。衛星測位装置Ｓは、高精度測位及び高速測位を併用し、高精度測位部１、高速測位部２、測位補正部３及び移動量異常判定部４から構成される。   The configuration of the satellite positioning device of the present invention is shown in FIG. The processing of the satellite positioning device of the present invention is shown in FIG. The satellite positioning device S uses both high-precision positioning and high-speed positioning, and includes a high-precision positioning unit 1, a high-speed positioning unit 2, a positioning correction unit 3, and a movement amount abnormality determination unit 4.

高精度測位部１は、長い時間Ｔ１の間隔で、衛星測位により自己の位置及び速度を算出し、上記の位置速度算出部に対応する。高速測位部２は、短い時間Ｔ２の間隔で、時間Ｔ２毎の衛星信号の搬送波位相の積算結果に基づいて、時間Ｔ２毎の自己の移動量を算出し、上記の移動量算出部に対応する。測位補正部３は、高精度測位における自己の位置及び高速測位における時間Ｔ２毎の自己の移動量に基づいて、時間Ｔ２毎の自己の位置を算出する。移動量異常判定部４は、高速測位における時間Ｔ２毎の自己の移動量から導かれる自己の移動方向が、所定角速度ωＴ以上の変化をしたとき、高速測位における時間Ｔ２毎の自己の移動量を異常と判定する。所定角速度ωＴは、自動車等が転回の際に採り得る最大限度角速度ωＭや安全基準角速度ωＳ等、様々に設定可能である。 Precision positioning unit 1, a long time T 1 interval, to calculate the position and velocity of the self by the satellite positioning, corresponding to the position speed calculator described above. The high-speed positioning unit 2 calculates its own movement amount for each time T 2 based on the integration result of the carrier wave phases of the satellite signals for each time T 2 at short time T 2 intervals. Corresponding to The positioning correction unit 3 calculates its own position for each time T 2 based on its own position in high-precision positioning and its own movement amount in every time T 2 in high-speed positioning. Movement amount abnormality determination unit 4, the moving direction of the self-derived from a self-movement amount for each time T 2 in the high-speed positioning is, when the change of more than a predetermined angular velocity omega T, the time T 2 for each of the self-in high-speed positioning The movement amount is determined to be abnormal. The predetermined angular velocity ω T can be variously set such as a maximum angular velocity ω M that can be taken when the automobile or the like turns, a safety reference angular velocity ω S, and the like.

移動量正常判定時の測位補正の処理を図３に示す。時刻ｔ０では、高精度測位が行われ、自己の位置はＰ０であり、自己の速度はＶ０である。時刻ｔ０から時刻ｔ１では、高速測位が行われ、自己の移動量はＭ１であり、移動量Ｍ１の方向は速度Ｖ０の方向と比較して、時計回りにθ１だけ変化している。時刻ｔ１では、自己の位置はＰ１である。時刻ｔ１から時刻ｔ２では、高速測位が行われ、自己の移動量はＭ２であり、移動量Ｍ２の方向は移動量Ｍ１の方向と比較して、時計回りにθ２だけ変化している。時刻ｔ２では、自己の位置はＰ２である。時刻ｔ２から時刻ｔ３では、高速測位が行われ、自己の移動量はＭ３であり、移動量Ｍ３の方向は移動量Ｍ２の方向と比較して、時計回りにθ３だけ変化している。時刻ｔ３では、自己の位置はＰ３である。時刻ｔ３での自己の位置Ｐ３は、正しい位置である。 FIG. 3 shows a positioning correction process when the movement amount is normal. At time t 0 , high-accuracy positioning is performed, and the own position is P 0 and the own speed is V 0 . From time t 0 to time t 1 , high-speed positioning is performed, the amount of movement of the self is M 1 , and the direction of the amount of movement M 1 changes by θ 1 clockwise compared to the direction of the speed V 0. ing. At time t 1, the position of the self is a P 1. At time t 2 from time t 1, high-speed positioning is performed, the amount of movement of the self is M 2, the direction of the movement amount M 2 is compared to the direction of the movement amount M 1, only theta 2 clockwise change doing. At time t 2, the position of the self is a P 2. At time t 3 from the time t 2, the high-speed positioning is performed, the amount of movement of the self is M 3, the direction of the movement amount M 3 are compared with the direction of the movement amount M 2, only theta 3 clockwise change doing. At time t 3 , the position of the self is P 3 . Position P 3 of the self at time t 3 is the correct position.

第１の移動量異常判定時の測位補正の処理を図４に示す。最新の高速測位における時刻ｔ２から時刻ｔ３での自己の移動量Ｍ３から導かれる自己の移動方向は、直近の高精度測位における時刻ｔ０での自己の速度Ｖ０から導かれる自己の移動方向と比較して、時計回りに（θ１＋θ２＋θ３）／（３Ｔ２）の角速度で変化している。この角速度（θ１＋θ２＋θ３）／（３Ｔ２）は、所定角速度ωＴ以上であり、自動車等の転回速度としては大きい。 FIG. 4 shows a positioning correction process at the time of determining the first movement amount abnormality. The direction of movement of self-derived from the time t 2 in the latest high-speed positioning from the self-moving amount M 3 at time t 3, the self-derived from the speed V 0 which Self at time t 0 in the most recent high-precision positioning Compared with the moving direction, it changes clockwise at an angular velocity of (θ 1 + θ 2 + θ 3 ) / (3T 2 ). This angular velocity (θ 1 + θ 2 + θ 3 ) / (3T 2 ) is equal to or greater than a predetermined angular velocity ω T and is large as a turning speed of an automobile or the like.

そこで、移動量異常判定部４は、直近の高精度測位の後の高速測位における、時刻ｔ０から時刻ｔ１での自己の移動量Ｍ１、時刻ｔ１から時刻ｔ２での自己の移動量Ｍ２、及び、時刻ｔ２から時刻ｔ３での自己の移動量Ｍ３、を異常と判定する。そして、測位補正部３は、移動量異常判定部４が異常と判定した、直近の高精度測位の後の高速測位における、時刻ｔ０から時刻ｔ１での自己の移動量Ｍ１、時刻ｔ１から時刻ｔ２での自己の移動量Ｍ２、及び、時刻ｔ２から時刻ｔ３での自己の移動量Ｍ３、から導かれる自己の速度を、直近の高精度測位における時刻ｔ０での自己の速度Ｖ０に置き換える。よって、測位補正部３は、時刻ｔ３での自己の位置を、位置Ｐ３から位置Ｐ３’（位置Ｐ０から速度Ｖ０の方向へと距離Ｖ０・３Ｔ２だけ離れた位置）へと正しく補正することができる。 Therefore, the movement amount abnormality determination unit 4 performs its own movement amount M 1 from time t 0 to time t 1 and its movement from time t 1 to time t 2 in high-speed positioning after the latest high-precision positioning. The amount M 2 and the amount of movement M 3 from time t 2 to time t 3 are determined as abnormal. The positioning correction unit 3, the movement amount abnormality determination unit 4 determines that abnormality, its moving amount M 1 at time t 1 in the high-speed positioning after the most recent high-precision positioning, from time t 0, the time t self moving amount M 2 of from 1 time t 2, the and its movement amount M 3 at time t 3 from the time t 2, the self-velocity derived from, at time t 0 in the last high-precision positioning replace of the speed V 0 of the self. Therefore, the positioning correction unit 3, the own position at time t 3, from the position P 3 position P 3 'to (away from the position P 0 in the direction of the velocity V 0 by a distance V 0 · 3T 2 position) Can be corrected correctly.

第２の移動量異常判定時の測位補正の処理を図５に示す。最新の高速測位における時刻ｔ２から時刻ｔ３での自己の移動量Ｍ３から導かれる自己の移動方向は、直近の高速測位における時刻ｔ１から時刻ｔ２での自己の移動量Ｍ２から導かれる自己の移動方向と比較して、時計回りにθ３／Ｔ２の角速度で変化している。この角速度θ３／Ｔ２は、所定角速度ωＴ以上であり、自動車等の転回速度としては大きい。 FIG. 5 shows a positioning correction process at the time of determining the second movement amount abnormality. The direction of movement of self-derived from its own movement amount M 3 at time t 3 from the time t 2 in the latest high-speed positioning from the self-moving amount M 2 at time t 2 from time t 1 in the most recent high-speed positioning Compared with the direction of movement of the guided self, it changes clockwise at an angular velocity of θ 3 / T 2 . This angular velocity θ 3 / T 2 is equal to or higher than a predetermined angular velocity ω T and is large as a turning speed of an automobile or the like.

そこで、移動量異常判定部４は、最新の高速測位における時刻ｔ２から時刻ｔ３での自己の移動量Ｍ３を異常と判定する。そして、測位補正部３は、移動量異常判定部４が異常と判定した、最新の高速測位における時刻ｔ２から時刻ｔ３での自己の移動量Ｍ３から導かれる自己の速度を、直近の高速測位における時刻ｔ１から時刻ｔ２での自己の移動量Ｍ２から導かれる自己の速度Ｖ２に置き換える。よって、測位補正部３は、時刻ｔ３での自己の位置を、位置Ｐ３から位置Ｐ３’（位置Ｐ２から速度Ｖ２の方向へと距離Ｖ２・Ｔ２だけ離れた位置）へと正しく補正することができる。 Therefore, the movement amount abnormality determination unit 4 determines that the own movement amount M 3 from time t 2 to time t 3 in the latest high-speed positioning is abnormal. The positioning correction unit 3, the movement amount abnormality determination section 4 determines as abnormal, the own speed derived from the self-moving amount M 3 at time t 3 from the time t 2 in the latest high-speed positioning, the most recent The high speed positioning is replaced with the own speed V 2 derived from the own movement amount M 2 from the time t 1 to the time t 2 . Therefore, the positioning correction unit 3, the own position at time t 3, from the position P 3 position P 3 'to (apart from the position P 2 in the direction of the velocity V 2 by a distance V 2 · T 2 position) Can be corrected correctly.

以上に説明したように、自動車等の移動方向の変化度合に対して、異常判定閾値を設定しているため、自動車等の進行方向／横方向の速度変化に対して、異常判定閾値を大きく／小さく設定することができる。よって、高精度測位及び高速測位を併用する衛星測位装置において、進行方向には大きく加減速するが横方向にはあまり加減速しない自動車等について、高速測位の可否判定の誤りが生じないようにすることができる。   As described above, since the abnormality determination threshold is set for the degree of change in the moving direction of an automobile or the like, the abnormality determination threshold is increased / increased with respect to the speed change in the traveling direction / lateral direction of the automobile or the like. Can be set small. Therefore, in a satellite positioning device that uses both high-accuracy positioning and high-speed positioning, avoid errors in determining whether high-speed positioning is possible for automobiles that greatly accelerate and decelerate in the direction of travel but do not significantly accelerate or decelerate in the lateral direction. be able to.

本発明の衛星測位装置は、進行方向には大きく加減速するが横方向にはあまり加減速しない自動車等について、高精度測位及び高速測位を併用する目的で適用可能である。   The satellite positioning device of the present invention is applicable for the purpose of using both high-precision positioning and high-speed positioning for an automobile or the like that greatly accelerates / decelerates in the traveling direction but does not significantly accelerate / decelerate in the lateral direction.

Ｓ：衛星測位装置
１：高精度測位部
２：高速測位部
３：測位補正部
４：移動量異常判定部 S: Satellite positioning device 1: High-precision positioning unit 2: High-speed positioning unit 3: Positioning correction unit 4: Movement amount abnormality determination unit

Claims (5)

第１時間の間隔で、衛星測位により自己の位置及び速度を算出する位置速度算出部と、
前記第１時間より短い第２時間の間隔で、前記第２時間毎の衛星信号の搬送波位相の積算結果に基づいて、前記第２時間毎の自己の移動量を算出する移動量算出部と、
前記位置速度算出部が算出した自己の位置及び前記移動量算出部が算出した前記第２時間毎の自己の移動量に基づいて、前記第２時間毎の自己の位置を算出する測位補正部と、
前記移動量算出部が算出した前記第２時間毎の自己の移動量から導かれる自己の移動方向が、所定角速度以上の変化をしたとき、前記移動量算出部が算出した前記第２時間毎の自己の移動量を異常と判定する移動量異常判定部と、
を備えることを特徴とする衛星測位装置。 A position / velocity calculation unit that calculates its own position and velocity by satellite positioning at an interval of a first time;
A movement amount calculation unit that calculates a movement amount of itself for each second time based on an integration result of a carrier wave phase of the satellite signal for each second time at an interval of a second time shorter than the first time;
A positioning correction unit that calculates its own position every second time based on its own position calculated by the position speed calculation unit and its own movement amount calculated by the movement amount calculation unit every second time; ,
When the direction of movement of the self derived from the amount of movement of the self for each second time calculated by the movement amount calculation unit has changed by more than a predetermined angular velocity, the amount of movement for the second time calculated by the movement amount calculation unit is calculated. A movement amount abnormality determination unit that determines that the movement amount of itself is abnormal;
A satellite positioning device comprising: 前記移動量異常判定部は、前記移動量算出部が最新に算出した前記第２時間毎の自己の移動量から導かれる自己の移動方向が、前記位置速度算出部が直近に算出した自己の速度から導かれる自己の移動方向と比較して、前記所定角速度以上の変化をしたとき、前記移動量算出部が前記位置速度算出部の直近の算出の後に算出した前記第２時間毎の自己の移動量を異常と判定することを特徴とする請求項１に記載の衛星測位装置。   The movement amount abnormality determination unit determines that the movement direction derived from the movement amount of the self every second time calculated by the movement amount calculation unit is the latest speed calculated by the position speed calculation unit most recently. The movement amount calculation unit calculates the movement of the self every second time after the latest calculation of the position / velocity calculation unit when the change is greater than the predetermined angular velocity compared to the movement direction of the self derived from The satellite positioning device according to claim 1, wherein the amount is determined to be abnormal. 前記測位補正部は、前記移動量異常判定部が異常と判定した前記移動量算出部が前記位置速度算出部の直近の算出の後に算出した前記第２時間毎の自己の移動量から導かれる自己の速度を、前記位置速度算出部が直近に算出した自己の速度に置き換えて、前記第２時間毎の自己の位置を算出することを特徴とする請求項２に記載の衛星測位装置。   The positioning correction unit is configured to determine whether the movement amount calculation unit, which has been determined to be abnormal by the movement amount abnormality determination unit, calculates the self derived from the movement amount for each second time calculated after the latest calculation of the position / velocity calculation unit. The satellite positioning device according to claim 2, wherein the position of the vehicle is replaced with the own speed calculated by the position / speed calculator most recently, and the position of the vehicle is calculated every second time. 前記移動量異常判定部は、前記移動量算出部が最新に算出した前記第２時間毎の自己の移動量から導かれる自己の移動方向が、前記移動量算出部が直近に算出した前記第２時間毎の自己の移動量から導かれる自己の移動方向と比較して、前記所定角速度以上の変化をしたとき、前記移動量算出部が最新に算出した前記第２時間毎の自己の移動量を異常と判定することを特徴とする請求項１に記載の衛星測位装置。   The movement amount abnormality determination unit is configured to calculate the second movement direction calculation unit most recently calculated based on the movement amount calculation unit calculated by the movement amount calculation unit. Compared with the direction of movement of the self derived from the amount of movement of the self for each time, when the change is greater than the predetermined angular velocity, the amount of movement of the self for the second time calculated by the movement amount calculating unit is the latest. The satellite positioning device according to claim 1, wherein the satellite positioning device is determined to be abnormal. 前記測位補正部は、前記移動量異常判定部が異常と判定した前記移動量算出部が最新に算出した前記第２時間毎の自己の移動量から導かれる自己の速度を、前記移動量算出部が直近に算出した前記第２時間毎の自己の移動量から導かれる自己の速度に置き換えて、前記第２時間毎の自己の位置を算出することを特徴とする請求項４に記載の衛星測位装置。   The positioning correction unit is configured to calculate a self-speed derived from a self-movement amount every second time calculated by the movement amount calculation unit, which is determined to be abnormal by the movement amount abnormality determination unit, as the movement amount calculation unit. 5. The satellite positioning according to claim 4, wherein the position of the self is calculated every time the second time is replaced with the own speed derived from the movement amount of the self every second time calculated recently. apparatus.
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