JPH0513586B2 - - Google Patents
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- Publication number
- JPH0513586B2 JPH0513586B2 JP62173656A JP17365687A JPH0513586B2 JP H0513586 B2 JPH0513586 B2 JP H0513586B2 JP 62173656 A JP62173656 A JP 62173656A JP 17365687 A JP17365687 A JP 17365687A JP H0513586 B2 JPH0513586 B2 JP H0513586B2
- Authority
- JP
- Japan
- Prior art keywords
- antennas
- stations
- phase difference
- fixed transmission
- angle
- 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.)
- Expired - Lifetime
Links
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
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- Position Fixing By Use Of Radio Waves (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、既知の複数局から送信する電波を受
信することにより、移動体の位置、特に移動体の
移動方向を測定する方法に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a method for measuring the position of a moving object, particularly the direction of movement of the moving object, by receiving radio waves transmitted from a plurality of known stations.
（従来の技術とその問題点）
移動体のある方向に対する移動方向の角度を測
定するには、ジヤイロにより行う方法が一般に知
られている。また、このジヤイロと組み合わせ
て、既知の局からの電波の到来方向を測定する方
位測定機がある。また、方位測定機それ自体は送
信源に対する方向を、アンテナに到来受信電波が
誘起する電圧の零点をもつて測定の基準方向を決
めている。さらにレーダをジヤイロと組合せて使
用したり、ジヤイロを持たない場合には周りの地
形情報の画像より、プロツト等の操作や機能を付
与して方向を求めているのが一般的である。(Prior Art and its Problems) A method using a gyro is generally known to measure the angle of the moving direction of a moving body with respect to a certain direction. Additionally, there is a direction measuring device that is used in combination with this gyroscope to measure the arrival direction of radio waves from known stations. Further, the direction measuring device itself determines the reference direction for measurement, which is the direction relative to the transmission source, based on the zero point of the voltage induced in the antenna by the incoming and received radio waves. Furthermore, it is common to use a radar in combination with a gyro, or when a gyro is not provided, to obtain directions using images of surrounding topographical information and by adding operations and functions such as plotting.
一方、移動体の位置を測定する電波航法として
は、ロラン、デツカ、オメガ等の方式があるが、
これらの位置の測定値から移動体が現在どの方向
へ向いているかを知ることは出来ない。位置の情
報のみで移動体の移動方向を知るには、まず、現
在位置を測定した後一定方向に移動して、再び位
置を測定し、この二つの位置の情報から、その間
に移動した方向を基準に現在の向きを求めるしか
なかつた。従つて移動体が止まつている状態で、
これらの電波航法によりその向きを求めることは
出来ない。 On the other hand, as radio navigation methods for measuring the position of moving objects, there are methods such as Loran, Detsuka, and Omega.
It is not possible to know which direction the moving object is currently facing from these position measurements. To know the direction of movement of a moving object using only position information, first measure the current position, move in a certain direction, measure the position again, and use these two position information to determine the direction in which it moved during that time. I had no choice but to use the current direction as a reference. Therefore, when the moving object is stationary,
Its direction cannot be determined by radio navigation.
オメガ、ロランＣ、デツカ等の電波航法の電波
を利用して、複数のアンテナによる受信波の位相
を比較することにより方位を求める方法があるが
（例えば特開昭58−2764「双曲線航法を用いた方位
測定方式」）、位相測定をする電波の周波数がオメ
ガで10kHz帯、ロランとデツカで100kHz帯であ
り、周波数が低いことから必然的に周波数の逆数
関係にある波長が長く、オメガでは30Km、ロラン
Ｃやデツカでは３Kmである。このことから２個の
アンテナ間の位相差を測定するにはデツカで数十
ｍ、ロランＣで100ｍ、オメガで１Km程度のアン
テナ間の設定距離が必要で、かろうじて大型船で
可能性があるかどうかといつた程度である。従つ
て小型船舶や自動車のような精々２〜３ｍのアン
テナ間隔しか望めない場合には、従来のようにそ
のままの周波数で測定することは位相差が小さい
ため測定が困難である。 There is a method of determining direction by comparing the phases of waves received by multiple antennas using radio waves from radio navigation systems such as Omega, Loran C, and Detsuka. The frequency of the radio waves used to measure the phase is 10 kHz for Omega, and 100 kHz for Loran and Detsuka, and since the frequency is low, the wavelength, which is the reciprocal of the frequency, is necessarily long, and Omega has a frequency of 30 km. , 3 km for Loran C and Detsuka. From this, in order to measure the phase difference between two antennas, a set distance between the antennas of several tens of meters is required for Detsuka, 100m for Loran C, and 1km for Omega, so it is barely possible on a large ship. It was just a question. Therefore, in cases where an antenna spacing of at most 2 to 3 meters is desired, such as in small boats and automobiles, it is difficult to measure at the same frequency as in the past because the phase difference is small.
（問題点を解決するための手段）
本発明は、このような背景を基に、従来の双曲
線航法や位置を求める航法、また電波の零感度方
向から送信局の方向を求める方式と異なつた方式
を採用して、複数局の固定送信源からの同期した
周波数の電波を移動体に固定した複数個のアンテ
ナのうち２個の組合せのアンテナで受信し、前記
複数局の固定送信源からの電波の公倍数あるいは
倍数を測定周波数とし、該測定周波数の波長の1/
２以下であり波長1/2に近い間隔を前記組合せの２
個のアンテナの間隔とし、該２個のアンテナの内
のいずれか先に受信したかを弁別し、前記複数局
の固定送信源に対しそれぞれの組合せアンテナに
より局数と同じ個数の位相差値を測定し、該測定
された位相差から前記組合せの２個のアンテナを
結ぶ線の方向と前記固定送信源との角度を算出
し、前記複数局の固定送信源に対して共通する一
つの方向角度を決定して前記移動体の方向を測定
することを特徴とするものである。(Means for Solving the Problems) Based on this background, the present invention provides a method that is different from conventional hyperbolic navigation, navigation for determining position, and method for determining the direction of a transmitting station from the direction of zero sensitivity of radio waves. The radio waves of synchronized frequencies from the fixed transmission sources of multiple stations are received by a combination of two antennas among the multiple antennas fixed to the mobile body, and the radio waves from the fixed transmission sources of the multiple stations are received. The common multiple or multiple of is the measurement frequency, and 1/ of the wavelength of the measurement frequency is
2 or less and close to 1/2 of the wavelength in 2 of the above combinations.
The distance between the two antennas is determined, and it is determined which of the two antennas received the signal first, and each combined antenna transmits the same number of phase difference values as the number of stations to the fixed transmission sources of the plurality of stations. and calculate the angle between the fixed transmission source and the direction of the line connecting the two antennas of the combination from the measured phase difference, and calculate one direction angle common to the fixed transmission source of the plurality of stations. The method is characterized in that the direction of the moving body is determined by determining the direction of the moving body.
（実施例）
第１図、第２図、第３図は本発明による移動体
の移動方向を測定するための基本説明図であり、
ここでは、２つの送信局と移動体に搭載するアン
テナを２個設けた場合について説明する。第４図
は本発明方法を実施するためのブロツク図で、ア
ンテナ１，２、受信部Ｒ（アンテナ切換器３、周
波数切換変換器４、位相差測定器５、位相器６、
符号弁別器７、メモリ回路８、角度算出器９、方
向算出器１０）、表示器１１により構成されてい
る。第１図においてP1，P2は既知点で、周波数
が安定に制御された発振源による送信局の位置を
示す。この場合送信信号はデツカのように接続
波、又は通信連絡や識別を兼ねて被変調波として
もよい。又オメガのようにパルス変調波でもよ
い。またテレビ放送波のようにその中にカラーバ
ーストのように安定な周波数の信号をもつている
ものでもよい。(Example) FIG. 1, FIG. 2, and FIG. 3 are basic explanatory diagrams for measuring the moving direction of a moving object according to the present invention,
Here, a case will be described in which two transmitting stations and two antennas mounted on a mobile object are provided. FIG. 4 is a block diagram for implementing the method of the present invention, which includes antennas 1 and 2, a receiving section R (antenna switcher 3, frequency switching converter 4, phase difference measuring device 5, phase shifter 6,
It is composed of a sign discriminator 7, a memory circuit 8, an angle calculator 9, a direction calculator 10), and a display 11. In FIG. 1, P 1 and P 2 are known points, indicating the positions of transmitting stations using oscillation sources whose frequencies are stably controlled. In this case, the transmission signal may be a connection wave like a deck, or a modulated wave that also serves as communication communication or identification. Alternatively, a pulse modulated wave like Omega may be used. Alternatively, it may be a television broadcast wave that contains a stable frequency signal such as a color burst.
次にその動作を説明する。移動体の現在位置を
Pxとし、周波数を説明の便宜上、一例として送
信局P1から1MHz、送信局P2から1.5MHzを送信
し、その最小公倍数の3MHzとした場合について
説明する。ただし、実際には30MHzの方が設置ア
ンテの間隔の限界が最大15メートルなので適当で
あるが、原理を分かりやすく説明するために単純
に3MHzを例にする。 Next, its operation will be explained. The current position of the moving object
For convenience of explanation, a case will be described in which the frequency is set to 1 MHz from the transmitting station P 1 , 1.5 MHz from the transmitting station P 2 , and 3 MHz which is the least common multiple of the frequencies. However, in reality, 30MHz is more appropriate because the maximum distance between installed antennas is 15 meters, but to explain the principle in an easy-to-understand manner, we will simply use 3MHz as an example.
第１図のPx点において、アンテナ１，２を結
ぶ線と送信局P1の方向について考える。アンテ
ナ１，２間における3MHzの位相差は、もしも、
アンテナ１，２間の間隔L0が50メートルとし、
アンテナ１，２を結ぶ線が第２図ａのように送信
局P1を向いているとすれば、送信局P1を送信源
として周波数3MHz、即ち波長の100メートルの半
分の50メートル間隔、位相差πの同心円上にアン
テナ１，２がそれぞれ位置しているものと見做す
ことができる。第２図ｂではアンテナ１，２を結
ぶ線が送信局P1についてαの角度のときの位相
差θはπcosαになることを示す。また、第３図ａ
では、アンテナ１，２間の間隔をL1として移動
体が送信局P1方向を向いているときの位相差は、
2πL1／λの同心円で、第３図ｂのようにアンテ
ナ１，２を結ぶ線が送信局P1に対してαの角度
をなすときは、（2πL1／λ）cosαの位相差の同心
円上にアンテナ１，２が位置することになる。こ
のとき第３図ｃの場合においても同一位相差値で
あるので、送信局P1の方向は位相差測定値に対
してα1，α2のいずれかが存在する。また第３図ｄ
はｂと同じ向きであるが、α3もアンテナ１，２を
結ぶ線が送信局P1に対してなす角度であり、第
３図ｅのα4も同様である。この場合、90度より大
きくなるα3，α4の角度を除けば、α1，α2即ち±α
の二つの場合になる。また送信局P1に対してア
ンテナ１とアンテナ２を入れ替えたときは、第３
図ｂ，ｃをそれぞれ180度ずらした角度が存在し、
鋭角のαの条件の基に第３図ｆのようにアンテナ
２から１の方への方向の矢印に対して、以上の４
象限の４個の角度の存在を位相差測定値として考
慮しなければならない。 At point Px in FIG. 1, consider the direction of the line connecting antennas 1 and 2 and transmitting station P1 . The 3MHz phase difference between antennas 1 and 2 is, if
The distance L0 between antennas 1 and 2 is 50 meters,
Assuming that the line connecting antennas 1 and 2 points toward transmitting station P1 as shown in Figure 2a, the frequency is 3MHz with transmitting station P1 as the transmission source, that is, half the wavelength of 100 meters, 50 meters apart, The antennas 1 and 2 can be considered to be located on concentric circles with a phase difference of π. FIG. 2b shows that when the line connecting antennas 1 and 2 is at an angle α with respect to transmitting station P 1 , the phase difference θ becomes π cos α. Also, Figure 3a
Then, when the distance between antennas 1 and 2 is L 1 , the phase difference when the mobile body is facing the direction of transmitting station P 1 is:
With concentric circles of 2πL 1 /λ, when the line connecting antennas 1 and 2 makes an angle α with respect to the transmitting station P 1 as shown in Figure 3b, it is a concentric circle with a phase difference of (2πL 1 /λ)cos α. Antennas 1 and 2 will be located above. At this time, since the phase difference value is the same even in the case of FIG. 3c, the direction of the transmitting station P 1 has either α 1 or α 2 with respect to the measured phase difference value. Also, Figure 3 d
is in the same direction as b, but α 3 is also the angle that the line connecting antennas 1 and 2 makes with transmitting station P 1 , and α 4 in FIG. 3e is also the same. In this case, except for the angles α 3 and α 4 that are larger than 90 degrees, α 1 and α 2 , that is ±α
There are two cases. Also, when antenna 1 and antenna 2 are swapped for transmitting station P 1 , the third
There is an angle in which figures b and c are shifted by 180 degrees,
Based on the condition of acute angle α, the above 4
The presence of the four angles of the quadrant must be considered as a phase difference measurement.
第４図において、アンテナ１とアンテナ２から
同時もしくはアンテナ切換器３によつて交互に入
力した送信局P1からの送信信号は、受信部Ｒ内
のアンテナ切換器３、周波数切換変換器４を通し
て、アンテナ１からの1MHzとアンテナ２からの
1MHzとはそれぞれ3MHzに変換されて、それぞれ
位相差測定器５に入力する。ここでは、従来のデ
ツカ、オメガ等で行われているように、てい倍し
た周波数間や、時間差のある同一周波数の信号間
の位相差を検出する。その位相差θ1は移動体の向
き角度について90度ごとの４象限について各一つ
の同じ値の位相値が出力されるので、逆にこの位
相差から角度を求めると、前述のように相対位置
関係より４個の角度が出る。さらに第５図ａのよ
うにP1送信局がP1-1からP1-2かの180度の不明確
があり、αaとαbの２個の角度がある。従つてま
ず位相値を符号弁別器７を通して到来方向による
正か負の符号を付して１個の値をメモリ回路８に
格納する。しかし、まだこの段階では第３図ｂか
ｃかの区別は不明である。次いで同様に送信局
P2からの送信信号を同時もしくはアンテナ切換
器３により交互に受信して、それぞれ同様に周波
数切換変換器４において3MHzに変換し、位相測
定器５で位相比較を行い、その位相差θ2の値を符
号弁別器７を通して正か負の符号を付して１個の
値のメモリ回路９に格納する。この符号弁別器７
と、これに入る信号の説明をする。この時のメモ
リ回路８に格納されるそれぞれのθ1とθ2の値は、
周波数切換器４から位相器６を通してきた3MHz
信号と直接周波数切換変換器４から位相差測定変
換器５に入つてきた3MHz信号との間で、位相差
測定器５において比較が行われると、従来の技
術、例えば移動体のドツプラー信号による近付く
か離れるかの区別回路や、船舶用方位測定機のよ
うにアンテナ１とアンテナ２とに対する到来電波
の方向による受信順序により符号を発生するのと
同類の技術によるもので、この符号信号を符号弁
別器７によつて区別する。そして、例えば第５図
ｂのような相対位置の場合には、正の符号のθ1と
θ2の各１個の値がメモリ回路８に記憶される。 In FIG. 4, the transmission signal from transmitting station P1 , which is input from antenna 1 and antenna 2 simultaneously or alternately by antenna switching device 3, is transmitted through antenna switching device 3 and frequency switching converter 4 in receiving section R. , 1MHz from antenna 1 and from antenna 2
1 MHz is each converted to 3 MHz, and each is input to the phase difference measuring device 5. Here, as is done with conventional Detsuka, Omega, etc., the phase difference between multiplied frequencies or between signals of the same frequency with a time difference is detected. As for the phase difference θ 1 , the same phase value is output for each of the four quadrants of 90 degrees for the orientation angle of the moving object.Conversely, if you calculate the angle from this phase difference, you can calculate the relative position as described above. Four angles emerge from the relationship. Furthermore, as shown in FIG. 5a, there is an ambiguity of 180 degrees between P 1 transmitting station and P 1-1 to P 1-2 , and there are two angles αa and αb. Therefore, first, the phase value is passed through the sign discriminator 7 and given a positive or negative sign depending on the direction of arrival, and one value is stored in the memory circuit 8. However, at this stage, the distinction between Figure 3 b and c is still unclear. Then the transmitting station
The transmitted signals from P 2 are received simultaneously or alternately by the antenna switcher 3, respectively converted to 3MHz by the frequency switching converter 4, and the phases are compared by the phase measuring device 5, and the phase difference θ 2 is calculated. The value is passed through a sign discriminator 7 and stored in a single value memory circuit 9 with a positive or negative sign. This sign discriminator 7
I will explain the signals that go into this. The respective values of θ 1 and θ 2 stored in the memory circuit 8 at this time are:
3MHz from frequency switcher 4 through phase shifter 6
Once a comparison is made in the phase difference measuring device 5 between the signal and the 3 MHz signal coming from the direct frequency switching converter 4 into the phase difference measuring transducer 5, it is possible to perform an approach using conventional techniques, e.g. This is based on a circuit that distinguishes whether the signal is moving or moving away, or a technology similar to that used in a ship's direction finder, which generates a code based on the reception order based on the direction of incoming radio waves for antennas 1 and 2. Distinguished by vessel 7. For example, in the case of a relative position as shown in FIG. 5b, one value each of θ 1 and θ 2 with a positive sign is stored in the memory circuit 8.
つぎに、θ1とθ2の各１個の位相差とアンテナ
１，２間の間隔L1より角度検出器９で角度がそ
れぞれα＝cos-1（λθ1／2πL1）からαを算出し、
左右の相対方位として２個のα値のα1，α2を、β
＝cos-1（λθ2／2λL1）から同様に２個のβ1，β2を
仮定する。この角度データは方向算出器１０でこ
れらの角度値α、βのそれぞれ２個の値より、第
５図ｂで示す相対位置であれば、右にP1局、左
にP2局になるような共通する条件に合致する一
つの方向に対する角度を、第５図ｃで示す相対位
置のときには、ｂ図のP1，P2のように右にP2局、
左にP1局になる共通する条件の角度を決定し、
この角度による方位値を表示器１１により表示す
る。 Next, from the phase difference of θ 1 and θ 2 and the distance L 1 between antennas 1 and 2, angle detector 9 calculates α from α = cos -1 (λθ 1 /2πL 1 ). death,
The two α values α 1 and α 2 are used as the left and right relative directions, and β
Similarly, two β 1 and β 2 are assumed from =cos −1 (λθ 2 /2λL 1 ). This angle data is calculated by the direction calculator 10 from each of these two angle values α and β, so that if the relative position is shown in FIG . When the angle with respect to one direction that meets the common condition is the relative position shown in Fig. 5 c, P 2 stations are placed on the right as shown in Fig. 5 c, P 1 and P 2 ,
Determine the angle of the common condition that will be P 1 station to the left,
The orientation value based on this angle is displayed on the display 11.
このように、本発明は、自動車や無人走行車等
の移動体の向きを測定しようとするものである。 In this way, the present invention attempts to measure the orientation of a moving object such as an automobile or an unmanned vehicle.
即ち、この両アンテナの位置を結ぶ線の方向を
求めることにより、表示器１１で方向が表示さ
れ、移動体が移動中あるいは停止中においてもそ
の向きを知ることができる。なお、ここで用いる
送信局P2に於ける送信機は、送信局P1の送信信
号を受けて同期させるようにしてもよい。以上の
説明は送信局が２個所、移動体に搭載するアンテ
ナが２個の場合について述べたが、送信局及びア
ンテナが２個以上の場合でも同様な方法により行
なえることは勿論である。 That is, by determining the direction of the line connecting the positions of both antennas, the direction is displayed on the display 11, and the direction can be known even when the moving object is moving or stopped. Note that the transmitter in the transmitting station P2 used here may be synchronized by receiving the transmitting signal from the transmitting station P1 . The above explanation has been made for the case where there are two transmitting stations and two antennas mounted on a mobile body, but it goes without saying that the same method can be used even when there are two or more transmitting stations and antennas.
（発明の効果）
以上述べたように、本発明は２つの既知の点の
送信機からの周波数の安定な電波を利用して、２
個のアンテナの間隔が電波の波長に比べて狭い場
合にも、移動体の向きを迅速かつ確実に測定でき
るという利点がある。(Effects of the Invention) As described above, the present invention utilizes radio waves with stable frequencies from transmitters at two known points.
Even when the distance between the antennas is narrow compared to the wavelength of the radio waves, there is an advantage that the direction of the moving object can be measured quickly and reliably.
第１図、第２図、第３図及び第５図は本発明に
よる測定方法の説明図、第４図は本発明のブロツ
ク図である。
P1，P2……固定送信局、Ｒ……受信部、１，
２……アンテナ、３……アンテナ切換器、４……
周波数切換変換器、５……位相差測定器、６……
移相器、７……符号弁別器、８……メモリ回路、
９……角度検出器、１０……方向算出器、１１…
…表示器。
1, 2, 3, and 5 are explanatory diagrams of the measuring method according to the present invention, and FIG. 4 is a block diagram of the present invention. P 1 , P 2 ... Fixed transmitting station, R ... Receiving section, 1,
2...Antenna, 3...Antenna switcher, 4...
Frequency switching converter, 5... Phase difference measuring device, 6...
Phase shifter, 7... sign discriminator, 8... memory circuit,
9... Angle detector, 10... Direction calculator, 11...
…display.
Claims (1)
電波を移動体に固定した複数個のアンテナのうち
２個の組合せのアンテナで受信し、前記複数局の
固定送信源からの電波の公倍数あるいは倍数を測
定周波数とし、該測定周波数の波長の1/2以下で
あり波長の1/2に近い間隔を前記組合せの２個の
アンテナの間隔とし、該２個のアンテナの内いず
れか先に受信したかを弁別し、前記複数局の固定
送信源に対しそれぞれの組合せアンテナにより局
数と同じ個数の位相差値を測定し、該測定された
位相差から前記組合せの２個のアンテナを結ぶ線
の方向と前記固定送信源との角度を算出し、前記
複数局の固定送信源に対して共通する一つの方向
角度を決定して前記移動体の方向を測定すること
を特徴とする移動体の方向測定方法。1 Radio waves with synchronized frequencies from fixed transmission sources at multiple stations are received by a combination of two antennas among multiple antennas fixed to a mobile body, and the radio waves from the fixed transmission sources at multiple stations are received at a common multiple or multiple of the radio waves from the fixed transmission sources at multiple stations. is the measurement frequency, and the interval between the two antennas of the combination is less than or equal to 1/2 of the wavelength of the measurement frequency and close to 1/2 of the wavelength, and whichever of the two antennas receives the signal first. , measure the same number of phase difference values as the number of stations using each of the combination antennas for the fixed transmission sources of the plurality of stations, and calculate the value of the line connecting the two antennas of the combination from the measured phase difference. The direction of the mobile body is measured by calculating an angle between the direction and the fixed transmission source, and determining one direction angle common to the fixed transmission sources of the plurality of stations to measure the direction of the mobile body. Measuring method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17365687A JPS6416979A (en) | 1987-07-10 | 1987-07-10 | Method for measuring direction of moving body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17365687A JPS6416979A (en) | 1987-07-10 | 1987-07-10 | Method for measuring direction of moving body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6416979A JPS6416979A (en) | 1989-01-20 |
| JPH0513586B2 true JPH0513586B2 (en) | 1993-02-22 |
Family
ID=15964660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17365687A Granted JPS6416979A (en) | 1987-07-10 | 1987-07-10 | Method for measuring direction of moving body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6416979A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0426675Y2 (en) * | 1986-11-17 | 1992-06-26 | ||
| JP4093792B2 (en) | 2002-04-18 | 2008-06-04 | 富士通株式会社 | Positioning system, program and position determining method for determining position of mobile radio station |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS582764A (en) * | 1981-06-30 | 1983-01-08 | Furuno Electric Co Ltd | Direction finding system using hyperbolic navigation |
-
1987
- 1987-07-10 JP JP17365687A patent/JPS6416979A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS582764A (en) * | 1981-06-30 | 1983-01-08 | Furuno Electric Co Ltd | Direction finding system using hyperbolic navigation |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6416979A (en) | 1989-01-20 |
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