JPH0470584A - 衛星航法装置 - Google Patents

衛星航法装置

Info

Publication number
JPH0470584A
JPH0470584A JP2186319A JP18631990A JPH0470584A JP H0470584 A JPH0470584 A JP H0470584A JP 2186319 A JP2186319 A JP 2186319A JP 18631990 A JP18631990 A JP 18631990A JP H0470584 A JPH0470584 A JP H0470584A
Authority
JP
Japan
Prior art keywords
altitude
data
satellites
deviation
signal
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.)
Pending
Application number
JP2186319A
Other languages
English (en)
Inventor
Seiichiro Hirata
誠一郎 平田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2186319A priority Critical patent/JPH0470584A/ja
Priority to KR1019910007178A priority patent/KR940003418B1/ko
Priority to US07/726,280 priority patent/US5265025A/en
Priority to DE4123097A priority patent/DE4123097A1/de
Publication of JPH0470584A publication Critical patent/JPH0470584A/ja
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • 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
    • 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
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/10—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals
    • G01S19/11—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing dedicated supplementary positioning signals wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/017—Detecting state or type of motion
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
    • G01S5/018—Involving non-radio wave signals or measurements

Landscapes

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

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。

Description

【発明の詳細な説明】 〔産業上の利用分野〕 この発明は、Ｇ　Ｐ　Ｓ　（Ｇｌｏｂａｌ　Ｐｏｓｉｔ
ｉｏｎｉｎｇＳｙｓ　ｔｅｍ　）と呼ばれる衛星航法装
置に関し、特に３個の衛星で測位可能な衛星航法装置に
関するものである。
〔従来の技術〕
従来、衛星航法装置を用いて車両などの移動体の測位を
行なうナビゲーションシステムが既に発表されており、
この衛星航法装置は複数の測位衛星の電波を同時に受信
することにより、地球上の任意位置にある移動体の絶対
位置を１００ｍ以内の誤差で演算可能である。しかし、
十分な精度で２次元（緯度及び経度）測位データを得る
ためには、常時４個以上の衛星からの電波を受信する必
要があり、受信可能な測位衛星数が３個以下となった場
合には高度の測位ができないため、２次元測位データに
誤差を生してしまう。このため、受信可能な衛星数が３
個以下の場合には、前回測位された高度データを用いて
２次元測位データを出力しているが、走行中の移動体の
現在高度が前回高度と異なる場合には、やはり誤差を生
じてしまう。
〔発明が解決しようとする課題〕
従来の衛星航法装置においては、以上のように、４個の
衛星からの電波を受信したときには正確な緯度及び経度
が測位できるが、受信可能な衛星数が３個以下の場合に
は２次元測位データに誤差が発生するという課題があっ
た。
この発明は上記のような課題を解決するために成された
ものであり、受信可能な衛星数が３個以下の場合でも、
正確な２次元測位データを出力できる衛星航法装置を得
ることを目的とする。
〔課題を解決するための手段〕
この発明に係る衛星航法装置は、受信したＧＰＳ信号に
基づいて受信可能な衛星数が４個以上か否かを判断する
判断部と、移動体位置の大気圧を検出する大気圧センサ
と、大気圧センサの出力から移動体の移動による大気圧
偏差を求め、この大気圧偏差から移動体の高度偏差を計
算する高度偏差計算部と、移動体の高度データを記憶す
る高度記憶部と、衛星数が４個以上の場合にはＧＰＳ信
号とこれに基づく高度データから移動体の２次元測位デ
ータを演算するとともに、衛星数が３個以下の場合には
前回の高度データと高度偏差から求めた高度データとＧ
ＰＳ信号とから移動体の２次元測位データを演算する位
置演算部を設けたものである。
〔作　用〕
この発明においては、衛星数が４個以上の場合にはＧＰ
Ｓ信号とこれに基づく高度データから移動体の２次元測
位データを演算し、衛星数が３個以下の場合には前回の
高度データと高度偏差から得られた高度データとＧＰＳ
信号とから移動体の２次元測位データを演算する。
〔実施例〕
以下、この発明の実施例を図面とともに説明する。第１
図はこの実施例による衛星航法装置の機能ブロック図で
あり、ｌは測位衛星からのＧＰＳ信号を受信するアンテ
ナ、２は受信したＧＰＳ信号信号比力するＧＰＳ受信部
、３は受信可能な衛星数Ｎが４個以上か否かを判断して
制御信号Ｂを出力する判断部、４は移動体（例えば、車
両）位置の大気圧Ｐを検出する大気圧センサ、６は移動
体の動きに伴なって生じる大気圧偏差から高度偏差ΔＨ
を計算する高度偏差計算部、７は既に求められた前回の
高度データＨを格納する高度記憶部、８はＧＰＳ信号信
号比づいて移動体の絶対位置即ち緯度及び経度に相当す
る２次元測位データｐを出力する位置演算部であり、制
御信号Ｂに応じて、衛星数Ｎが４個以上の場合にはＧＰ
Ｓ信号信号比に基づいて２次元測位データを演算し、衛
星数Ｎが３個以下の場合にはＧＰＳ信号信号比度偏差Δ
Ｈ及び前回の高度データＨに基づいて２次元測位データ
を演算する。
なお、判断部３、高度偏差計算部６、高度記憶部７及び
位置演算部８は、ｃｐｕで構成してもよい。
次に、第２図のフローチャートを参照して、上記構成の
動作について説明する。まず、ステップＳ１では測位衛
星の電波に含まれるＧＰＳ信号信号子ンテナ１及びＧＰ
Ｓ受信部２を介して受信し、ステ、プＳ２では判断部３
は受信したＧＰＳ信号信号子づいて衛星数Ｎが４個以上
（Ｎ≧４）か否かを判断し、制御信号Ｂを位置演算部８
に出力する。衛星数Ｎが４個以上であれば、位置演算部
８はＧＰＳ信号信号比に基づく通常の３次元測位動作を
行なう。即ち、ステップＳ３ではＧＰＳ信号信号比り現
在の高度Ｈ０を計算し、この高度データＨを高度記憶部
７に格納し、ステップＳ４では高度データＨ及びＧＰＳ
信号に基づいて緯度、経度からなる２次元測位データｐ
を計算して出力する。
一方、ステップＳ２で衛星数Ｎが３個以上（Ｎ≦３）で
あると判断された場合は、位置演算部８はこのことを表
わす制御信号Ｂに応答し、以下のようにＧＰＳ信号信号
比づく２次元測位動作を行なう。即ち、ステップＳ５で
は、位置演算部８は高度記憶部７から前回の高度データ
Ｈを読み取り、ステップＳ６では高度偏差計算部６は移
動体の移動に伴なう大気圧偏差ΔＰを大気圧センサ４の
出力から計算し、ステップＳ７では移動に伴なう高度偏
差ΔＨをΔＨ＝Ｆ（ΔＰ）として計算する。ステップＳ
８では、現在の高度Ｈ０を高度偏差ΔＨ及び高度データ
Ｉ］に基づいて　Ｈ，＝　Ｈ＋Δ■（から演算し、この
値を高度データＨ，！：して高度記憶部７に格納する。
そして、ステップＳ４でＣＰＳ信号信号筋度データ［Ｉ
に基づいて２次元測位データｐを演算して出力する。最
後に、位置演算部８はステップＳ９で所定時間ΔＴ（秒
）だけ経過したか否かを判断し、時間ΔＴ経過後に再び
ステップＳ１に戻り、各ステップ３１〜Ｓ９を繰り返す
。
〔発明の効果〕
以上のようにこの発明によれば、衛星数が３個以下の場
合には、前回の高度データと移動体の移動に伴なう高度
偏差から今回の高度データを求め、この高度データとＧ
ＰＳ信号により移動体の２次元測位データを演算してい
るので、移動体の高度変化に伴なう誤差は生じず、移動
体の正確な２次元測位データを得ることができる。
【図面の簡単な説明】
第１図及び第２図はこの発明による衛星航法装置の機能
ブロック図及び動作を示すフローチ＋　−トである。 ２・・・ＧＰＳ受信部、３・・・判断部、４・・・大気
圧センサ、６・・・高度偏差計算部、７・・・高度記憶
部、８、・位置演算部。 代理人　　　　大　　岩　　増　　雄

Claims (1)

    【特許請求の範囲】
  1. 　衛星からのＧＰＳ信号を受信するＧＰＳ受信部と、受
    信したＧＰＳ信号に基づいて受信可能な衛星数が４個以
    上か否かを判断する判断部と、移動体位置の大気圧を検
    出する大気圧センサと、大気圧センサの出力から移動体
    の移動に伴なう大気圧偏差を求め、この大気圧偏差から
    移動体の高度偏差を計算する高度偏差計算部と、移動体
    の高度データを記憶する高度記憶部と、衛星数が４個以
    上の場合にはＧＰＳ信号とこれに基づく高度データから
    移動体の２次元測位データを演算するとともに、衛星数
    が３個以下の場合には前回の高度データと高度偏差から
    求めた高度データとＧＰＳ信号とから移動体の２次元測
    位データを演算する位置演算部を備えたことを特徴とす
    る衛星航法装置。
JP2186319A 1990-07-11 1990-07-11 衛星航法装置 Pending JPH0470584A (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2186319A JPH0470584A (ja) 1990-07-11 1990-07-11 衛星航法装置
KR1019910007178A KR940003418B1 (ko) 1990-07-11 1991-05-03 위성 항법 장치
US07/726,280 US5265025A (en) 1990-07-11 1991-07-05 Navigation system using satellite signals
DE4123097A DE4123097A1 (de) 1990-07-11 1991-07-09 Navigationssystem

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2186319A JPH0470584A (ja) 1990-07-11 1990-07-11 衛星航法装置

Publications (1)

Publication Number Publication Date
JPH0470584A true JPH0470584A (ja) 1992-03-05

Family

ID=16186255

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2186319A Pending JPH0470584A (ja) 1990-07-11 1990-07-11 衛星航法装置

Country Status (4)

Country Link
US (1) US5265025A (ja)
JP (1) JPH0470584A (ja)
KR (1) KR940003418B1 (ja)
DE (1) DE4123097A1 (ja)

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DE4123097C2 (ja) 1992-12-03
KR920003068A (ko) 1992-02-29

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