JPH11118499A - Method of measuring position of mobile station - Google Patents
Method of measuring position of mobile stationInfo
- Publication number
- JPH11118499A JPH11118499A JP9306439A JP30643997A JPH11118499A JP H11118499 A JPH11118499 A JP H11118499A JP 9306439 A JP9306439 A JP 9306439A JP 30643997 A JP30643997 A JP 30643997A JP H11118499 A JPH11118499 A JP H11118499A
- Authority
- JP
- Japan
- Prior art keywords
- mobile station
- dgps
- angle speed
- correction data
- time intervals
- 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
Links
- 238000000034 method Methods 0.000 title description 12
- 238000005259 measurement Methods 0.000 claims description 7
- 238000000691 measurement method Methods 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 abstract description 11
- 238000001514 detection method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 238000004364 calculation method Methods 0.000 description 5
- 230000010354 integration Effects 0.000 description 5
- 238000005070 sampling Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000007935 neutral effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- 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
- 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
- G01C21/20—Instruments for performing navigational calculations
-
- 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
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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)
- Navigation (AREA)
- 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、移動局の位置測定
方法に関し、特に、ＤＧＰＳ（Ｄｉｆｆｅｒｅｎｔｉａ
ｌ Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔ
ｅｍ）と６分力センサを用いて行うものである。The present invention relates to a method for measuring the position of a mobile station, and more particularly to a DGPS (Differentia).
l Global Positioning System
em) and a 6-component force sensor.
【０００２】[0002]
【従来の技術】従来、移動局の位置測定方法として人工
衛星を使用するＧＰＳ（ＧｌｏｂａｌＰｏｓｉｔｉｏｎ
ｉｎｇ Ｓｙｓｔｅｍ）が知られている。このＧＰＳシ
ステムは、複数の衛星からそれぞれ疑似雑音コード信号
を用いてスペクトラム拡散処理された中心周波数が、Ｌ
１帯（１５７５．４２[ＭＨz]）及びＬ２帯（１２２
７．６[ＭＨz]）の２つの測距信号を送信すると共に、
移動局側でそのうち４つの衛星の測距信号を受信して復
調することにより、４つの衛星の軌道情報及び時計情報
を得て、これに基づいて４つの衛星と当該移動局との測
距信号の伝搬時間を知ることにより、移動局の位置を算
出することができる。又、移動局に積載して、その走行
時における距離と方角を測定する６分力センサを用いる
ものがある。この６分力センサは、Ｘ，Ｙ，Ｚ軸の軸方
向の加速度とその軸回りの角速度を測定するものであ
り、これらの測定値を用いて位置を測定する。2. Description of the Related Art Conventionally, GPS (Global Position) using an artificial satellite has been used as a method for measuring the position of a mobile station.
ing System) is known. In this GPS system, a center frequency subjected to spread spectrum processing using a pseudo noise code signal from each of a plurality of satellites is represented by L
One band (1575.42 [MHz]) and L2 band (122
7.6 [MHz]) and transmit two ranging signals.
The mobile station receives and demodulates the ranging signals of the four satellites to obtain orbit information and clock information of the four satellites, and based on the information, obtains ranging signals of the four satellites and the mobile station. , The position of the mobile station can be calculated. Further, there is a type in which a 6-component force sensor is mounted on a mobile station and measures a distance and a direction during traveling. This six-component sensor measures the acceleration in the axial direction of the X, Y, and Z axes and the angular velocity around the axis, and measures the position using these measured values.
【０００３】[0003]
【発明が解決しようとする課題】しかし、前記ＧＰＳで
は、Ｃ／Ａコード信号を使用のため、測定精度は数メー
トルの誤差があるし、６分力センサを使用しても同様の
精度である。又、前記ＧＰＳ単体での測定では、細かい
時間間隔における正確な走行軌跡を得ることは困難であ
る。例えば、高速で走行する移動局においては、極僅か
な時間での走行距離は長いため、短時間毎に、精度のよ
い測定方法が望まれている。そこで、本発明は、かかる
不都合を是正する位置測定方法を提供するものである。However, in the GPS, since the C / A code signal is used, the measurement accuracy has an error of several meters, and the same accuracy is obtained even when a six-component sensor is used. . In the measurement using the GPS alone, it is difficult to obtain an accurate running locus at fine time intervals. For example, in a mobile station traveling at high speed, the traveling distance in a very short time is long. Therefore, an accurate measurement method is required for each short time. Therefore, the present invention provides a position measuring method for correcting such a disadvantage.
【０００４】[0004]
【課題を解決するための手段】本発明は、先ず、基地局
と移動局との間でＤＧＰＳを用いて位置補正により特定
時間間隔で基準位置を算出する。そして、移動局に積載
の６分力センサで得られるＸ，Ｙ，Ｚ軸の軸方向の加速
度Ｘａ、Ｙａ、Ｚａとその軸回りのロール角速度Ｐ、ピ
ッチ角速度Ｑ、ヨー角速度Ｒによって、ＤＧＰＳで求め
る時間間隔内における位置補間を行って、移動局の位置
を測定するものである。According to the present invention, first, a reference position is calculated at specified time intervals by position correction between a base station and a mobile station using DGPS. Then, the accelerations Xa, Ya, and Za in the X, Y, and Z axes obtained by the six-component force sensors mounted on the mobile station and the roll angular velocity P, the pitch angular velocity Q, and the yaw angular velocity R around the axes are used in DGPS. The position of the mobile station is measured by performing position interpolation within the obtained time interval.
【０００５】具体的には、図３（Ａ）に示す演算ブロッ
ク図において、ロール角速度Ｐ、ピッチ角速度Ｑ、ヨー
角速度Ｒを（式１）により座標変換し、その値を積分す
る。又、加速度Ｘａ、Ｙａ、Ｚａを（式２）により座標
変換し、積分して速度を求め、その速度を積分すること
により補間データが得られるので、ＤＧＰＳで得られた
値に加算することによって、移動局の補間位置が測定で
きる。More specifically, in the operation block diagram shown in FIG. 3A, the roll angular velocity P, the pitch angular velocity Q, and the yaw angular velocity R are coordinate-converted by (Equation 1), and the values are integrated. Also, the accelerations Xa, Ya, and Za are coordinate-converted by (Equation 2), integrated to obtain a speed, and the speed is integrated. Interpolation data can be obtained. Therefore, the acceleration data is added to the value obtained by DGPS. And the interpolation position of the mobile station can be measured.
【０００６】[0006]
【発明の実施の形態】図１は、本発明の概念図であり、
４個の人工衛星、基地局及び移動局の関係を示す。又、
図２（Ａ）か基地局の機器構成図、図２（Ｂ）は移動局
の機器構成図を示す。基地局は、地球座標系における位
置（Ｘｋ、Ｙｋ、Ｚｋ）が既知であり、人工衛星からの
Ｌ１帯（１５７５．４２[ＭＨz]）或いはＬ２帯（１２
２７．６[ＭＨz]）の疑似雑音コード信号をＧＰＳ受信
アンテナで受信し、ＧＰＳ（Ｇｌｏｂａｌ Ｐｏｓｉｔ
ｉｏｎｉｎｇ Ｓｙｓｔｅｍ）受信機で解読し、その補
正データを補正データ送信機、送信アンテナを介して移
動局に送る。FIG. 1 is a conceptual diagram of the present invention.
4 shows a relationship among four artificial satellites, a base station, and a mobile station. or,
FIG. 2A is a device configuration diagram of the base station, and FIG. 2B is a device configuration diagram of the mobile station. The base station knows the position (Xk, Yk, Zk) in the earth coordinate system, and receives the L1 band (1575.42 [MHz]) or the L2 band (12
27.6 [MHz]) is received by a GPS receiving antenna, and GPS (Global Position) is received.
(Ioning System) The decoding is performed by the receiver, and the correction data is transmitted to the mobile station via the correction data transmitter and the transmission antenna.
【０００７】又、基地局とでＤＧＰＳ（Ｄｉｆｆｅｒｅ
ｎｔｉａｌ Ｇｌｏｂａｌ Ｐｏｓｉｔｉｏｎｉｎｇ
Ｓｙｓｔｅｍ）によって、移動局の位置を測定するた
め、移動局にもＧＰＳ受信機を備えると共に、前記基地
局からの補正データを受信する補正データ受信アンテナ
と補正データ受信機を備えている。又、この移動局に
は、６分力センサを備えていて、移動局を基準のＸ，
Ｙ，Ｚ軸方向の加速度Ｘａ、Ｙａ、Ｚａとロール角速度
Ｐ、ピッチ角速度Ｑ、ヨー角速度Ｒを得ることができ
る。A DGPS (Differential) is used with a base station.
neutral Global Positioning
In order to measure the position of the mobile station by System, the mobile station is also provided with a GPS receiver, and is provided with a correction data receiving antenna and a correction data receiver for receiving correction data from the base station. Further, this mobile station is provided with a six-component force sensor, and X,
The accelerations Xa, Ya, Za in the Y and Z axis directions, the roll angular velocity P, the pitch angular velocity Q, and the yaw angular velocity R can be obtained.
【０００８】前記ＤＧＰＳは、よく知られているよう
に、位置が正確に判っている基地局に備えたＧＰＳ受信
機と、移動局に備えたＧＰＳ受信機によって、４個の人
工衛星からの疑似雑音コード信号（Ｃ／Ａ、Ｐコード
等）によって、測位点の座標ｘ、ｙ、ｘと時計の誤差Δ
ｔの変数を求める。そして、正確な位置（Ｘｋ、Ｙｋ、
Ｚｋ）が既知である基準局の前記測定結果を比較し、そ
の差が補正データとして移動局に送信し、移動局は、そ
の補正データを、前記移動局におけるＧＰＳ受信機によ
って得られた測定値に対して補正するものである。従っ
て、このＤＧＰＳによって、移動局における位置（Ｘe
i、Ｙei、Ｚei）は、時間間隔（本実施例ではΔｔ（＝
２００ｍｓ））で、精度よく得られる。[0008] As is well known, the DGPS uses a GPS receiver provided in a base station whose position is accurately known and a GPS receiver provided in a mobile station to generate a pseudo-simulation signal from four artificial satellites. An error Δ between the coordinates x, y, x of the positioning point and the clock due to the noise code signal (C / A, P code, etc.)
Find the variable of t. Then, the exact position (Xk, Yk,
Zk) is compared with the measurement result of the reference station having a known value, and the difference is transmitted to the mobile station as correction data, and the mobile station compares the correction data with the measurement value obtained by the GPS receiver in the mobile station. In this case, the correction is performed. Therefore, the position (Xe) at the mobile station is determined by the DGPS.
i, Yei, Zei) are time intervals (Δt (=
200 ms)) and can be obtained with high accuracy.
【０００９】しかし、前記における時間間隔で得られる
データでは、高速移動する移動局においては不充分であ
る。そこで、本発明では６分力センサを用いて、前記得
られる時間間隔Δｔ（＝２００ｍｓ）の間における位置
を、δｔ（２０ｍｓ）毎に、図３（Ｂ）に示す補間値を
得る。この補間方法は、少なくとも２０ｍｓ以内で逐次
出力する６分力センサの加速度Ｘａ、Ｙａ、Ｚａとロー
ル角速度Ｐ、ピッチ角速度Ｑ、ヨー角速度Ｒの値を用い
て、図３（Ａ）に示す演算ブロック図、図４に示す（式
１）（式２）及び図５に示す演算フローを介して、デー
タ集積用ＣＰＵ及びデータ解析用ＣＰＵによって行う。
尚、式（１）（２）はよく知られた座標変換式であるた
め、誘導式等の説明を略す。However, the data obtained at the above time intervals is insufficient for a mobile station moving at high speed. Therefore, in the present invention, the interpolated values shown in FIG. 3B are obtained by using the 6-component force sensor at every position δt (20 ms) between the obtained time intervals Δt (= 200 ms). This interpolation method uses the values of the accelerations Xa, Ya, Za and the roll angular velocity P, the pitch angular velocity Q, and the yaw angular velocity R of the six-component force sensor, which are sequentially output within at least 20 ms, to calculate the operation shown in FIG. The calculation is performed by the data integration CPU and the data analysis CPU through the (equation 1) and (equation 2) shown in FIGS.
Since equations (1) and (2) are well-known coordinate transformation equations, explanations of the guide equations and the like are omitted.
【００１０】次に、前記ＣＰＵにおける演算について、
具体的に説明する。先ず、移動局を初期設定し、初期値
として、ロール姿勢角（φ0）、ピッチ姿勢角（θ0）、
ヨー姿勢角（ψ0）を入力すると共に、カウンタｉを初
期化する（Ｓ０）。次に、カウンタｉに１を加算し（Ｓ
１）、カウンタｉが１０の倍数であるか否かを判定し
（Ｓ２）、そのときには、移動局の位置（ＸEi、ＹEi、
ＺEi）を前記「ＤＧＰＳ」で求めた位置（Ｘei、Ｙei、
Ｚei）の値とする（Ｓ３）。尚、前記「１０」はＤＧＰ
Ｓの測定間隔がΔｔ（＝２００ｍｓ）であり、補正デー
タをδｔ（２０ｍｓ）で得るための設定である。そし
て、移動局の位置（ＸEi、ＹEi、ＺEi）の値を出力し
て、ステップ５に進む（Ｓ４）。Next, the calculation in the CPU will be described.
This will be specifically described. First, the mobile station is initialized, and the roll attitude angle (φ0), the pitch attitude angle (θ0),
A yaw attitude angle (ψ0) is input, and a counter i is initialized (S0). Next, 1 is added to the counter i (S
1) It is determined whether or not the counter i is a multiple of 10 (S2). At that time, the position of the mobile station (XEi, YEi,
ZEi) at the position (Xei, Yei,
Zei) (S3). Note that “10” is DGP
The measurement interval of S is Δt (= 200 ms), which is a setting for obtaining correction data at δt (20 ms). Then, the value of the position (XEi, YEi, ZEi) of the mobile station is output, and the process proceeds to step 5 (S4).
【００１１】前記ステップ２でカウンタｉが１０の倍数
でないときには、補間データを求めるために、６分力セ
ンサで求めた、ロール角速度Ｐ、ピッチ角速度Ｑ、ヨー
角速度Ｒの値と、ロール姿勢角（φiー1）、ピッチ姿勢
角（θiー1）、ヨー姿勢角（ψiー1）の値を用いて、（式
１）によって、座標変換されたロール姿勢角（φ）、ピ
ッチ姿勢角（θ）、ヨー姿勢角（ψ）の微分値を得る
（Ｓ５）。尚、このように、ロール姿勢角（φiー1）、
ピッチ姿勢角（θiー1）、ヨー姿勢角（ψiー1）を前回に
得られた値を用いても、精度誤差は殆どないことを確認
している。When the counter i is not a multiple of 10 in the step 2, the values of the roll angular velocity P, the pitch angular velocity Q, the yaw angular velocity R and the roll attitude angle (determined by the 6-component force sensor) are determined in order to determine the interpolation data. Using the values of φi-1), the pitch attitude angle (θi-1), and the yaw attitude angle (ψi-1), the roll attitude angle (φ) and the pitch attitude angle (θ) that are coordinate-converted by (Equation 1) ), And obtains a differential value of the yaw attitude angle (ψ) (S5). In addition, as described above, the roll attitude angle (φi-1),
It has been confirmed that there is almost no accuracy error even if the pitch attitude angle (θi-1) and yaw attitude angle (ψi-1) are obtained using the values obtained last time.
【００１２】そして、前記ロール姿勢角（φ）、ピッチ
姿勢角（θ）、ヨー姿勢角（ψ）の微分値を積分（Ａ）
して、ロール姿勢角（φi）、ピッチ姿勢角（θi）、ヨ
ー姿勢角（ψi）を得る（Ｓ６）。尚、この積分方法に
は、単にデータを加算する方法、台形法等があり、サン
プリング周期と処理能力で設定する。次に、６分力セン
サから得られる加速度Ｘａ、Ｙａ、Ｚａとロール姿勢角
（φi）、ピッチ姿勢角（θi）、ヨー姿勢角（ψi）と
で、移動局座標系から地球座標系に変換する（式２）に
よって、Ｘa'、Ｙa'、Ｚa'を得る（Ｓ７）。そして、前
記得られたＸa'、Ｙa'、Ｚa'を積分（Ｂ）して、速度Ｘ
v、Ｙｖ、Ｚｖを算出する（Ｓ８）。尚、この積分方法
は前記積分Ａと同じ要領で行う。The differential values of the roll attitude angle (φ), pitch attitude angle (θ), and yaw attitude angle (ψ) are integrated (A).
Then, a roll attitude angle (φi), a pitch attitude angle (θi), and a yaw attitude angle (ψi) are obtained (S6). Note that this integration method includes a method of simply adding data, a trapezoidal method, and the like, which are set based on a sampling cycle and a processing capacity. Next, the acceleration Xa, Ya, Za obtained from the 6-component sensor, the roll attitude angle (φi), the pitch attitude angle (θi), and the yaw attitude angle (ψi) are converted from the mobile station coordinate system to the earth coordinate system. Xa ', Ya', and Za 'are obtained by the following (Equation 2) (S7). Then, the obtained Xa ', Ya', Za 'are integrated (B) to obtain the speed X
v, Yv, and Zv are calculated (S8). Note that this integration method is performed in the same manner as the integration A.
【００１３】前記速度Ｘｖ、Ｙｖ、Ｚｖを積分（Ｃ）し
て、移動局における補間データ（δXi、δYi、δZi）を
求める（Ｓ９）。そこで、前記ＤＧＰＳにおいて求めた
（Ｘei、Ｙei、Ｚei）に前記補間データ（δｘi、δｙ
i、δｚi）を加算して、移動局における位置（ＸEi、Ｙ
Ei、ＺEi）を求める（Ｓ１０）。The speeds Xv, Yv, Zv are integrated (C) to obtain interpolation data (δXi, δYi, δZi) at the mobile station (S9). Therefore, the interpolation data (δxi, δy) is added to (Xei, Yei, Zei) obtained by the DGPS.
i, δzi), and add the position (XEi, Y
Ei, ZEi) are obtained (S10).
【００１４】そして、前記ステップ１に戻り、この過程
を繰り返すことによって、ＤＧＰＳで得られる（Ｘei、
Ｙei、Ｚei）の間における移動局の位置（ＸEi、ＹEi、
ＺEi）が精度よく求めることができる。尚、前記積分
（Ａ）（Ｂ）（Ｃ）は、δｔ時間で１サンプリングであ
るが、６分力センサ及びＣＰＵの処理能力から、δｔ時
間で複数のサンプリングデータによって行うこともでき
る。又、測定時間間隔δｔ、Δｔは、求める精度によっ
て任意に選定することはいうまでもない。以上のよう
に、本実施の形態においては、移動局の位置（ＸEi、Ｙ
Ei、ＺEi）は、δｔ毎に得られるので、高速移動局に対
処することができる。尚、前記ディジタル演算は、位置
測定プログラムとして実現され、該プログラムは記録媒
体に記録して提供することもできる。Then, returning to the above-mentioned step 1, by repeating this process, it is obtained by DGPS (Xei,
Yei, Zei), the position of the mobile station (XEi, YEi,
ZEi) can be obtained with high accuracy. The integration (A), (B), and (C) are one sampling in the δt time, but can be performed by a plurality of sampling data in the δt time, based on the processing capability of the 6-component sensor and the CPU. Needless to say, the measurement time intervals δt and Δt are arbitrarily selected depending on the required accuracy. As described above, in the present embodiment, the position (XEi, Y
Ei, ZEi) are obtained for each δt, so that high-speed mobile stations can be handled. Note that the digital calculation is realized as a position measurement program, and the program can be provided by being recorded on a recording medium.
【００１５】[0015]
【発明の効果】本発明は、ＤＧＰＳと６分力センサを用
いることにより、ＤＧＰＳで得られる時刻の間の位置を
精度よく補間することができるので、高速で移動する移
動局に対して有効な測定方法である。According to the present invention, the position between the times obtained by DGPS can be accurately interpolated by using the DGPS and the six-component force sensor, so that the present invention is effective for a mobile station moving at a high speed. It is a measuring method.
【図１】本発明の概念図である。FIG. 1 is a conceptual diagram of the present invention.
【図２】（Ａ）は基地局の機器構成図、（Ｂ）は移動局
の機器構成図を示す。FIG. 2A is a device configuration diagram of a base station, and FIG. 2B is a device configuration diagram of a mobile station.
【図３】（Ａ）は演算ブロック図、（Ｂ）は移動局にお
けるＤＧＰＳによる測定値と補間値の関係を示す図であ
る。FIG. 3A is a calculation block diagram, and FIG. 3B is a diagram showing a relationship between a measured value by DGPS and an interpolated value in a mobile station.
【図４】（式１）（式２）を示す図である。FIG. 4 is a diagram showing (Equation 1) and (Equation 2).
【図５】演算フローを示す図である。FIG. 5 is a diagram showing a calculation flow.
Ｘａ、Ｙａ、Ｚａ ６分力センサの加速度 Ｐ ６分力センサのロール角速度 Ｑ ６分力センサのピッチ角速度 Ｒ ６分力センサのヨー角速度 Ｘｋ、Ｙｋ、Ｚｋ 基地局の位置 Ｘei、Ｙei、Ｚei ＤＧＰＳで測定された移動局の位置 ＸEi、ＹEi、ＺEi 補間された移動局の位置 Xa, Ya, Za Acceleration of 6-component sensor P Roll angular speed of 6-component sensor Q Pitch angular speed of 6-component sensor R Yaw angular speed of 6-component sensor Xk, Yk, Zk Location of base station Xei, Yei, Zei DGPS XEi, YEi, ZEi Interpolated mobile station position
───────────────────────────────────────────────────── フロントページの続き (72)発明者 徳山 憲司 名古屋市中村区岩塚町字九反所60番地の１ 中菱エンジニアリング株式会社内 (72)発明者 中瀬 淳 名古屋市中村区岩塚町字九反所60番地の１ 中菱エンジニアリング株式会社内 (72)発明者 福田 明弘 名古屋市中村区岩塚町字九反所60番地の１ 中菱エンジニアリング株式会社内 (72)発明者 松本 晴子 名古屋市中村区岩塚町字九反所60番地の１ 中菱エンジニアリング株式会社内 (72)発明者 飯沼 裕美 名古屋市中村区岩塚町字九反所60番地の１ 中菱エンジニアリング株式会社内 (72)発明者 吉野 真広 名古屋市中村区岩塚町字九反所60番地の１ 中菱エンジニアリング株式会社内 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Kenji Tokuyama 60-1 Kutsubo, Iwazuka-cho, Nakamura-ku, Nagoya-shi Inside Churyo Engineering Co., Ltd. No. 60 at Chusho Engineering Co., Ltd. (72) Inventor Akihiro Fukuda Character at Iwatsukacho, Nakamura-ku, Nagoya-shi Nakano Engineering Co., Ltd. (72) Inventor Hiromi Iinuma 60-1 Iwatsuka-cho, Iwatsukacho, Nakamura-ku, Nagoya-shi Nakano Engineering Co., Ltd. (72) Inventor Masahiro Yoshino Nagoya 1 Nakabashi Engineering Co., Ltd. at 60 Kutansho, Iwazuka-cho, Nakamura-ku
Claims (1)
て位置補正により特定時間間隔で基準位置を算出し、 移動局に６分力センサを積載し、その６分力センサでの
測定値を用いて、前記ＤＧＰＳで求める時間間隔内にお
ける位置補間を行うことを特徴とする移動局の位置測定
方法。1. A reference position is calculated at specific time intervals by position correction between a base station and a mobile station using DGPS, a 6-component force sensor is mounted on the mobile station, and measurement is performed by the 6-component force sensor. A position measurement method for a mobile station, comprising performing position interpolation within a time interval determined by the DGPS using a value.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9306439A JPH11118499A (en) | 1997-10-20 | 1997-10-20 | Method of measuring position of mobile station |
| PCT/JP1998/004663 WO1999020980A1 (en) | 1997-10-20 | 1998-10-15 | Position measurement method for mobile station |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9306439A JPH11118499A (en) | 1997-10-20 | 1997-10-20 | Method of measuring position of mobile station |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH11118499A true JPH11118499A (en) | 1999-04-30 |
Family
ID=17957027
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9306439A Pending JPH11118499A (en) | 1997-10-20 | 1997-10-20 | Method of measuring position of mobile station |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JPH11118499A (en) |
| WO (1) | WO1999020980A1 (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100414912B1 (en) * | 2001-01-26 | 2004-01-13 | 삼성전자주식회사 | Method for detecting position of mobile station in global positioning system |
| KR100446219B1 (en) * | 2002-01-07 | 2004-08-30 | 삼성전자주식회사 | Apparatus for detecting position of user equipment using global positioning system/dead-reckoning and method thereof |
| US6907347B2 (en) | 2002-11-21 | 2005-06-14 | Ford Global Technologies, Llc | Systems and method for estimating speed and pitch sensor errors |
| JP2009501669A (en) * | 2005-07-18 | 2009-01-22 | エアバス フランス | Method and apparatus for determining the ground position of a moving object, in particular an aircraft at an airport |
| JP2009042179A (en) * | 2007-08-10 | 2009-02-26 | Kawasaki Heavy Ind Ltd | Train position detection device, body tilt control system, steering system, active vibration suppression system and semi-active vibration suppression system |
| JP2009085827A (en) * | 2007-10-01 | 2009-04-23 | Denso Corp | Acceleration information generator |
| JP2009103497A (en) * | 2007-10-22 | 2009-05-14 | Churyo Eng Kk | Running locus computing device of mobile station by independent gps positioning having initial position correction function |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102121828B (en) * | 2010-12-21 | 2012-12-19 | 浙江大学 | Method for estimating body posture angle of humanoid robot in real time |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0666920A (en) * | 1992-08-21 | 1994-03-11 | Taisei Corp | Three-dimensional position measuring device and method |
| US5606506A (en) * | 1993-04-05 | 1997-02-25 | Caterpillar Inc. | Method and apparatus for improving the accuracy of position estimates in a satellite based navigation system using velocity data from an inertial reference unit |
| JPH08249062A (en) * | 1995-03-13 | 1996-09-27 | Fuji Heavy Ind Ltd | Driving controller for autonomous vehicles |
-
1997
- 1997-10-20 JP JP9306439A patent/JPH11118499A/en active Pending
-
1998
- 1998-10-15 WO PCT/JP1998/004663 patent/WO1999020980A1/en not_active Ceased
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100414912B1 (en) * | 2001-01-26 | 2004-01-13 | 삼성전자주식회사 | Method for detecting position of mobile station in global positioning system |
| KR100446219B1 (en) * | 2002-01-07 | 2004-08-30 | 삼성전자주식회사 | Apparatus for detecting position of user equipment using global positioning system/dead-reckoning and method thereof |
| US6907347B2 (en) | 2002-11-21 | 2005-06-14 | Ford Global Technologies, Llc | Systems and method for estimating speed and pitch sensor errors |
| JP2009501669A (en) * | 2005-07-18 | 2009-01-22 | エアバス フランス | Method and apparatus for determining the ground position of a moving object, in particular an aircraft at an airport |
| JP2009042179A (en) * | 2007-08-10 | 2009-02-26 | Kawasaki Heavy Ind Ltd | Train position detection device, body tilt control system, steering system, active vibration suppression system and semi-active vibration suppression system |
| JP2009085827A (en) * | 2007-10-01 | 2009-04-23 | Denso Corp | Acceleration information generator |
| JP2009103497A (en) * | 2007-10-22 | 2009-05-14 | Churyo Eng Kk | Running locus computing device of mobile station by independent gps positioning having initial position correction function |
Also Published As
| Publication number | Publication date |
|---|---|
| WO1999020980A1 (en) | 1999-04-29 |
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