公开(公告)号：JP2009264844A

公开(公告)日：2009-11-12

申请号：JP2008112968

申请日：2008-04-23

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TAJIMA YASUHIRO ,  KAGAWA KAZUNORI ,  UCHIHARA MASAFUMI

IPC: G01S19/04 ,  G01S19/43 ,  G01S19/44 ,  G01S19/51 ,  G08G1/09

CPC classification number: G01S19/44 ,  G01S5/0072 ,  G01S19/20 ,  G01S19/51

Abstract: PROBLEM TO BE SOLVED: To provide a relative position among three or more moving bodies by interferometric positioning, and to efficiently determine the reliability of the interferometric positioning.
SOLUTION: If three or more moving bodies can communicate with each other, the reference moving body transmits data including observation data obtained by an observation data obtaining means to the non reference moving body. The non reference moving body implements the interferometric positioning by using the data including the observation data obtained by the observation data obtaining means and the observation data received from the reference moving body, calculates the relative position between the reference moving body, and implements one of a process of transmitting the data including an integer bias calculated as a result of the interferometric positioning to the other non reference moving body and receiving a reliability determination result regarding the interferometric positioning, and a process of receiving the data including the integer bias from the other non reference moving body and determining the reliability of the interferometric positioning.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：通过干涉定位来提供三个或更多个移动体之间的相对位置，并且有效地确定干涉定位的可靠性。 解决方案：如果三个以上的移动体能够相互通信，则基准移动体将包括观测数据取得单元得到的观察数据的数据发送给非参照移动体。 非参考移动体通过使用包括由观察数据获取装置获得的观察数据和从参考移动体接收到的观察数据的数据来实现干涉定位，计算参考移动体之间的相对位置，并实现 将包括作为干涉定位的结果计算出的整数偏差的数据的数据发送到另一非参考移动体并接收关于干涉测量定位的可靠性确定结果的处理，以及从其他非参考移动体接收包括整数偏差的数据的处理， 参考移动体并确定干涉定位的可靠性。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2009243940A

公开(公告)日：2009-10-22

申请号：JP2008087969

申请日：2008-03-28

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TAJIMA YASUHIRO ,  UCHIHARA MASAFUMI ,  KAGAWA KAZUNORI ,  MATSUMOTO HIDENORI ,  HIWA TSUYOKI

IPC: G01C21/00 ,  G01C21/28 ,  G01S19/22 ,  G01S19/28

Abstract: PROBLEM TO BE SOLVED: To raise measurement precision by performing positioning calculation by masking a GNSS satellite transmitting a positioning signal being under influence of mountains.
SOLUTION: A GNSS receiving device 100 which performs positioning calculation based on the positioning signal transmitted from a GNSS satellite 200 includes a GNSS satellite selecting means selecting a GNSS satellite which transmits the positioning signal being under influence of mountains and a first positioning calculation means performing positioning calculation by masking the GNSS satellite selected by the GNSS satellite selecting means.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：通过对传播正在受山脉影响的定位信号的GNSS卫星进行掩蔽进行定位计算来提高测量精度。 解决方案：基于从GNSS卫星200发送的定位信号执行定位计算的GNSS接收装置100包括GNSS卫星选择装置，其选择发射山脉影响的定位信号的GNSS卫星和第一定位计算 意味着通过掩蔽由GNSS卫星选择装置选择的GNSS卫星进行定位计算。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2005164395A

公开(公告)日：2005-06-23

申请号：JP2003403640

申请日：2003-12-02

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： KAGAWA KAZUNORI ,  YAMASHITA KATSUJI ,  TAJIMA YASUHIRO ,  ONOME HIROHISA

IPC: G01S19/14 ,  G01S19/44 ,  G01S19/46 ,  G01S5/14

CPC classification number: G01S19/46 ,  G01S19/14 ,  G01S19/44

Abstract: PROBLEM TO BE SOLVED: To determine an integer value bias with high precision, in a short time. SOLUTION: This carrier wave phase type GPS positioning apparatus acquires the data of an accumulated value of a carrier wave phase of a satellite signal of a mobile station side at one time. The apparatus associates the data of the accumulated value of the carrier wave phase of the mobile station side at the one time with the data of the accumulated value of the carrier wave phase of a base station side with a plurality of times, before the one time, to estimate the integral value bias contained in the accumulated value of the carrier wave phase of the satellite signal observed by the mobile station. COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：在短时间内以高精度确定整数值偏差。 解决方案：该载波相位型GPS定位装置一次获取移动台侧的卫星信号的载波相位的累积值的数据。 该装置将移动站侧的载波相位的累积值的数据与基站侧的载波相位的累积值的数据多次相关联，一次 估计由移动台观测到的卫星信号的载波相位累积值中所包含的积分值偏差。 版权所有（C）2005，JPO＆NCIPI

公开(公告)号：JP2012081857A

公开(公告)日：2012-04-26

申请号：JP2010229514

申请日：2010-10-12

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： UEDA AKIHIRO ,  MOTOZONO KIICHI ,  UCHIHARA MASAFUMI ,  TAJIMA YASUHIRO

IPC: B60W40/09 ,  B60W10/04 ,  B60W10/06 ,  B60W10/10 ,  B60W40/072 ,  B60W40/076 ,  F02D29/00

Abstract: PROBLEM TO BE SOLVED: To reduce a driver's feeling of strangeness to a control of a power train.SOLUTION: A vehicle travel control device 100 controls the power train 5 including an engine 51 and a transmission 52, installed on a vehicle. The vehicle travel control device 100 also includes: a road surface information memory unit 22 storing in advance road surface information including a gradient value information showing a gradient value of a road, while associating the road surface information with map information; an operation history memory unit 23 storing operation history information as operation information showing operations performed by the driver of the vehicle while the vehicle has traveled so far, while associating the operation history information with the map information; and a first traveling control part 111 controlling the power train 5, based on the road surface information and the operation history information.

Abstract translation: 要解决的问题：减少驾驶员对动力传动系的控制的陌生感。 解决方案：车辆行驶控制装置100控制包括安装在车辆上的发动机51和变速器52的动力传动系5。 车辆行驶控制装置100还包括：道路面信息存储单元22，其将路面信息与地图信息相关联，预先存储包括表示道路的坡度值的坡度值信息的路面信息; 操作历史存储单元23，存储作为操作信息的操作历史信息，该操作信息表示当车辆行驶到目前为止，车辆的驾驶员执行的操作，同时将操作历史信息与地图信息相关联; 以及基于路面信息和操作历史信息来控制动力传动系5的第一行驶控制部111。 版权所有（C）2012，JPO＆INPIT

公开(公告)号：JP2010060421A

公开(公告)日：2010-03-18

申请号：JP2008226146

申请日：2008-09-03

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TAJIMA YASUHIRO

IPC: G01S19/07 ,  G01C21/00 ,  G01S19/40 ,  G08G1/0969

Abstract: PROBLEM TO BE SOLVED: To provide a positioning system for moving bodies for improving positioning accuracy. SOLUTION: The positioning system for moving bodies for performing positioning computations on the basis of positioning signals transmitted from GNSS satellites has a reference station and a moving body. The reference station has both a means arranged at a fixed location for measuring the speed of the reference station on the basis of the Doppler range of satellite radio waves acquired by observations at the reference station and generating correction data on the basis of results of the measurement and a means for transmitting the correction data to the moving body. The moving body has both a means for receiving the correction data transmitted from the reference station and a positioning means for position the moving body on the basis of both observation data of satellite radio waves acquired by observations at the moving body and received correction data. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供用于移动体的定位系统，以提高定位精度。 解决方案：基于从GNSS卫星发送的定位信号进行定位计算的移动体的定位系统具有参考站和移动体。 参考站具有布置在固定位置的装置，用于基于在参考站处的观测获得的卫星无线电波的多普勒范围来测量参考站的速度，并且基于测量结果产生校正数据 以及用于将校正数据发送到移动体的装置。 移动体具有用于接收从参考站发送的校正数据的装置和用于基于通过在移动体处的观测获得的卫星无线电波的观测数据和接收到的校正数据来定位移动体的定位装置。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2009264977A

公开(公告)日：2009-11-12

申请号：JP2008116309

申请日：2008-04-25

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： KAGAWA KAZUNORI ,  UCHIHARA MASAFUMI ,  TAJIMA YASUHIRO

IPC: G01S19/03 ,  G01S19/04 ,  G01S19/43 ,  G01S19/44 ,  G01S19/51 ,  G08G1/09

CPC classification number: G01S5/0072 ,  G01S19/44 ,  G01S19/51

Abstract: PROBLEM TO BE SOLVED: To provide an inter-moving body interferometric positioning system can precisely grasp the relative positions of three or more moving bodies by means of efficient positioning processing. SOLUTION: An inter-moving body interferometric positioning system for carrying out positioning in coordination with three or more moving bodies that can mutually communicate, includes: reference vehicle decision means for deciding on a single moving body to function as a reference vehicle from among three or more moving bodies; and positioning means for interferometrically determining respective relative positions of other moving bodies relative to the reference moving body that is to function as a reference vehicle decided on by the reference moving body decision means using satellite wave monitoring data monitored in each of the three or more moving bodies. This inter-moving body interferometric positioning system specifies relative positions among the other moving bodies using positioning results of the positioning means. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供移动体间干涉定位系统可以通过有效的定位处理精确地掌握三个或更多个移动体的相对位置。 解决方案：一种用于与三个或更多个可相互通信的移动体协调地进行定位的移动体间干涉定位系统，包括：用于决定单个移动体用作参考车辆的参考车辆决定装置， 在三个或更多的移动体中; 以及定位装置，用于干涉地确定其它移动体相对于参考移动体的各自的相对位置，该相对位置用作参考移动体决定装置决定的参考车辆，所述参考移动体使用在三个或更多个移动中的每一个中监视的卫星波监测数据 身体。 该移动体间干涉定位系统使用定位装置的定位结果来指定其他移动体之间的相对位置。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2009198185A

公开(公告)日：2009-09-03

申请号：JP2008036892

申请日：2008-02-19

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： UCHIHARA MASAFUMI ,  TAJIMA YASUHIRO

IPC: G01C21/00 ,  B60W40/105 ,  G01C21/28 ,  G01S19/52 ,  G08G1/0969

Abstract: PROBLEM TO BE SOLVED: To provide a vehicle position attitude estimating device for improving final calculation accuracy. SOLUTION: This vehicle position attitude estimating device 1 includes a vehicle behavior detecting means 2c for detecting the acceleration of a vehicle, a wheel speed detecting means 2d for detecting the wheel speed of the wheel of the vehicle, a GPS speed detecting means 2e for detecting the GPS speed, a determining means 2f for determining whether slip or lock of the wheel occurs, and a calculating means 2g for calculating the vehicle speed based on the acceleration and wheel speed when the determining means 2f determines that slip or lock of the wheel does not occur. When the determining means 2f determines that slip or lock of the wheel occurs, the calculating means 2g calculates the vehicle speed based on the acceleration and the GPS speed. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于提高最终计算精度的车辆位置姿态估计装置。 解决方案：该车辆位置姿态估计装置1包括用于检测车辆的加速度的车辆行为检测装置2c，用于检测车辆的车轮速度的车轮速度检测装置2d，GPS速度检测装置 2e用于检测GPS速度;确定装置2f，用于确定车轮是否滑动或锁定发生;以及计算装置2g，用于当确定装置2f确定滑动或锁定时基于加速度和车轮速度计算车速 车轮不会发生。 当确定装置2f确定车轮的滑动或锁定发生时，计算装置2g基于加速度和GPS速度来计算车速。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009103509A

公开(公告)日：2009-05-14

申请号：JP2007273979

申请日：2007-10-22

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： HASEGAWA NAOTO ,  KAGAWA KAZUNORI ,  MOTOZONO KIICHI ,  KOBORI KUNINARI ,  UCHIHARA MASAFUMI ,  TAJIMA YASUHIRO

IPC: G01C21/00 ,  G01S19/22 ,  G01S19/40 ,  G08G1/0969

Abstract: PROBLEM TO BE SOLVED: To detect existence of an influence of multipath; to reduce the influence when the influence of multipath exists; and to improve measurement accuracy.
SOLUTION: This GNSS (Global Navigation Satellite System) receiving device for calculating a position based on each positioning signal transmitted from a plurality of GNSS satellites is equipped with a multipath determination means for determining whether the positioning signal is received after being influenced by the multipath or not, based on a time characteristic of a pseudo distance determined based on the positioning signal; a phase difference zero point calculation means for determining a zero point where a phase of a direct wave becomes equal to a phase of a reflected wave based on the time characteristic of the pseudo distance, when determined that the positioning signal is received after being influenced by the multipath; a pseudo distance correction means for correcting the pseudo distance based on the time characteristic of an integrated value of a Doppler frequency determined based on the positioning signal and on the zero point determined by the phase difference zero point calculation means; and a positioning operation means for determining a position based on the corrected pseudo distance.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：检测多路径影响的存在; 减少多径影响时的影响; 并提高测量精度。 解决方案：用于基于从多个GNSS卫星发送的每个定位信号来计算位置的GNSS（全球导航卫星系统）接收装置配备有多路径确定装置，用于确定定位信号是否在被 基于基于所述定位信号确定的伪距离的时间特性的多路径; 相位差零点计算装置，用于当确定定位信号受到影响之后接收定位信号时，基于伪距离的时间特性确定直接波的相位变为等于反射波的相位的零点 多路径 伪距离校正装置，用于基于基于定位信号确定的多普勒频率的积分值的时间特性和由相位差零点计算装置确定的零点来校正伪距离; 以及用于基于经校正的伪距离确定位置的定位操作装置。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009025049A

公开(公告)日：2009-02-05

申请号：JP2007186180

申请日：2007-07-17

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TAJIMA YASUHIRO ,  KOBORI KUNINARI ,  HASEGAWA NAOTO ,  KAGAWA KAZUNORI

IPC: G01S19/44

Abstract: PROBLEM TO BE SOLVED: To evaluate the validity of an integer solution of integer bias with high precision.
SOLUTION: The carrier phase type mobile positioning system includes: a real root deriving means for deriving a real root of the integer bias; an integer solution deriving means for deriving an integer solution of the integer bias on the basis of the real root derived by the real root deriving means; and a test means for calculating a predetermined indicator which indicates the validity of the integer solution of the integer bias on the basis of the relationship between the real root of the integer bias derived by the real root deriving means and the integer solution of the integer bias derived by the integer solution deriving means and for evaluating the validity of the integer solution of the integer bias on the basis of the relationship between the calculated indicator and a threshold. The test means evaluates the validity of the integer solution of the integer bias by using the threshold of two or more types and/or changing the threshold.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：以高精度评估整数偏差的整数解的有效性。 解决方案：载波相位移动定位系统包括：用于导出整数偏差的实根的真根导出装置; 一个整数解导出装置，用于根据由实根导出装置导出的实根导出整数偏差的整数解; 以及测试装置，用于基于由实根导出装置导出的整数偏差的实根与整数偏差的整数解之间的关系来计算指示整数偏差的整数解的有效性的预定指示符 通过整数解导出装置导出，并且基于计算的指示符与阈值之间的关系来评估整数偏差的整数解的有效性。 测试装置通过使用两种或多种类型的阈值和/或改变阈值来评估整数偏差的整数解的有效性。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008209227A

公开(公告)日：2008-09-11

申请号：JP2007045882

申请日：2007-02-26

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： UEDA AKIHIRO ,  MAEDA IWAO ,  EIMIYA KIYOMI ,  TAJIMA YASUHIRO ,  HASEGAWA NAOTO

IPC: G01S19/42

Abstract: PROBLEM TO BE SOLVED: To implement a weighted positioning operation for properly reflecting different errors to respective satellites. SOLUTION: A mobile positioning apparatus includes: a pseudo distance measuring means for measuring a pseudo distance between a mobile and each satellite by use of an observed value of a phase obtained while the mobile stops; an error index calculating means for calculating an index for indicating the error in the measured pseudo distance based on the pseudo distances measured by the pseudo distance measuring means at a plurality of time points while the mobile stops; a weight coefficient determining means for determining a weight coefficient of each satellite based on the error index of each satellite calculated by the error index calculating means; and a positioning operation means for positioning the moving mobile by use of the observed value of the phase obtained from the moving mobile and the weighted positioning operation using the weight coefficient of each satellite determined by the weight coefficient determining means. COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：实现用于适当地反映各个卫星的不同误差的加权定位操作。 移动定位装置包括：伪距离测量装置，用于通过使用在移动站停止时获得的相位的观测值来测量移动台和每个卫星之间的伪距离; 误差指标计算装置，用于在移动站停止时，在多个时间点，基于由伪距离测量装置测量的伪距离，计算用于指示所测量的伪距离中的误差的索引; 权重系数确定装置，用于基于由所述误差指数计算装置计算的每个卫星的误差指数来确定每个卫星的加权系数; 以及定位操作装置，用于使用由权重系数确定装置确定的每个卫星的加权系数，通过使用从移动移动台获得的相位的观测值和加权定位操作来定位移动移动台。 版权所有（C）2008，JPO＆INPIT