公开(公告)号：JP2013160522A

公开(公告)日：2013-08-19

申请号：JP2012019996

申请日：2012-02-01

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

Inventor： SHONO SHOICHI ,  MOTOZONO KIICHI ,  HASEGAWA NAOTO

IPC: G01C21/34 ,  B60K6/445 ,  B60L3/00 ,  B60L11/14 ,  B60W10/00 ,  B60W20/00 ,  G08G1/00

CPC classification number: Y02T10/6239 ,  Y02T10/7077 ,  Y02T90/161

Abstract: PROBLEM TO BE SOLVED: To properly notify a driver of a route superior in fuel economy.SOLUTION: An ECU200 includes: a travel information recording part 204 that records travel information including fuel economy FE on a travel information storage part 210 every time a vehicle travels a section (link) Ln set in advance on a map; a route evaluation part 207 that determines fuel economy FE for each of routes RT from a start point P0 to a designated point P1, on the basis of the travel information recorded in the travel information storage part 210 when the vehicle travels in the past, and selects a route superior in fuel economy FE from the routes RT; and a route display part 208 that displays the route RT selected by the route evaluation part 207 on an LCD 72.

Abstract translation: 要解决的问题：适当地通知驾驶员燃油经济性优越的路线。解决方案：ECU200包括：行驶信息记录部204，其每当车辆行驶时，在行驶信息存储部210上记录包含燃料经济性FE的行驶信息 在地图上预先设置一个（链接）Ln; 基于当过去车辆行驶时记录在行驶信息存储部210中的行驶信息，基于从起始点P0到指定点P1的每个路径RT的燃料经济性FE的路线评价部207，以及 从路线RT选择燃油经济型FE优先; 以及路线显示部208，其将由路线评价部207选择的路径RT显示在LCD72上。

公开(公告)号：JP2010112759A

公开(公告)日：2010-05-20

申请号：JP2008283536

申请日：2008-11-04

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

Inventor： HASEGAWA NAOTO ,  HANPO HIDEAKI

IPC: G01S19/22 ,  G01S19/45 ,  G01S19/49

Abstract: PROBLEM TO BE SOLVED: To measure the position of a mobile body more reliably and accurately.
SOLUTION: The mobile body positioning apparatus includes: a reception means for receiving signals from a plurality of satellites; an observed pseudo range calculating means for calculating an observed pseudo range based on the signals received by the reception means; and a positioning computation means for performing repeated positioning computation based on the observed pseudo range calculated by the observed pseudo range calculating means. The mobile object positioning apparatus further includes an estimated pseudo range calculating means for calculating an estimated pseudo range by adding a variation of ADR (Accumulated Doppler Range) to a distance determined from a last positioning result and the position of the satellite while the positioning computation means is performing repeated positioning computation. Under a predetermined condition, the positioning computation means performs positioning computation by using an estimated pseudo range calculated by the estimated pseudo range calculating means as a substitute for an observed pseudo range calculated by the observed pseudo range calculating means.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：更准确地测量移动体的位置。 解决方案：移动体定位装置包括：接收装置，用于从多个卫星接收信号; 观察的伪距离计算装置，用于基于由接收装置接收的信号来计算观察到的伪距离; 以及定位计算装置，用于基于由观察到的伪距离计算装置计算的观察到的伪距离来执行重复定位计算。 该移动物体定位装置还包括：估计伪距离计算装置，用于通过将ADR（累积多普勒范围）的变化与从最后的定位结果确定的距离和卫星的位置相加来计算估计的伪距离，同时定位计算装置 正在执行重复定位计算。 在预定条件下，定位计算装置通过使用由所估计的伪距离计算装置计算的估计的伪距离作为由观察到的伪距离计算装置计算的观察到的伪距离的替代来执行定位计算。 版权所有（C）2010，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

公开(公告)号：JP2008145303A

公开(公告)日：2008-06-26

申请号：JP2006333675

申请日：2006-12-11

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

Inventor： KOBORI KUNINARI ,  HASEGAWA NAOTO

IPC: G01S5/14 ,  G01S19/07 ,  G01S19/40

CPC classification number: G01S19/23

Abstract: PROBLEM TO BE SOLVED: To precisely estimate ionosphere delay errors to correct them by properly utilizing various information about the ionosphere conditions.
SOLUTION: The mobile location positioning device includes: a first ionosphere condition information reception means 70 for receiving the information about predicted ionosphere conditions to a future time point from the current time point; a second ionosphere condition information reception means 20 for receiving the information about the current ionosphere conditions; an ionosphere delay error estimation means 50 for estimating the ionosphere delay errors; and a positioning means 40 positioning the mobile location on the basis of a reception result of a radio wave from a satellite and the estimated ionosphere delay errors. The ionosphere delay error estimation means estimates the ionosphere delay errors by correcting the first ionosphere delay errors derived based on the first ionosphere condition information on the basis of the second ionosphere delay errors derived based on the second ionosphere condition information.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：通过适当利用关于电离层条件的各种信息，精确估计电离层延迟误差来纠正它们。 移动位置定位装置包括：第一电离层条件信息接收装置70，用于从当前时间点接收关于预测的电离层条件的信息到未来时间点; 用于接收关于当前电离层条件的信息的第二电离层条件信息接收装置20; 用于估计电离层延迟误差的电离层延迟误差估计装置50; 以及基于来自卫星的无线电波的接收结果和估计的电离层延迟误差来定位移动位置的定位装置40。 电离层延迟误差估计装置通过基于基于第二电离层条件信息导出的第二电离层延迟误差，校正基于第一电离层条件信息导出的第一电离层延迟误差来估计电离层延迟误差。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2008134092A

公开(公告)日：2008-06-12

申请号：JP2006318847

申请日：2006-11-27

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

Inventor： HASEGAWA NAOTO ,  MAEDA IWAO ,  UEDA AKIHIRO ,  SHIBATA NAOTO

IPC: G01S19/30 ,  G01S19/42

CPC classification number: G01S19/40

Abstract: PROBLEM TO BE SOLVED: To filter a pseudo-distance by estimating a pseudo-distance variation by another means without using a measurement result of a carrier wave phase of a satellite signal in a stopped state of a mobile body.
SOLUTION: Mobile body position positioning devices 1, 2, 3 are equipped with pseudo-distance calculation means 20A, 20B for calculating the pseudo-distance ρ' between a satellite 10 and a vehicle 90, a stop determination means 70 for determining whether the mobile body is stopped or not, a satellite position calculation means 60 for calculating the satellite position, pseudo-distance variation estimation means 50A, 50B, 50C for estimating the pseudo-distance variation ▵ρ, and a positioning means 40 for positioning the position of the mobile body based on the pseudo-distance and the pseudo-distance variation. When determined stop of the mobile body by the stop determination means, the pseudo-distance variation estimation means estimates the pseudo-distance variation by using a change history of the satellite position calculated by the satellite position calculation means.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：通过在移动体的停止状态下不使用卫星信号的载波相位的测量结果来估计伪距离变化来过滤伪距离。 解决方案：移动体位置定位装置1,2,3配备有用于计算卫星10和车辆90之间的伪距离ρ'的伪距离计算装置20A，20B，用于确定 无论移动体是否停止，用于计算卫星位置的卫星位置计算装置60，用于估计伪距离变化▵ρ的伪距离变化估计装置50A，50B，50C以及用于将移动体定位的定位装置40 基于伪距离和伪距离变化的移动体的位置。 通过停止判定单元确定了移动体的停止时，伪距离变化估计单元利用由卫星位置计算单元计算出的卫星位置的变化历史来估计伪距离变化。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2007278881A

公开(公告)日：2007-10-25

申请号：JP2006106353

申请日：2006-04-07

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

Inventor： HASEGAWA NAOTO

IPC: G01C21/00 ,  G01S19/50 ,  G01S19/52 ,  G08G1/0969

Abstract: PROBLEM TO BE SOLVED: To provide a mobile body-mounted positioning device reduced in size and simplified by performing positioning computation only data from a GNSS satellite even when the number of satellite from which positioning data can be received is insufficient in the mobile body-mounted positioning device.
SOLUTION: When there is deficiency in the number of satellites from which the positioning data can be received, a current velocity vector of a vehicle 1 is estimated from the positioning data in the past, it is assumed that the vehicle 1 travels on a straight line 30 obtained by extending the velocity vector, and the positioning position of the vehicle 1 is specified using a distance ρ
1 between the GNSS satellite 20 and the vehicle 1 obtained from GNSS data.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：为了提供通过仅执行来自GNSS卫星的数据的定位计算来减小尺寸并简化的移动体安装定位装置，即使在移动中可以接收定位数据的卫星数量不足 车身定位装置。 解决方案：当可以接收定位数据的卫星数量不足时，根据过去的定位数据估计车辆1的当前速度矢量，假定车辆1行驶 通过使用从GNSS数据获得的GNSS卫星20与车辆1之间的距离ρ 1 来规定通过扩展速度矢量而获得的直线30和车辆1的定位位置。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2010223684A

公开(公告)日：2010-10-07

申请号：JP2009069766

申请日：2009-03-23

Applicant: TOYOTA MOTOR CORP

Inventor： HASEGAWA NAOTO ,  HANPO HIDEAKI

IPC: G01S19/52 ,  G01C21/00 ,  G01S19/40 ,  G01S19/49 ,  H04W64/00

Abstract: PROBLEM TO BE SOLVED: To provide a positioning apparatus for moving bodies capable of outputting accurate velocity vectors of moving bodies. SOLUTION: The positioning apparatus for moving bodies includes: a position computation means for computing the position of a moving body through the use of satellite radio waves; a velocity computation means for computing the velocity vector of the moving body on the basis of the satellite radio waves or inertial navigation; a storage means for storing map data in which roads are depicted as a plurality of links; a projection means for outputting a projection velocity vector acquired by projecting the velocity vector computed by the velocity vector computation means to a link in which the moving body is estimated to be present among the links; and an appropriateness determination means for projection to determine whether the adoption of the projection velocity vector outputted by the projection means is appropriate or not. In the case that the appropriateness determination means for projection has determined that the projection velocity vector should be adopted, the positioning apparatus for moving bodies outputs the projection velocity vector as the velocity vector of the moving body. COPYRIGHT: (C)2011,JPO&INPIT