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公开(公告)号：US10948292B2
公开(公告)日：2021-03-16
申请号：US15779482
申请日：2016-10-25
发明人： Hiroyuki Toda , Naomi Fujisawa , Hiraku Nakamura
摘要： The purpose is to accurately and promptly calculate an error of a magnetic sensor. A sensor error calculating device may include a GNSS attitude angle calculating module, a GNSS geomagnetism calculating module, and an error estimating module. The GNSS attitude angle calculating module may calculate a GNSS attitude angle of a movable body based on positioning signals of a GNSS. The GNSS geomagnetism calculating module may calculate a GNSS geomagnetism based on the GNSS attitude angle. The error estimating module may estimate a sensitivity error, a misalignment error and a bias error of the magnetic sensor by using a magnetic detection value of the magnetic sensor and the GNSS geomagnetism.
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公开(公告)号：US10514469B2
公开(公告)日：2019-12-24
申请号：US15540023
申请日：2015-11-26
发明人： Naomi Fujisawa , Hiroyuki Toda , Akihiro Hino , Hiraku Nakamura , Takeshi Nagano , Soichiro Etani , Masashi Sugimoto
IPC分类号： G01S19/54
摘要： An attitude angle may be calculated with high precision. In a traveling state calculating device, receiving parts may output data for calculation using positioning signals received by antennas, respectively. A phase difference calculating part may calculate a single phase difference for every base line based on the data for calculation outputted by the receivers. An attitude angle calculating part may calculate an attitude angle using the data for calculation and the single phase difference. A calculating condition determining part may determine a contribution of the data for calculation to the calculation of the attitude angle, corresponding to the component of the attitude angle, based on a spatial relationship between the base line and the positioning satellite.
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公开(公告)号：US11366235B2
公开(公告)日：2022-06-21
申请号：US16606772
申请日：2018-03-27
发明人： Hiroyuki Toda , Naomi Fujisawa , Hiraku Nakamura
摘要： The determination of an integer value bias may be performed at high speed. A positioning device, may include a FLOAT solution calculating part and an integer value bias determining part. The FLOAT solution calculating part may use carrier phase differences between carrier phases obtained by a plurality of antennas of a first station and a carrier phase obtained by one or more antennas of a second station provided separately from the first station to calculate a FLOAT solution of a particular position that is a relative position with respect to the second station, without using posture information on the first station. The integer value bias determining part may determine an integer value bias of the carrier phase difference, using the FLOAT solution of the particular position and the posture information on the first station.
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公开(公告)号：US10976447B2
公开(公告)日：2021-04-13
申请号：US16478114
申请日：2017-12-12
发明人： Hiraku Nakamura , Hiroyuki Toda , Naomi Fujisawa
摘要： A plurality of antennas may be arranged at positions non-linear to each other. Processing circuitry may set an initial value of one of an attitude angle and an azimuth angle of an azimuth angle calculating device. An integer value bias of a carrier phase difference between at least two groups of antennas may be determined by using the initial value. A base-line vector between the at least two groups of antennas may be calculated by using the integer value bias corresponding to the group of antennas. A multiple base-line verification may be performed, in which validity of the initial value is verified by using each of the base-line vectors calculated using the integer value bias. An azimuth angle may be calculated by using the integer value bias when the multiple base-line verification is successful.
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公开(公告)号：US20180259333A1
公开(公告)日：2018-09-13
申请号：US15779482
申请日：2016-10-25
发明人： Hiroyuki Toda , Naomi Fujisawa , Hiraku Nakamura
摘要： The purpose is to accurately and promptly calculate an error of a magnetic sensor. A sensor error calculating device may include a GNSS attitude angle calculating module, a GNSS geomagnetism calculating module, and an error estimating module. The GNSS attitude angle calculating module may calculate a GNSS attitude angle of a movable body based on positioning signals of a GNSS. The GNSS geomagnetism calculating module may calculate a GNSS geomagnetism based on the GNSS attitude angle. The error estimating module may estimate a sensitivity error, a misalignment error and a bias error of the magnetic sensor by using a magnetic detection value of the magnetic sensor and the GNSS geomagnetism.
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公开(公告)号：US20170350988A1
公开(公告)日：2017-12-07
申请号：US15540022
申请日：2015-11-26
发明人： Hiraku Nakamura , Naomi Fujisawa , Hiroyuki Toda , Takeshi Nagano
CPC分类号： G01S19/55 , G01C21/165 , G01S5/0284 , G01S13/84 , G01S19/47 , G01S19/49 , G01S19/54
摘要： A small-sized state calculating device which may acquire a highly-precise state calculation value is provided. The state calculating device may include antennas, receiving parts, a phase difference calculating part and an operation part. The receiving parts may calculate carrier phase measurements PYA, PYB and PYC of GNSS signals received by the antennas, respectively. The phase difference calculating part may set the antennas to be switched between a master antenna and a slave antenna, and calculate the plurality of inter-antenna phase differences ΔζAB, ΔζBC and ΔζCA, for every combination of the master antenna and the slave antenna, using the carrier phase measurements PYA, PYB and PYC. The operation part may calculate an attitude angle AT using the plurality of inter-antenna phase differences ΔζAB, ΔζBC and ΔζCA.
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17.发明申请APPARATUS, METHOD AND COMPUTER READABLE MEDIA FOR CALCULATING STATUS, AND MOVABLE BODY 有权用于计算状态和移动体的装置，方法和计算机可读介质公开(公告)号：US20150032304A1
公开(公告)日：2015-01-29
申请号：US14339248
申请日：2014-07-23
发明人： Hiraku Nakamura , Naomi Fujisawa
CPC分类号： G05D1/0206 , G01S3/143 , G01S3/48 , G01S5/0247 , G01S19/39 , G01S19/52 , G01S19/54
摘要： A status calculating apparatus is provided. The apparatus includes three or more antennas disposed at different positions on a movable body, each antenna receiving positioning signals, correlators for calculating carrier wave phase differences for every antenna based on correlation of the positioning signals with a replica signal, carrier wave phase measurement value calculating modules for calculating carrier wave phase measurement values, a baseline vector calculating module for calculating baseline vectors based on the carrier wave phase measurement values, and an attitude angle calculating module for calculating a yaw angle for every baseline vector and calculating a representative yaw angle based on the plurality of calculated yaw angles.
摘要翻译： 提供了一种状态计算装置。 该装置包括设置在可移动体上的不同位置的三个或更多个天线，每个天线接收定位信号，基于定位信号与复制信号的相关性计算每个天线的载波相位差的相关器，载波相位测量值计算 用于计算载波相位测量值的模块，用于基于载波相位测量值计算基线矢量的基线矢量计算模块和用于计算每个基线矢量的偏航角的姿态角计算模块，并基于 多个计算的偏航角。
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