公开(公告)号：US5657232A

公开(公告)日：1997-08-12

申请号：US465901

申请日：1995-06-06

申请人： Seiji Ishikawa ,  Yuichi Murakami ,  Tomio Yasuda ,  Toshimitsu Oka

发明人： Seiji Ishikawa ,  Yuichi Murakami ,  Tomio Yasuda ,  Toshimitsu Oka

IPC分类号： G01S5/14 ,  G01S11/10 ,  G01S19/20 ,  G06G7/78

CPC分类号： G01S11/10 ,  G01S19/47 ,  G01S19/52

摘要： A relative speed of a vehicle with respect to a satellite is detected from a deviation of a tuning frequency caused by the Doppler effect, and a vehicle speed is determined from the relative speed. A piezoelectric oscillation gyro detects an angular speed of rotation of the vehicle, which is integrated to determine an azimuth. A travel is detected in terms of the vehicle speed and the azimuth, and the detected travel and information from available GPS satellites are substituted into a navigation equation to solve it for a solution. Alternatively, altitude information detected by an altitude sensor and the angular speed of rotation of the vehicle as detected by the piezoelectric oscillation gyro may be is inputted. The angular speed of rotation is integrated to determine the azimuth. Information from two GPS satellites and information representing azimuth .phi. and altitude .DELTA.z are substituted into the navigation equation to solve it for a solution. Kalman filter is employed. Even when available GPS satellites is two or one, the determination of the position of the vehicle is enabled. The need for a vehicle speed sensor is eliminated, and the accuracy of positioning is enhanced.

摘要翻译： 根据由多普勒效应引起的调谐频率的偏差来检测车辆相对于卫星的相对速度，并且根据相对速度确定车速。 压电振荡陀螺仪检测车辆的角速度，其被积分以确定方位角。 根据车速和方位角检测行驶，将检测到的行驶和来自可用GPS卫星的信息代入导航方程式，以求解其解。 或者，可以输入由高精度传感器检测的高度信息和由压电振荡陀螺仪检测到的车辆的旋转角速度。 旋转的角速度被积分以确定方位角。 来自两个GPS卫星的信息和代表方位角度和高度DELTA z的信息被代入导航方程式以求解它。 卡尔曼滤波器被采用。 即使可用的GPS卫星是两个或一个，确定车辆的位置是有效的。 消除了对车速传感器的需要，并提高了定位精度。