公开(公告)号：US08725412B2

公开(公告)日：2014-05-13

申请号：US12305397

申请日：2007-06-08

申请人： Norimasa Kobori ,  Kazunori Kagawa

发明人： Norimasa Kobori ,  Kazunori Kagawa

IPC分类号： G01C21/30 ,  G01S19/49

CPC分类号： G01C21/165 ,  G01C21/28 ,  G01S19/48 ,  G01S19/49 ,  G08G1/09623 ,  G08G1/0969

摘要： A positioning device includes a map data storing unit configured to store map data; autonomous sensors configured to detect behavior information of a moving object; an inertial positioning unit configured to detect an estimated position of the moving object by applying the behavior information detected by the autonomous sensors to positioning results obtained by an electronic navigation positioning unit such as a GPS; a planimetric feature detecting unit configured to detect a planimetric feature located around a road; a planimetric feature position identifying unit configured to identify a position of the planimetric feature; a planimetric feature reference positioning unit configured to estimate a planimetric feature estimated position of the moving object by using the position of the planimetric feature as a reference; and a position estimating unit configured to estimate a position of the moving object by applying the estimated position and the planimetric feature estimated position to a Kalman filter.

摘要翻译： 定位装置包括配置为存储地图数据的地图数据存储单元; 自动传感器，被配置为检测移动物体的行为信息; 惯性定位单元，被配置为通过将由所述自主传感器检测到的行为信息应用于由诸如GPS的电子导航定位单元获得的定位结果来检测所述移动物体的估计位置; 配置为检测位于道路周围的平面特征的平面测量特征检测单元; 平面图特征位置识别单元，被配置为识别平面图特征的位置; 平面测量特征参考定位单元，被配置为通过使用平面图特征的位置作为参考来估计移动物体的平面特征估计位置; 以及位置估计单元，被配置为通过将估计位置和平面特征估计位置应用于卡尔曼滤波器来估计移动物体的位置。

公开(公告)号：US08532159B2

公开(公告)日：2013-09-10

申请号：US12670878

申请日：2008-08-28

申请人： Kazunori Kagawa ,  Norimasa Kobori ,  Yukinori Fujita

发明人： Kazunori Kagawa ,  Norimasa Kobori ,  Yukinori Fujita

IPC分类号： H04B1/00

CPC分类号： G08G1/161 ,  B60R21/0134 ,  B60T7/22 ,  B60W30/08 ,  G01S5/0072 ,  G01S11/08

摘要： A transmitter has a portion that sets a parameter about the transmitter itself based on a parameter made to correspond to a condition for selecting a receiver with which the transmitter communicate with, a portion that generates a spread code based on the set parameter, and a sending portion that spreads transmit-data to form a spread signal by the generated spread code, and that sends the spread signal. The receiver has a portion that receives the signal transmitted by the transmitter, a portion that sets a parameter about the receiver itself based on the parameter made to correspond to the condition, a portion that generates a despread code based on the set parameter, a portion that performs a correlation computation of the received signal and the generated despread code, and a portion that selects a transmitter with which the receiver communicates, based on a result of the correlation computation.

摘要翻译： 发射机具有一部分，其基于与用于选择发射机通信的接收机的条件相对应的参数，基于所设置的参数生成扩展码的部分，以及发送器 扩展发送数据以通过所生成的扩展码形成扩展信号的部分，并且发送扩展信号。 接收机具有接收由发射机发送的信号的部分，基于对应于该条件的参数设置关于接收机本身的参数的部分，基于所设置的参数产生解扩码的部分，部分 执行接收信号和所生成的解扩码的相关计算，以及基于相关计算的结果选择接收机与之通信的发送机的部分。

公开(公告)号：US08244470B2

公开(公告)日：2012-08-14

申请号：US12308942

申请日：2007-07-11

申请人： Norimasa Kobori ,  Kazunori Kagawa

发明人： Norimasa Kobori ,  Kazunori Kagawa

IPC分类号： G08G1/123

CPC分类号： G01C21/30

摘要： A navigation apparatus that detects a position of a movable body includes map data storage means for storing map data; an autonomous sensor that detects information on behavior of the movable body; inertial position determination means for detecting an inertial position-determination position of the movable body, by accumulating the information detected by the autonomous sensor on a result of position determination performed using radio navigation; characteristic position detection means for detecting a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; correction amount detection means for extracting positional information on a road position corresponding to the characteristic position, by referring to the map data storage means; and position correction means for correcting the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position.

摘要翻译： 检测可移动体的位置的导航装置包括用于存储地图数据的地图数据存储装置; 检测关于可移动体的行为的信息的自主传感器; 惯性位置确定装置，用于通过根据使用无线电导航执行的位置确定的结果积累由自主传感器检测到的信息来检测可移动体的惯性位置确定位置; 特征位置检测装置，用于检测作为可移动体具有特征行为的惯性位置确定位置的特征位置; 校正量检测装置，用于通过参考地图数据存储装置提取与特征位置相对应的道路位置上的位置信息; 以及位置校正装置，用于基于特征位置接近道路位置的条件，使用卡尔曼滤波器来校正特征位置。

公开(公告)号：US08041472B2

公开(公告)日：2011-10-18

申请号：US12089651

申请日：2007-06-08

申请人： Norimasa Kobori ,  Kazunori Kagawa

发明人： Norimasa Kobori ,  Kazunori Kagawa

IPC分类号： G01C21/00 ,  G01C21/30

CPC分类号： G01C21/00 ,  G01C21/30 ,  G01S19/48 ,  G01S19/49 ,  G08G1/096827 ,  G09B29/106

摘要： A positioning device that detects a position of a mobile body with a radio navigation positioning unit includes: first and second autonomous sensors obtaining behavioral information on the mobile body; a position detecting unit obtaining an estimated position and an estimated direction by updating a detection result based on the behavioral information from the first autonomous sensor; a map data positioning unit that refers to a map data storage unit based on the estimated position and obtains a map data linked position at a predetermined distance away from a link; a direction detecting unit obtaining a cumulative estimated direction by updating the detection result based on the behavioral information from the second autonomous sensor; and a most probable position estimating unit estimating the position of the mobile body from the estimated positions and directions using the Kalman filter.

摘要翻译： 利用无线导航定位单元检测移动体的位置的定位装置包括：第一和第二自主传感器，在移动体上获取行为信息; 位置检测单元通过基于来自第一自主传感器的行为信息更新检测结果来获得估计位置和估计方向; 地图数据定位单元，其基于估计位置参考地图数据存储单元，并且获得距离链接预定距离的地图数据链接位置; 方向检测单元，通过基于来自第二自主传感器的行为信息更新检测结果来获得累积估计方向; 以及最可能的位置估计单元，使用卡尔曼滤波器从所估计的位置和方向估计移动体的位置。

公开(公告)号：US07994973B2

公开(公告)日：2011-08-09

申请号：US12377400

申请日：2007-11-26

申请人： Norimasa Kobori ,  Naoto Hasegawa

发明人： Norimasa Kobori ,  Naoto Hasegawa

IPC分类号： G01S19/07

CPC分类号： G01S19/23

摘要： A disclosed vehicle control device includes a first ionospheric state information receiving unit receiving information of a predicted ionospheric state at a time point later than a current time point; a second ionospheric state information receiving unit receiving information of an ionospheric state at the current time point; an ionospheric delay error estimating unit estimating an ionospheric delay error by correcting a first ionospheric delay error based on a second ionospheric delay error, the first ionospheric delay error being derived based on the first ionospheric state information, and the second ionospheric delay error being derived based on the second ionospheric state information; and a positioning unit locating a position of a moving body based on a receiving result of a radio wave from a satellite and the estimated ionospheric delay error.

摘要翻译： 所公开的车辆控制装置包括第一电离层状态信息接收单元，其在比当前时间点晚的时间点接收预测电离层状态的信息; 第二电离层状态信息接收单元，接收当前时间点的电离层状态的信息; 电离层延迟误差估计单元，通过基于第二电离层延迟误差校正第一电离层延迟误差估计电离层延迟误差，基于第一电离层状态信息导出第一电离层延迟误差，基于第二电离层延迟误差导出 关于第二电离层状态信息; 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体的位置的定位单元。

公开(公告)号：US20100202495A1

公开(公告)日：2010-08-12

申请号：US12670878

申请日：2008-08-28

申请人： Kazunori Kagawa ,  Norimasa Kobori ,  Yukinori Fujita

发明人： Kazunori Kagawa ,  Norimasa Kobori ,  Yukinori Fujita

IPC分类号： H04B1/707

CPC分类号： G08G1/161 ,  B60R21/0134 ,  B60T7/22 ,  B60W30/08 ,  G01S5/0072 ,  G01S11/08

摘要： A transmitter has a portion that sets a parameter about the transmitter itself based on a parameter made to correspond to a condition for selecting a receiver with which the transmitter communicate with, a portion that generates a spread code based on the set parameter, and a sending portion that spreads transmit-data to form a spread signal by the generated spread code, and that sends the spread signal. The receiver has a portion that receives the signal transmitted by the transmitter, a portion that sets a parameter about the receiver itself based on the parameter made to correspond to the condition, a portion that generates a despread code based on the set parameter, a portion that performs a correlation computation of the received signal and the generated despread code, and a portion that selects a transmitter with which the receiver communicates, based on a result of the correlation computation.

摘要翻译： 发射机具有一部分，其基于与用于选择发射机通信的接收机的条件相对应的参数，基于所设置的参数生成扩展码的部分，以及发送器 扩展发送数据以通过所生成的扩展码形成扩展信号的部分，并且发送扩展信号。 接收机具有接收由发射机发送的信号的部分，基于对应于该条件的参数设置关于接收机本身的参数的部分，基于所设置的参数产生解扩码的部分，部分 执行接收信号和所生成的解扩码的相关计算，以及基于相关计算的结果选择接收机与之通信的发送机的部分。

公开(公告)号：US20090271108A1

公开(公告)日：2009-10-29

申请号：US12308942

申请日：2007-07-11

申请人： Norimasa Kobori ,  Kazunori Kagawa

发明人： Norimasa Kobori ,  Kazunori Kagawa

IPC分类号： G01C21/30

CPC分类号： G01C21/30

摘要： A navigation apparatus (1) that detects a position of a movable body includes map data storage means (13) for storing map data; an autonomous sensor (12) that detects information on behavior of the movable body; inertial position determination means (10b) for detecting an inertial position-determination position of the movable body, by accumulating the information detected by the autonomous sensor (12) on a result of position determination performed using radio navigation; characteristic position detection means (10d) for detecting a characteristic position (31) that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; correction amount detection means (10e) for extracting positional information on a road position (22) corresponding to the characteristic position (31), by referring to the map data storage means (13); and position correction means (10f) for correcting the characteristic position (31) using a Kalman filter based on a condition that the characteristic position (31) is close to the road position (22).

摘要翻译： 检测可移动体的位置的导航装置（1）包括用于存储地图数据的地图数据存储装置（13） 自动传感器（12），其检测关于所述可移动体的行为的信息; 惯性位置确定装置（10b），用于通过根据使用无线电导航执行的位置确定的结果积累由自主传感器（12）检测到的信息来检测可移动体的惯性位置确定位置; 特征位置检测装置（10d），用于检测作为可移动体已经表现出特性的惯性位置确定位置的特征位置（31）; 用于通过参照地图数据存储装置（13）提取与特征位置（31）对应的道路位置（22）上的位置信息的校正量检测装置（10e）。 以及基于特征位置（31）接近道路位置（22）的条件，使用卡尔曼滤波器来校正特征位置（31）的位置校正装置（10f）。

公开(公告)号：US20100225536A1

公开(公告)日：2010-09-09

申请号：US12377400

申请日：2007-11-26

申请人： Norimasa Kobori ,  Naoto Hasegawa

发明人： Norimasa Kobori ,  Naoto Hasegawa

IPC分类号： G01S19/07

CPC分类号： G01S19/23

摘要： A disclosed vehicle control device includes a first ionospheric state information receiving unit 70 receiving information of a predicted ionospheric state at a time point later than a current time point; a second ionospheric state information receiving unit 20 receiving information of an ionospheric state at the current time point; an ionospheric delay error estimating unit 50 estimating an ionospheric delay error by correcting a first ionospheric delay error based on a second ionospheric delay error, the first ionospheric delay error being derived based on the first ionospheric state information, and the second ionospheric delay error being derived based on the second ionospheric state information; and a positioning unit 40 locating a position of a moving body based on a receiving result of a radio wave from a satellite and the estimated ionospheric delay error.

摘要翻译： 所公开的车辆控制装置包括第一电离层状态信息接收单元70，其在比当前时间点晚的时间点接收预测电离层状态的信息; 第二电离层状态信息接收单元20，接收当前时间点的电离层状态的信息; 电离层延迟误差估计单元50通过基于第二电离层延迟误差校正第一电离层延迟误差来估计电离层延迟误差，基于第一电离层状态信息导出第一电离层延迟误差，并导出第二电离层延迟误差 基于第二电离层状态信息; 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体的位置的定位单元40。

公开(公告)号：US20100007550A1

公开(公告)日：2010-01-14

申请号：US12457889

申请日：2009-06-24

申请人： Kiyomi Nagamiya ,  Akihiro Ueda ,  Iwao Maeda ,  Norimasa Kobori

发明人： Kiyomi Nagamiya ,  Akihiro Ueda ,  Iwao Maeda ,  Norimasa Kobori

IPC分类号： G01S1/00

CPC分类号： G01C21/165 ,  G01S19/49

摘要： A positioning apparatus for a mobile object for measuring a position at a current time includes a GPS positioning unit for updating a GPS operation data; an INS positioning unit with a detection value for INS positioning; a speed detector for detecting speed; an error corrector for correcting an error of the detection value, the position measured by the INS positioning and the speed; and a mobile object model operation unit for calculating a mobile object model; wherein an initial position is calculated using the GPS operation data, and the mobile object model operation unit measures the position to the current time when the current time coincides with a GPS updating time; and wherein the initial position is calculated without the GPS operation data, and the mobile object model operation unit measures the position to the current time when the current time does not coincide with a GPS updating time.

摘要翻译： 用于测量当前时间位置的移动体的定位装置包括：GPS定位单元，用于更新GPS操作数据; INS定位单元，具有INS定位的检测值; 用于检测速度的速度检测器; 用于校正检测值的误差的误差校正器，通过INS定位测量的位置和速度; 以及用于计算移动对象模型的移动对象模型操作单元; 其中使用所述GPS操作数据计算初始位置，并且所述移动对象模型操作单元测量当前时间与GPS更新时间一致的当前时间的位置; 并且其中在没有GPS操作数据的情况下计算初始位置，并且移动对象模型操作单元测量当前时间与GPS更新时间不一致的当前时间的位置。

公开(公告)号：US20080228395A1

公开(公告)日：2008-09-18

申请号：US12089651

申请日：2007-06-08

申请人： Norimasa Kobori ,  Kazunori Kagawa

发明人： Norimasa Kobori ,  Kazunori Kagawa

IPC分类号： G01C21/10 ,  G06F17/10

CPC分类号： G01C21/00 ,  G01C21/30 ,  G01S19/48 ,  G01S19/49 ,  G08G1/096827 ,  G09B29/106

摘要： A positioning device that detects a position of a mobile body with a radio navigation positioning unit includes: first and second autonomous sensors obtaining behavioral information on the mobile body; a position detecting unit obtaining an estimated position and an estimated direction by updating a detection result based on the behavioral information from the first autonomous sensor; a map data positioning unit that refers to a map data storage unit based on the estimated position and obtains a map data linked position at a predetermined distance away from a link; a direction detecting unit obtaining a cumulative estimated direction by updating the detection result based on the behavioral information from the second autonomous sensor; and a most probable position estimating unit estimating the position of the mobile body from the estimated positions and directions using the Kalman filter.

摘要翻译： 利用无线导航定位单元检测移动体的位置的定位装置包括：第一和第二自主传感器，在移动体上获取行为信息; 位置检测单元通过基于来自第一自主传感器的行为信息更新检测结果来获得估计位置和估计方向; 地图数据定位单元，其基于估计位置参考地图数据存储单元，并且获得距离链接预定距离的地图数据链接位置; 方向检测单元，通过基于来自第二自主传感器的行为信息更新检测结果来获得累积估计方向; 以及最可能的位置估计单元，使用卡尔曼滤波器从所估计的位置和方向估计移动体的位置。