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公开(公告)号：US10197681B2
公开(公告)日：2019-02-05
申请号：US15540022
申请日：2015-11-26
发明人： Hiraku Nakamura , Naomi Fujisawa , Hiroyuki Toda , Takeshi Nagano
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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2.发明授权Apparatus, method and computer readable media for calculating status, and movable body 有权用于计算状态的装置，方法和计算机可读介质以及移动体公开(公告)号：US09342075B2
公开(公告)日：2016-05-17
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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3.发明申请公开(公告)号：US20200292316A1
公开(公告)日：2020-09-17
申请号：US16889034
申请日：2020-06-01
发明人： Hiraku NAKAMURA , Hiroyuki Toda , Naomi Fujisawa , Akihiro Hino
摘要： A movement information calculating device includes a positioning sensor, a velocity sensor, an attitude sensor and processing circuitry. The positioning sensor is configured to calculate a position of the positioning sensor on a movable body. The velocity sensor is configured to calculate a velocity of the movable body. The attitude sensor is configured to calculate an attitude of the movable body. The processing circuitry is configured to calculate a center-of-gravity position and a center-of-gravity velocity of the movable body by using the position, the velocity, and the attitude, and calculate one of a turning center position and a pivoting position of the movable body by using the center-of-gravity position and the center-of-gravity velocity.
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公开(公告)号：US10209159B2
公开(公告)日：2019-02-19
申请号：US15120368
申请日：2015-01-20
摘要： A displacement detecting device for a structural object is capable of accurately measuring displacement of the structural object. The displacement detecting device includes first and second attitude data calculators, a data extractor, and a displacement calculator. The first attitude data calculator calculates attitude data at a first position by using received positioning signals, and calculates a calculated time point of the attitude data of the first position based on a time of a positioning system. The second attitude data calculator calculates attitude data at a second position by using received positioning signals, and calculates a calculated time point of the attitude data of the second position based on the time of the positioning system. The displacement calculator calculates a displacement amount and a displacement direction of the structural object by using a difference between the attitude data of the first and second positions calculated at the same time point.
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公开(公告)号：US20180259653A1
公开(公告)日：2018-09-13
申请号：US15779478
申请日：2016-10-25
发明人： Hiraku Nakamura , Naomi Fujisawa , Hiroyuki Toda
摘要： The purpose is to easily achieve verification of an integrated attitude angle based on an inertial sensor. An attitude angle calculating device may include an integrated attitude angle calculating module, a reverse-calculated value calculating module, a reference value calculating module, and a determining module. The integrated attitude angle calculating module may calculate an integrated attitude angle using an output of the inertial sensor and a positioning signal. The reverse-calculated value calculating module may reverse calculate, using the integrated attitude angle, a physical quantity obtained based on the positioning signal that is used for calculating the integrated attitude angle. The reference value calculating module may calculate a reference physical quantity corresponding to the reverse-calculated physical quantity, based on an observation value of the positioning signal. The determining module may determine whether to reset the calculation of the integrated attitude angle by using the reverse-calculated physical quantity and the reference physical quantity.
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6.发明申请公开(公告)号：US20170363749A1
公开(公告)日：2017-12-21
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
CPC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：US11268814B2
公开(公告)日：2022-03-08
申请号：US16889034
申请日：2020-06-01
发明人： Hiraku Nakamura , Hiroyuki Toda , Naomi Fujisawa , Akihiro Hino
摘要： A movement information calculating device includes a positioning sensor, a velocity sensor, an attitude sensor and processing circuitry. The positioning sensor is configured to calculate a position of the positioning sensor on a movable body. The velocity sensor is configured to calculate a velocity of the movable body. The attitude sensor is configured to calculate an attitude of the movable body. The processing circuitry is configured to calculate a center-of-gravity position and a center-of-gravity velocity of the movable body by using the position, the velocity, and the attitude, and calculate one of a turning center position and a pivoting position of the movable body by using the center-of-gravity position and the center-of-gravity velocity.
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8.发明授权公开(公告)号：US11156721B2
公开(公告)日：2021-10-26
申请号：US16889094
申请日：2020-06-01
发明人： Hiraku Nakamura , Hiroyuki Toda , Naomi Fujisawa
摘要： An oscillation observation device includes a first receiver and processing circuitry. The first receiver is configured to measure carrier phases of positioning signal. The processing circuitry is configured to calculate a velocity of an object by using an amount of change in the carrier phases measured by the first receiver, and calculate an amount of oscillation of the object in a translational direction using the velocity.
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9.发明申请DISPLACEMENT DETECTING DEVICE FOR STRUCTURAL OBJECT, SHARING SYSTEM OF DISPLACEMENT OF STRUCTURAL OBJECT, AND METHOD AND PROGRAM OF DETECTING DISPLACEMENT OF STRUCTURAL OBJECT 审中-公开用于结构对象的位移检测装置，结构物体的分离共享系统以及检测结构对象位移的方法和程序公开(公告)号：US20170059445A1
公开(公告)日：2017-03-02
申请号：US15120368
申请日：2015-01-20
摘要： A displacement detecting device for a structural object is capable of accurately measuring displacement of the structural object. The displacement detecting device includes first and second attitude data calculators, a data extractor, and a displacement calculator. The first attitude data calculator calculates attitude data at a first position by using received positioning signals, and calculates a calculated time point of the attitude data of the first position based on a time of a positioning system. The second attitude data calculator calculates attitude data at a second position by using received positioning signals, and calculates a calculated time point of the attitude data of the second position based on the time of the positioning system. The displacement calculator calculates a displacement amount and a displacement direction of the structural object by using a difference between the attitude data of the first and second positions calculated at the same time point.
摘要翻译： 用于结构物体的位移检测装置能够精确地测量结构物体的位移。 位移检测装置包括第一和第二姿态数据计算器，数据提取器和位移计算器。 第一姿态数据计算器通过使用接收到的定位信号来计算第一位置的姿态数据，并且基于定位系统的时间来计算第一位置的姿态数据的计算时间点。 第二姿态数据计算器通过使用接收到的定位信号来计算第二位置的姿态数据，并且基于定位系统的时间来计算第二位置的姿态数据的计算时间点。 位移计算器通过使用在同一时间点计算的第一和第二位置的姿态数据之间的差来计算结构物体的位移量和位移方向。
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公开(公告)号：US11255675B2
公开(公告)日：2022-02-22
申请号：US16728420
申请日：2019-12-27
发明人： Hiraku Nakamura , Hiroyuki Toda , Naomi Fujisawa , Akihiro Hino
摘要： The present disclosure is to calculate an estimated position with high precision. A course estimating device 10 includes an angular velocity calculating part 30, a horizontal ground speed calculating part 70 and an estimated position calculating part 80. The angular velocity calculating part 30 measures or calculates an angular velocity of a movable body. The horizontal ground speed calculating part 70 calculates a horizontal ground speed based on an attitude angle, a ground course, and a ground ship speed of the movable body. The estimated position calculating part 80 calculates an estimated position, based on a period of time from a current time point to an estimation time point, the horizontal ground speed, and an integration operation of the angular velocity.
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