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公开(公告)号：US06611228B2
公开(公告)日：2003-08-26
申请号：US09910850
申请日：2001-07-24
Applicant: Hiroyuki Toda , Sadao Sato , Masaru Fukuda , Kaoru Nakayama
Inventor： Hiroyuki Toda , Sadao Sato , Masaru Fukuda , Kaoru Nakayama
IPC: G01S502
Abstract: A carrier phase-based relative positioning apparatus comprises a plurality of antennas of which at least one is installed on a mobile unit. The apparatus determines the position of each antenna other than one antenna used as a reference antenna relative to the reference antenna by receiving radio signals transmitted from a plurality of position-fixing satellites with the multiple antennas, observing a single difference phase or a double difference phase, and calculating an integer ambiguity of the single difference phase or the double difference phase. The apparatus judges that the integer ambiguity has been incorrectly determined if the position of any of the antennas relative to the reference antenna (or the angle of a flat plane formed by those two antennas) falls out of a preset range in which the relative position (the angle of the flat plane) falls under normal conditions.
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公开(公告)号：US06424915B1
公开(公告)日：2002-07-23
申请号：US09870628
申请日：2001-06-01
Applicant: Masaru Fukuda , Sadao Sato , Hiroyuki Toda
Inventor： Masaru Fukuda , Sadao Sato , Hiroyuki Toda
IPC: G01C1900
CPC classification number: G01C21/165 , G01S19/53 , G01S19/55
Abstract: A system for determining the heading and/or attitude of a body receives radio waves from a plurality of position-fixing satellites using at least three antennas fixedly mounted at different positions of the body. To reliably obtain integer ambiguity solutions of carrier phases of the radio waves in a shorter time, the system directly determines integer ambiguities from attitude angle data obtained by an IMU attitude processing section when the integer ambiguities are to be redetermined in the event of an interruption of the received radio waves or a change in the combination of satellites to be used. This system provides a user with highly accurate uninterrupted heading and/or attitude angle information.
Abstract translation: 用于确定身体的航向和/或姿态的系统使用固定地安装在身体的不同位置的至少三个天线从多个位置固定卫星接收无线电波。 为了在更短的时间内可靠地获得无线电波的载波相位的整数模糊度解，系统在IMU姿态处理部分获得的姿态角度数据中直接确定整数模糊度，当在中断的情况下重新确定整数模糊度 接收的无线电波或将要使用的卫星组合的变化。 该系统为用户提供高度准确的不间断航向和/或姿态角度信息。
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3.发明授权公开(公告)号：US07076342B2
公开(公告)日：2006-07-11
申请号：US10800698
申请日：2004-03-16
Applicant: Masaru Fukuda , Hiroyuki Toda
Inventor： Masaru Fukuda , Hiroyuki Toda
CPC classification number: G01C21/165 , G01S5/0247 , G01S19/21 , G01S19/26 , G01S19/49 , G01S19/53
Abstract: An attitude sensing apparatus for determining the attitude of a mobile unit is provided that can reliably estimate an alignment angle between a GPS antenna coordinate system and an IMU coordinate system with good accuracy regardless of the magnitude of the alignment angle. Based on observation of the difference between a GPS angular velocity and an IMU angular velocity, an alignment angle estimating section estimates an alignment angle and sensor errors. An alignment angle adder and a sensor error adder cumulatively add and update the estimated alignment angle and sensor errors, respectively. The estimated alignment angle is fed back to an inertia data converter while the estimated sensor errors are fed back to an inertia data correcting section. The apparatus repeatedly performs estimation until the estimated alignment angle gradually approaches a true alignment angle by successively feeding back estimated values to a flow of alignment angle estimation process.
Abstract translation: 提供了一种用于确定移动单元的姿态的姿态感测装置，其可以与对准角度的大小无关地可靠地估计GPS天线坐标系和IMU坐标系之间的对准角度，而且精度高。 基于对GPS角速度和IMU角速度之间的差异的观察，对准角估计部估计对准角度和传感器误差。 对准角加法器和传感器误差加法器分别累积地添加和更新估计的对准角度和传感器误差。 估计的对准角度被反馈到惯性数据转换器，而估计的传感器误差被反馈到惯性数据校正部分。 该装置重复执行估计，直到估计的对准角逐渐接近真正的对准角，通过连续地将估计值反馈到对准角度估计处理的流程。
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公开(公告)号：US07026982B2
公开(公告)日：2006-04-11
申请号：US10758034
申请日：2004-01-16
Applicant: Hiroyuki Toda , Naomi Fujisawa , Masaru Fukuda
Inventor： Hiroyuki Toda , Naomi Fujisawa , Masaru Fukuda
Abstract: A carrier-phase-based relative positioning device employs a signal processing method which makes it possible to continue estimation of integer ambiguity values even when the number of positioning satellites has changed, determine an integer ambiguity value by efficiently verifying the integer ambiguities in a short time, and calculate a baseline vector. The positioning device includes an integer ambiguity resolving section which determines integer ambiguities of single or double phase differences using a Kalman filter and lambda notation. The Kalman filter is used to calculate estimated values of floating ambiguities and the lambda notation is used to calculate estimated values of the integer ambiguities based on the floating ambiguities. A candidate of a potentially true integer ambiguity that is considered most reliable is determined through various verification processes. When the number of positioning satellites has increased or decreased, or when a reference satellite has been switched, a floating ambiguity after the change in satellite information is estimated from a baseline vector estimated before the change.
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公开(公告)号：US06720914B2
公开(公告)日：2004-04-13
申请号：US10321666
申请日：2002-12-18
Applicant: Hiroyuki Toda , Naomi Fujisawa , Masaru Fukuda
Inventor： Hiroyuki Toda , Naomi Fujisawa , Masaru Fukuda
IPC: H04B7185
Abstract: A carrier-phase-based relative positioning device employs a signal processing method which makes it possible to continue estimation of integer ambiguity values even when the number of positioning satellites has changed, determine an integer ambiguity value by efficiently verifying the integer ambiguities in a short time, and calculate a baseline vector. The positioning device includes an integer ambiguity resolving section which determines integer ambiguities of single or double phase differences using a Kalman filter and lambda notation. The Kalman filter is used to calculate estimated values of floating ambiguities and the lambda notation is used to calculate estimated values of the integer ambiguities based on the floating ambiguities. A candidate of a potentially true integer ambiguity that is considered most reliable is determined through various verification processes. When the number of positioning satellites has increased or decreased, or when a reference satellite has been switched, a floating ambiguity after the change in satellite information is estimated from a baseline vector estimated before the change.
Abstract translation: 基于载波相位的相对定位装置采用信号处理方法，即使当定位卫星的数量已经改变时，也可以继续估计整数模糊度值，通过在短时间内有效地验证整数模糊度来确定整数模糊度值 ，并计算基线矢量。 定位装置包括整数模糊度分解部分，其使用卡尔曼滤波器和λ符号确定单相或双相位差的整数模糊度。 卡尔曼滤波器用于计算浮动模糊度的估计值，并且使用lambda符号来计算基于浮点模糊度的整数模糊度的估计值。 通过各种验证过程确定被认为最可靠的潜在真正整数模糊度的候选者。 当定位卫星的数量增加或减少时，或者当参考卫星已经被切换时，卫星信息改变之后的浮动模糊度是从改变之前估计的基线矢量估计出来的。
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Patent Agency Ranking
6.发明授权公开(公告)号：US08965690B2
公开(公告)日：2015-02-24
申请号：US12918016
申请日：2009-01-21
Applicant: Hiroyuki Toda
Inventor： Hiroyuki Toda
CPC classification number: G01C21/165 , G01C21/28 , G01S19/49
Abstract: Even when inertial navigation is performed, whether or not the correction of a value detected by an external sensor is appropriate can be judged, so that a dramatically degraded positioning result is prevented from being outputted. A navigation device (100) comprises a GPS receiver (11), an acceleration sensor (12) for detecting at least two-axis accelerations in an X-axis direction that is the front-back direction of a moving body and a Y-axis direction that is the right-left direction of the moving body, and a at least one-axis angular velocity sensor (13) for detecting the angular velocity in an azimuth direction around a Z-axis orthogonal to the X-axis direction and the Y-axis direction. A sensor detection value appropriate correction judgment module (22) of an integrated calculation module (30) having a CPU or the like finds the product of the value (velocity) obtained by integrating the acceleration detection value in the X-axis direction and the angular velocity detection value in the azimuth direction, acquires the error between the value of the product and the acceleration detection value in the Y-axis direction, and judges whether or not corrections made by the acceleration sensor and the angular velocity sensor are appropriate by judging whether or not the error exceeds a predetermined threshold value.
Abstract translation: 即使进行惯性导航，也可以判断由外部传感器检测到的值的校正是否适当，从而防止定位结果的显着劣化被输出。 导航装置（100）包括GPS接收器（11），加速度传感器（12），用于检测作为移动体的前后方向的X轴方向的至少两轴加速度，Y轴 方向为移动体的左右方向，以及至少一个轴角速度传感器（13），用于检测围绕与X轴方向正交的Z轴方位角方向的角速度，Y轴 方向。 具有CPU等的综合计算模块（30）的传感器检测值适当的校正判断模块（22）找到通过将加速度检测值积分在X轴方向和角度上而获得的值（速度）的乘积 方位角方向的速度检测值取得乘积值与Y轴方向的加速度检测值之间的误差，判断加速度传感器和角速度传感器的修正是否合适 或者不是误差超过预定阈值。
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公开(公告)号：US20090226175A1
公开(公告)日：2009-09-10
申请号：US12196871
申请日：2008-08-22
Applicant: Hiroyuki Toda
Inventor： Hiroyuki Toda
IPC: H04J14/08
CPC classification number: H04J14/086
Abstract: The present invention inputs a signal synthesized an optical pulse with a variable-wavelength laser beam different in wavelength from it to a delay unit (S1). The delay unit branches the signal to two optical signals, produces an optical path difference between them to afford a delay, synthesizes them again to generate a multiplexed optical signal, and minutely varies the optical path length of one of them (S2) The present invention measures output variance of the delay unit on a variable-wavelength laser beam resulting from the minute variance (S3), and controls the optical path difference so as to minimize output variance at a position where the output is a maximum or minimum, or is a specific value other than them (S4). This stabilizes a phase difference between adjacent pulses of the multiplexed optical signal outputted from the delay unit (5) with a simple construction in optical time division multiplexing technology.
Abstract translation: 本发明将由波长不同的可变波长激光束的光脉冲合成到延迟单元（S1）。 延迟单元将信号分支到两个光信号，在它们之间产生光路差以提供延迟，再次合成以产生复用的光信号，并且微小地改变其中之一的光路长度。（S2）本发明 测量由微小变化产生的可变波长激光束上的延迟单元的输出方差（S3），并且控制光程差，以使输出最大或最小的位置处的输出方差最小化，或者是 （S4）以外的特定值。 这样通过光时分复用技术中的简单结构来稳定从延迟单元（S5）输出的复用光信号的相邻脉冲之间的相位差。
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公开(公告)号：US08649977B2
公开(公告)日：2014-02-11
申请号：US12532368
申请日：2007-11-26
Applicant: Hiroyuki Toda
Inventor： Hiroyuki Toda
CPC classification number: G01S19/47 , G01C21/005 , G01C21/165 , G01S19/40 , G01S19/42 , G01S19/49
Abstract: In a GPS composite navigation apparatus of a configuration having a GPS receiver, variation in an estimated position, an estimated velocity, and an estimated azimuth of a moving body when the moving body is not moving is resolved, and the GPS/INS integrated navigation system with good response characteristics from a stationary state to a moving state. A stationary detector for determining the stationary state of the moving body is provided, and when it is determined to be the stationary state by the stationary detector, a measurement model used for measurement-update of a Kalman filter is changed, while a changed amount of an error covariance matrix by the update is corrected.
Abstract translation: 在具有GPS接收机的结构的GPS复合导航装置中，解决了当移动体未移动时的估计位置的变化，估计速度和估计方位角，并且GPS / INS综合导航系统 具有从静止状态到移动状态的良好响应特性。 提供了用于确定移动体的静止状态的固定检测器，并且当通过固定检测器确定为静止状态时，改变用于卡尔曼滤波器的测量更新的测量模型，同时改变量 纠正由更新引起的误差协方差矩阵。
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公开(公告)号：US08149163B2
公开(公告)日：2012-04-03
申请号：US12532395
申请日：2007-11-26
Applicant: Hiroyuki Toda
Inventor： Hiroyuki Toda
CPC classification number: G01C21/165 , G01S19/23 , G01S19/254 , G01S19/47
Abstract: To provide a GPS compound device having a configuration including a GPS receiver, that accurately determines abnormality in an output from the GPS receiver based on a difference between a GPS pseudorange measurement and a Doppler frequency measurement, when detecting the abnormality in the outputs from the GPS receiver, while avoiding continuation of the abnormality at the time of the abnormality determination resulting from estimation errors of the GPS pseudorange measurement and the Doppler frequency measurement. When the abnormality of the outputs from the GPS receiver are detected, an abnormal period is counted. When the count value is below a predetermined threshold, the outputs from the GPS receiver are treated as abnormal, and after it exceeded the threshold, the outputs from the GPS receiver are treated as normal. Thus, the abnormality of the outputs from the GPS receiver can be determined accurately.
Abstract translation: 为了提供具有包括GPS接收机的配置的GPS复合设备，当检测到来自GPS的输出中的异常时，可以基于GPS伪距测量和多普勒频率测量之间的差异来准确地确定来自GPS接收器的输出中的异常 接收器，同时避免由于GPS伪距测量和多普勒频率测量的估计误差导致的异常判定时的异常继续。 当检测到来自GPS接收机的输出的异常时，对异常周期进行计数。 当计数值低于预定阈值时，来自GPS接收器的输出被视为异常，并且在超过阈值之后，来自GPS接收机的输出被正常处理。 因此，可以准确地确定来自GPS接收机的输出的异常。
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公开(公告)号：US20060001863A1
公开(公告)日：2006-01-05
申请号：US10535572
申请日：2002-11-27
Applicant: Kinzo Kishida , Kazuyoshi Itoh , Motohiro Nakano , Masayuki Matsumoto , Hiroyuki Toda , Yong Wang , Yoshiaki Yamauchi
Inventor： Kinzo Kishida , Kazuyoshi Itoh , Motohiro Nakano , Masayuki Matsumoto , Hiroyuki Toda , Yong Wang , Yoshiaki Yamauchi
IPC: G02B6/00
CPC classification number: G01D11/30 , G01D5/353 , G01D11/245 , G01L1/242 , G01M11/085 , G02B6/14 , G02B6/3628
Abstract: An optical fiber measuring module is provided with an optical fiber cable (2) including an optical fiber core (2a), a cladding (2b) and a covering layer (2c), a base member (3) for holding the optical fiber cable (2), and an attachment member (4) for attaching the base member (3) to a structure (1).
Abstract translation: 光纤测量模块设置有包括光纤芯（2a），包层（b）和覆盖层（2c）的光纤电缆（2），用于保持光学元件的基座（3） 光纤电缆（2）和用于将基座部件（3）安装到结构（1）上的安装部件（4）。
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