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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。
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公开(公告)号：US08527201B2
公开(公告)日：2013-09-03
申请号：US13233087
申请日：2011-09-15
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
IPC分类号： G01C17/38
摘要： An azimuth detecting device mounted in a mobile object and having: a geomagnetic sensor; GPS signal receiving means; and measuring means for measuring a position of the mobile object by using a GPS signal, the azimuth detecting device being characterized in calculating a gain correction amount by means of a method of least squares, using an output value of the geomagnetic sensor when a level of the GPS signal received by the GPS signal receiving means is lower than a predetermined level, and calculating a declination correction amount and/or an inclination correction amount on the basis of information obtained from the GPS signal and correcting the output value of the geomagnetic sensor, when the level of the GPS signal is at least the predetermined level.
摘要翻译： 一种安装在移动物体中的方位检测装置，具有：地磁传感器; GPS信号接收装置; 以及测量装置，用于通过使用GPS信号来测量移动物体的位置，所述方位检测装置的特征在于，使用地磁传感器的输出值，通过最小二乘法的方法来计算增益校正量， 由GPS信号接收装置接收的GPS信号低于预定水平，并且基于从GPS信号获得的信息和校正地磁传感器的输出值来计算偏角校正量和/或倾斜校正量， 当GPS信号的电平至少为预定电平时。
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公开(公告)号：US08145419B2
公开(公告)日：2012-03-27
申请号：US12092088
申请日：2006-11-17
申请人： Hirohisa Onome , Kazunori Kagawa , Yasuhiro Tajima , Iwao Maeda , Kiyomi Nagamiya , Akihiro Ueda
发明人： Hirohisa Onome , Kazunori Kagawa , Yasuhiro Tajima , Iwao Maeda , Kiyomi Nagamiya , Akihiro Ueda
IPC分类号： G01C21/00
CPC分类号： G01C21/28
摘要： A mobile object position estimation apparatus mounted in a mobile object includes a first estimation mechanism for estimating the mobile object position based on the outputs from an inertial navigation sensor device (acceleration sensor, and yaw rate sensor, or the like) mounted on the mobile object, a storage for storing map information including at least node information, a second estimation mechanism for estimating the mobile object position based on a predicted path of traveling of the mobile object predicted from the node information, and a synthesis mechanism for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation mechanism and the mobile object position estimated by the second estimation mechanism.
摘要翻译： 安装在移动物体中的移动物体位置估计装置包括：第一估计机构，用于基于来自安装在移动物体上的惯性导航传感器装置（加速度传感器和偏航率传感器等）的输出来估计移动物体位置 ，用于存储至少包括节点信息的地图信息的存储器，用于基于从节点信息预测的移动对象的预测行进路径来估计移动对象位置的第二估计机构，以及用于确定最终估计移动站 通过合成由第一估计机构估计的移动对象位置和由第二估计机构估计的移动对象位置的对象位置。
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公开(公告)号：US20100169006A1
公开(公告)日：2010-07-01
申请号：US12089645
申请日：2007-02-15
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima
摘要： A positioning system 10 includes a positioning unit 15 configured to perform position estimation based on radio signals from artificial satellites and an autonomous navigation unit 14 configured to perform position estimation by autonomous navigation. In the positioning system 10, the positioning unit 15 and the autonomous navigation unit 14 estimate the position of a mobile body in cooperation with each other; and when the number of the artificial satellites available is less than three, the positioning unit determines a point in an area calculated based on the radio signals which point is closest to an inertial-navigation-based position calculated by autonomous navigation, and uses the determined point as a satellite-based position estimated based on the radio signals.
摘要翻译： 定位系统10包括：基于来自人造卫星的无线电信号执行位置估计的定位单元15，以及被配置为通过自主导航执行位置估计的自主导航单元14。 在定位系统10中，定位单元15和自主导航单元14相互协调地估计移动体的位置; 并且当可用的人造卫星的数量小于3时，定位单元确定基于通过自主导航计算的最接近基于惯性导航的位置的无线电信号计算的区域中的点，并且使用确定的 作为基于无线电信号估计的基于卫星的位置。
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公开(公告)号：US20100026566A1
公开(公告)日：2010-02-04
申请号：US12444161
申请日：2008-02-19
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima , Naoto Hasegawa
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima , Naoto Hasegawa
IPC分类号： G01S5/14
摘要： In a mobile-unit positioning device, phases of pseudo noise codes carried on satellite signals from satellites are observed at a mobile unit to measure a position of the mobile unit. A pseudo distance between one of the satellites and the mobile unit is measured for every satellite during a stop of the mobile unit using an observed value of the phase acquired during a stop of the mobile unit. An error index value indicating an error of the measured distance is computed based on the distances measured at points in time during a stop of the mobile unit. A weighting factor is determined based on the index value computed for every satellite. A weighted positioning computation using the determined weighting factor is performed to determine a position of the mobile unit during movement using an observed value of the phase acquired during movement.
摘要翻译： 在移动单元定位设备中，在移动单元处观察到来自卫星的卫星信号携带的伪噪声码的相位，以测量移动单元的位置。 在移动单元的停止期间，使用在移动单元的停止期间获取的相位的观测值，测量卫星和移动单元之间的伪距离。 基于在移动单元停止期间的时间点测量的距离来计算指示测量距离的误差的误差指数值。 基于为每个卫星计算的指标值确定加权因子。 执行使用确定的加权因子的加权定位计算，以使用在运动期间获取的相位的观测值来确定移动单元在移动期间的位置。
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公开(公告)号：US20090088976A1
公开(公告)日：2009-04-02
申请号：US12243178
申请日：2008-10-01
申请人： Akihiro UEDA , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
发明人： Akihiro UEDA , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
IPC分类号： G01C21/00
摘要： An azimuth detecting device mounted in a mobile object and having: a geomagnetic sensor; GPS signal receiving means; and measuring means for measuring a position of the mobile object by using a GPS signal, the azimuth detecting device being characterized in calculating a gain correction amount by means of a method of least squares, using an output value of the geomagnetic sensor when a level of the GPS signal received by the GPS signal receiving means is lower than a predetermined level, and calculating a declination correction amount and/or an inclination correction amount on the basis of information obtained from the GPS signal and correcting the output value of the geomagnetic sensor, when the level of the GPS signal is at least the predetermined level.
摘要翻译： 一种安装在移动物体中的方位检测装置，具有：地磁传感器; GPS信号接收装置; 以及用于通过使用GPS信号来测量移动体的位置的测量装置，所述方位检测装置的特征在于，利用地磁传感器的输出值，通过最小平方的方法来计算增益校正量， 由GPS信号接收装置接收的GPS信号低于预定水平，并且基于从GPS信号获得的信息和校正地磁传感器的输出值来计算偏角校正量和/或倾斜校正量， 当GPS信号的电平至少为预定电平时。
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公开(公告)号：US08200452B2
公开(公告)日：2012-06-12
申请号：US12306013
申请日：2007-06-25
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
CPC分类号： G01C9/08 , B60W40/105 , B60W40/107 , B60W40/109 , B60W40/11 , B60W40/112 , B60W40/114 , B60W40/12 , G01P15/18
摘要： To provide an attitude-angle detecting apparatus, which detects an attitude angle of a mobile object during movement with good accuracy by correcting an output value from an acceleration sensor, and to provide a method for the same. It is characterized in that it comprises an acceleration sensor for measuring an acceleration being applied to a mobile object, a yaw-rate sensor for measuring a yaw rate of the mobile object, a speed sensor for measuring a speed of the mobile object, a mobile-component acceleration calculating means for calculating an actual acceleration from the speed, calculating a centrifugal force from the yaw rate and the speed and calculating a mobile-component acceleration, a resultant force of the actual speed and the centrifugal force, and an attitude-angle calculating means for calculating an attitude angle from a gravitational acceleration, which is obtainable by correcting the acceleration with the mobile-component acceleration.
摘要翻译： 为了提供一种姿态角检测装置，其通过从加速度传感器校正输出值，以高精度检测移动体的姿态角度，并提供其方法。 其特征在于，它包括用于测量施加到移动物体的加速度的加速度传感器，用于测量移动物体的偏航率的偏航率传感器，用于测量移动物体的速度的速度传感器， - 组分加速度计算装置，用于从速度计算实际加速度，从偏航率和速度计算离心力，计算移动分量加速度，实际速度和离心力的合力以及姿态角 用于根据重力加速度计算姿态角的计算装置，其可以通过利用移动部件加速度校正加速度而获得。
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公开(公告)号：US20120004843A1
公开(公告)日：2012-01-05
申请号：US13233087
申请日：2011-09-15
申请人： Akihiro UEDA , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
发明人： Akihiro UEDA , Iwao Maeda , Kiyomi Nagamiya , Naoto Shibata
IPC分类号： G01C21/00
摘要： An azimuth detecting device mounted in a mobile object and having: a geomagnetic sensor; GPS signal receiving means; and measuring means for measuring a position of the mobile object by using a GPS signal, the azimuth detecting device being characterized in calculating a gain correction amount by means of a method of least squares, using an output value of the geomagnetic sensor when a level of the GPS signal received by the GPS signal receiving means is lower than a predetermined level, and calculating a declination correction amount and/or an inclination correction amount on the basis of information obtained from the GPS signal and correcting the output value of the geomagnetic sensor, when the level of the GPS signal is at least the predetermined level.
摘要翻译： 一种安装在移动物体中的方位检测装置，具有：地磁传感器; GPS信号接收装置; 以及用于通过使用GPS信号来测量移动体的位置的测量装置，所述方位检测装置的特征在于，利用地磁传感器的输出值，通过最小平方的方法来计算增益校正量， 由GPS信号接收装置接收的GPS信号低于预定水平，并且基于从GPS信号获得的信息和校正地磁传感器的输出值来计算偏角校正量和/或倾斜校正量， 当GPS信号的电平至少为预定电平时。
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公开(公告)号：US07978127B2
公开(公告)日：2011-07-12
申请号：US12444161
申请日：2008-02-19
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima , Naoto Hasegawa
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima , Naoto Hasegawa
IPC分类号： G01S19/40
摘要： In a mobile-unit positioning device, phases of pseudo noise codes carried on satellite signals from satellites are observed at a mobile unit to measure a position of the mobile unit. A pseudo distance between one of the satellites and the mobile unit is measured for every satellite during a stop of the mobile unit using an observed value of the phase acquired during a stop of the mobile unit. An error index value indicating an error of the measured distance is computed based on the distances measured at points in time during a stop of the mobile unit. A weighting factor is determined based on the index value computed for every satellite. A weighted positioning computation using the determined weighting factor is performed to determine a position of the mobile unit during movement using an observed value of the phase acquired during movement.
摘要翻译： 在移动单元定位设备中，在移动单元处观察到来自卫星的卫星信号携带的伪噪声码的相位，以测量移动单元的位置。 在移动单元的停止期间，使用在移动单元的停止期间获取的相位的观测值来测量卫星和移动单元之间的伪距离。 基于在移动单元停止期间的时间点测量的距离来计算指示测量距离的误差的误差指数值。 基于为每个卫星计算的指标值确定加权因子。 执行使用确定的加权因子的加权定位计算，以使用在运动期间获取的相位的观测值来确定移动单元在移动期间的位置。
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公开(公告)号：US20080262730A1
公开(公告)日：2008-10-23
申请号：US12092088
申请日：2006-11-17
申请人： Hirohisa Onome , Kazunori Kagawa , Yasuhiro Tajima , Iwao Maeda , Kiyomi Nagamiya , Akihiro Ueda
发明人： Hirohisa Onome , Kazunori Kagawa , Yasuhiro Tajima , Iwao Maeda , Kiyomi Nagamiya , Akihiro Ueda
IPC分类号： G01C21/16
CPC分类号： G01C21/28
摘要： A mobile object position estimation apparatus mounted in a mobile object includes a first estimation mechanism for estimating the mobile object position based on the outputs from an inertial navigation sensor device (acceleration sensor, and yaw rate sensor, or the like) mounted on the mobile object, a storage for storing map information including at least node information, a second estimation mechanism for estimating the mobile object position based on a predicted path of traveling of the mobile object predicted from the node information, and a synthesis mechanism for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation mechanism and the mobile object position estimated by the second estimation mechanism.
摘要翻译： 安装在移动物体中的移动物体位置估计装置包括：第一估计机构，用于基于来自安装在移动物体上的惯性导航传感器装置（加速度传感器和偏航率传感器等）的输出来估计移动物体位置 ，用于存储至少包括节点信息的地图信息的存储器，用于基于从节点信息预测的移动对象的预测行进路径来估计移动对象位置的第二估计机构，以及用于确定最终估计移动站 通过合成由第一估计机构估计的移动对象位置和由第二估计机构估计的移动对象位置的对象位置。
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