摘要:
In the first positioning, a positioning process that calculates the present position based on acquired GPS satellite signals (step A3) is performed a plurality of times. A number of times that the difference (position difference) ΔP between the calculated present located position and the preceding located position is successively equal to or less than a given value is counted using a position counter, and a number of times that the difference (time difference) ΔT between the present time error and the preceding time error is successively equal to or less than a given value is counted using a time counter each time the positioning process is performed (step A5). A position threshold value and a time threshold value are determined by changing a reference threshold value by an amount corresponding to an APR average value (step A7). When the position count value has reached the position threshold value (step A9: YES) and the time count value has reached the time threshold value (step A11: YES), the present position is determined to be the first located position and output (step A13).
摘要:
An evaluation point E of a present position candidate corresponding to each satellite set is calculated based on an a priori residual (APR) (APR value), a PDOP value, and the number of satellites of the target satellite set according to E=k1·f1(APR)+k2·f2(PDOP)+k3·f3(number of satellites). Evaluation coefficients k1 to k3 for respectively weighting evaluation functions f1 to f3 are determined based on an APR average value.
摘要:
An evaluation point E of a present position candidate corresponding to each satellite set is calculated based on an a priori residual (APR) (APR value), a PDOP value, and the number of satellites of the target satellite set according to E=k1·f1(APR)+k2·f2(PDOP)+k3·f3(number of satellites). Evaluation coefficients k1 to k3 for respectively weighting evaluation functions f1 to f3 are determined based on an APR average value.
摘要:
In the first positioning, a positioning process that calculates the present position based on acquired GPS satellite signals (step A3) is performed a plurality of times. A number of times that the difference (position difference) ΔP between the calculated present located position and the preceding located position is successively equal to or less than a given value is counted using a position counter, and a number of times that the difference (time difference) ΔT between the present time error and the preceding time error is successively equal to or less than a given value is counted using a time counter each time the positioning process is performed (step A5). A position threshold value and a time threshold value are determined by changing a reference threshold value by an amount corresponding to an APR average value (step A7). When the position count value has reached the position threshold value (step A9: YES) and the time count value has reached the time threshold value (step A11: YES), the present position is determined to be the first located position and output (step A13).
摘要:
A reception environment is determined to be a multipath environment when the difference (positioning altitude difference) between the maximum value (maximum altitude) and the minimum value (minimum altitude) of the altitudes of candidate present positions P of respective satellite sets exceeds a given threshold value (e.g., 200 m), and is determined to be an open-sky environment when the positioning altitude difference is equal to or less than the given threshold value. When the reception environment is the open-sky environment, an evaluation point E of each satellite set is calculated using a known evaluation method based on the number of satellites, a PDOP value, and the like. When the reception environment is the multipath environment, the evaluation point E of each satellite set is calculated in the same manner as in the open-sky environment, and a change amount ΔE corresponding to the difference (altitude difference) between the altitude corresponding to the preceding located position acquired from an altitude table and the altitude of the candidate present position of the target satellite set is subtracted from the evaluation point E.
摘要翻译:当各个卫星组的候选现在位置P的高度的最大值(最大高度)和最小值(最小高度)之间的差值(定位高度差)超过给定阈值时,将接收环境确定为多径环境 值(例如,200米),并且当定位高度差等于或小于给定阈值时被确定为开阔天空环境。 当接收环境是天空环境时,使用基于卫星数量,PDOP值等的已知评估方法来计算每个卫星集的评估点E. 当接收环境为多路径环境时,以与天空环境相同的方式计算每个卫星集的评估点E,并且对应于与对应的高度相对应的差异(高度差)的变化量&Dgr; E 到从高度表获取的前一位置位置,并且从评估点E减去目标卫星组的候选当前位置的高度。
摘要:
A reception environment is determined to be a multipath environment when the difference (positioning altitude difference) between the maximum value (maximum altitude) and the minimum value (minimum altitude) of the altitudes of candidate present positions P of respective satellite sets exceeds a given threshold value (e.g., 200 m), and is determined to be an open-sky environment when the positioning altitude difference is equal to or less than the given threshold value. When the reception environment is the open-sky environment, an evaluation point E of each satellite set is calculated using a known evaluation method based on the number of satellites, a PDOP value, and the like. When the reception environment is the multipath environment, the evaluation point E of each satellite set is calculated in the same manner as in the open-sky environment, and a change amount ΔE corresponding to the difference (altitude difference) between the altitude corresponding to the preceding located position acquired from an altitude table and the altitude of the candidate present position of the target satellite set is subtracted from the evaluation point E.
摘要翻译:当各个卫星组的候选现在位置P的高度的最大值(最大高度)和最小值(最小高度)之间的差值(定位高度差)超过给定阈值时,将接收环境确定为多径环境 值(例如,200米),并且当定位高度差等于或小于给定阈值时被确定为开阔天空环境。 当接收环境是天空环境时,使用基于卫星数量,PDOP值等的已知评估方法来计算每个卫星集的评估点E. 当接收环境为多路径环境时,以与天空环境相同的方式计算每个卫星集的评估点E,并且对应于与对应的高度相对应的差异(高度差)的变化量&Dgr; E 到从高度表获取的前一位置位置,并且从评估点E减去目标卫星组的候选当前位置的高度。