公开(公告)号：US07884759B2

公开(公告)日：2011-02-08

申请号：US12762624

申请日：2010-04-19

申请人： Shinichi Mitsunaga

发明人： Shinichi Mitsunaga

IPC分类号： G01S19/42 ,  G01S19/53

CPC分类号： G01C21/00 ,  G01S19/22 ,  G01S19/28

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。

公开(公告)号：US08072372B2

公开(公告)日：2011-12-06

申请号：US12565012

申请日：2009-09-23

申请人： Mikio Nagahara ,  Shinichi Mitsunaga

发明人： Mikio Nagahara ,  Shinichi Mitsunaga

IPC分类号： G01S19/42 ,  G01S19/30

CPC分类号： G01S19/22 ,  G01S19/258 ,  G01S19/28

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).

摘要翻译： 在第一定位中，执行基于获取的GPS卫星信号计算当前位置的定位处理（步骤A3）多次。 使用位置计数器对计算出的当前位置位置与前一定位位置之间的差（位置差）＆Dgr; P连续等于或小于给定值的次数进行计数，并且该差数 （时间差）＆Dgr; T在当前时间误差和前一时间误差之间连续地等于或小于每次执行定位处理时使用时间计数器对给定值进行计数（步骤A5）。 通过将参考阈值改变与APR平均值对应的量来确定位置阈值和时间阈值（步骤A7）。 当位置计数值达到位置阈值（步骤A9：是）并且时间计数值已达到时间阈值时（步骤A11：是），将当前位置确定为第一定位位置并输出（步骤 A13）。

公开(公告)号：US07728768B2

公开(公告)日：2010-06-01

申请号：US12104584

申请日：2008-04-17

申请人： Shinichi Mitsunaga

发明人： Shinichi Mitsunaga

IPC分类号： G01S1/00

CPC分类号： G01C21/00 ,  G01S19/22 ,  G01S19/28

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。

公开(公告)号：US07623069B2

公开(公告)日：2009-11-24

申请号：US12062183

申请日：2008-04-03

申请人： Shinichi Mitsunaga ,  Mikio Nagahara

发明人： Shinichi Mitsunaga ,  Mikio Nagahara

IPC分类号： G01S1/02

CPC分类号： G01S19/22 ,  G01S19/20

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.

摘要翻译： 基于根据E = k1的先验残差（APR）（APR值），PDOP值和目标卫星组的卫星数量来计算与每个卫星组对应的当前位置候选的评估点E. f1（APR）+ k2.f2（PDOP）+ k3.f3（卫星数）。 基于APR平均值确定用于分别加权评价函数f1〜f3的评价系数k1〜k3。

公开(公告)号：US08164513B2

公开(公告)日：2012-04-24

申请号：US12576873

申请日：2009-10-09

申请人： Shinichi Mitsunaga ,  Mikio Nagahara

发明人： Shinichi Mitsunaga ,  Mikio Nagahara

IPC分类号： G01S19/42 ,  G01S19/46 ,  G01S19/09

CPC分类号： G01S19/22 ,  G01S19/20

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.

摘要翻译： 基于先验残差（APR）（APR值），PDOP值和目标卫星的卫星数根据E = k1·········· f1（APR）+ k2·f2（PDOP）+ k3·f3（卫星数）。 基于APR平均值确定用于分别加权评价函数f1〜f3的评价系数k1〜k3。

公开(公告)号：US07612713B2

公开(公告)日：2009-11-03

申请号：US12062159

申请日：2008-04-03

申请人： Mikio Nagahara ,  Shinichi Mitsunaga

发明人： Mikio Nagahara ,  Shinichi Mitsunaga

IPC分类号： G01S1/02

CPC分类号： G01S19/22 ,  G01S19/258 ,  G01S19/28

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).

摘要翻译： 在第一定位中，执行基于获取的GPS卫星信号计算当前位置的定位处理（步骤A3）多次。 使用位置计数器对计算出的当前位置位置和前一定位位置之间的差（位置差）ΔP的连续等于或小于给定值的次数进行计数，并且该次数（时间 差异）当前时间误差和前一时间误差之间的DeltaT在每次执行定位处理时使用时间计数器计数，给定值被计数（步骤A5）。 通过将参考阈值改变与APR平均值对应的量来确定位置阈值和时间阈值（步骤A7）。 当位置计数值达到位置阈值（步骤A9：是）并且时间计数值已达到时间阈值时（步骤A11：是），将当前位置确定为第一定位位置并输出（步骤 A13）。