公开(公告)号：US20100280780A1

公开(公告)日：2010-11-04

申请号：US12832654

申请日：2010-07-08

申请人： Shunichi MIZUOCHI ,  Yoshiyuki MURAGUCHI ,  Koichiro YANO

发明人： Shunichi MIZUOCHI ,  Yoshiyuki MURAGUCHI ,  Koichiro YANO

IPC分类号： G06F19/00

CPC分类号： G01S19/48

摘要： A positioning method includes: executing a first positioning mode or a second positioning mode, a first positioning process that is performed using a least-square method based on a positioning signal and a second positioning process that is performed using a Kalman filter based on the positioning signal utilizing a positioning result obtained by the first positioning process as a base value being performed in the first positioning mode, and the second positioning process being further performed in the second positioning mode utilizing a positioning result obtained by the second positioning process as a base value; determining accuracy of a positioning result obtained by the second positioning process performed in the executed positioning mode; and changing the positioning mode to be executed to the first positioning mode or the second positioning mode corresponding to the accuracy.

摘要翻译： 一种定位方法包括：执行第一定位模式或第二定位模式，使用基于定位信号的最小二乘法执行的第一定位处理和使用基于定位的卡尔曼滤波器执行的第二定位处理 信号利用通过第一定位处理获得的定位结果作为在第一定位模式中执行的基值，并且利用通过第二定位处理获得的定位结果作为基值在第二定位模式中进一步执行第二定位过程 ; 确定通过在执行的定位模式中执行的第二定位处理获得的定位结果的精度; 以及将要执行的定位模式改变为与精度相对应的第一定位模式或第二定位模式。

公开(公告)号：US20090273516A1

公开(公告)日：2009-11-05

申请号：US12477683

申请日：2009-06-03

申请人： Shunichi MIZUOCHI ,  Yoshiyuki MURAGUCHI

发明人： Shunichi MIZUOCHI ,  Yoshiyuki MURAGUCHI

IPC分类号： G01S5/14

CPC分类号： G01S19/42

摘要： A positioning device includes an estimated height storage section which stores an estimated height H1, a signal reception section which receives a satellite signal which is a signal from a satellite positioning system (SPS) satellite, a two-dimensional height calculation section which calculates a two-dimensional height H2c by two-dimensional positioning using the estimated height H1, a three-dimensional height calculation section which calculates a three-dimensional height H2b by preliminary three-dimensional positioning during two-dimensional positioning, a height selection section which selects the two-dimensional height H2b or the three-dimensional height H2c in order to update the estimated height H1, and an updating section which updates the estimated height H1 with the two-dimensional height H2b or the three-dimensional height H2c selected by the height selection section.

摘要翻译： 定位装置包括估计高度存储部分，其估计高度H1，接收来自卫星定位系统（SPS）卫星的信号的卫星信号的信号接收部分，二维高度计算部分，其计算二 通过使用估计高度H1的二维定位的三维高度H2c，三维高度计算部，其通过二维定位期间的初步三维定位来计算三维高度H2b;高度选择部，其选择两个 为了更新估计高度H1，维度高度H2b或三维高度H2c，以及更新部分，其更新由高度选择部分选择的二维高度H2b或三维高度H2c的估计高度H1 。

公开(公告)号：US20090140924A1

公开(公告)日：2009-06-04

申请号：US12324493

申请日：2008-11-26

申请人： Shunichi MIZUOCHI ,  Yoshiyuki MURAGUCHI ,  Koichiro YANO

发明人： Shunichi MIZUOCHI ,  Yoshiyuki MURAGUCHI ,  Koichiro YANO

IPC分类号： G01S5/14 ,  G01S3/02

CPC分类号： G01S19/48

摘要： A positioning method includes: executing a first positioning mode or a second positioning mode, a first positioning process that is performed using a least-square method based on a positioning signal and a second positioning process that is performed using a Kalman filter based on the positioning signal utilizing a positioning result obtained by the first positioning process as a base value being performed in the first positioning mode, and the second positioning process being further performed in the second positioning mode utilizing a positioning result obtained by the second positioning process as a base value; determining accuracy of a positioning result obtained by the second positioning process performed in the executed positioning mode; and changing the positioning mode to be executed to the first positioning mode or the second positioning mode corresponding to the accuracy.

摘要翻译： 一种定位方法包括：执行第一定位模式或第二定位模式，使用基于定位信号的最小二乘法执行的第一定位处理和使用基于定位的卡尔曼滤波器执行的第二定位处理 信号利用通过第一定位处理获得的定位结果作为在第一定位模式中执行的基值，并且利用通过第二定位处理获得的定位结果作为基值在第二定位模式中进一步执行第二定位处理 ; 确定通过在执行的定位模式中执行的第二定位处理获得的定位结果的精度; 以及将要执行的定位模式改变为与精度相对应的第一定位模式或第二定位模式。

公开(公告)号：US20100117895A1

公开(公告)日：2010-05-13

申请号：US12613154

申请日：2009-11-05

申请人： Shunichi MIZUOCHI ,  Shigeru IMAFUKU ,  Kenji ONDA ,  Kumar ANAND

发明人： Shunichi MIZUOCHI ,  Shigeru IMAFUKU ,  Kenji ONDA ,  Kumar ANAND

IPC分类号： G01S19/47

CPC分类号： G01S19/49

摘要： A position calculating method includes: calculating a position of a mobile body based on a positioning signal from a positioning satellite; determining the moving condition of the mobile body based on a detection result of a sensor unit including at least one of an acceleration sensor, an angular speed sensor, and an azimuth sensor; changing an error parameter used for a predetermined Kalman filter process according to the determined moving condition; and correcting the calculated position by the Kalman filter process.

摘要翻译： 位置计算方法包括：基于来自定位卫星的定位信号来计算移动体的位置; 基于包括加速度传感器，角速度传感器和方位传感器中的至少一个的传感器单元的检测结果来确定移动体的移动状态; 根据确定的移动条件改变用于预定卡尔曼滤波处理的误差参数; 并通过卡尔曼滤波处理校正计算出的位置。

公开(公告)号：US20100141524A1

公开(公告)日：2010-06-10

申请号：US12695670

申请日：2010-01-28

申请人： Shigeru IMAFUKU ,  Mikio NAGAHARA ,  Shunichi MIZUOCHI ,  Akifumi HAYASHI ,  Tomoyuki KURATA

发明人： Shigeru IMAFUKU ,  Mikio NAGAHARA ,  Shunichi MIZUOCHI ,  Akifumi HAYASHI ,  Tomoyuki KURATA

IPC分类号： G01S19/28

CPC分类号： G01S19/29 ,  G01S19/23

摘要： A terminal device includes a plurality of search channel sections which search for a positioning satellite, a candidate reception frequency calculation section which calculates a candidate reception frequency of a first acquisition target satellite by causing the search channel sections to perform the correlation accumulation process for a first accumulation time, a candidate frequency confirmation section which confirms reliability of the candidate reception frequency by causing the search channel sections to perform the correlation accumulation process for a second accumulation time longer than the first accumulation time, a final frequency calculation section which calculates a final frequency by causing the search channel sections to perform the correlation accumulation process for a third accumulation time longer than the second accumulation time, and a first difference calculation section which calculates a difference between an estimated synchronization frequency corresponding to each first acquisition target satellite and the final frequency.

摘要翻译： 一种终端设备包括搜索定位卫星的多个搜索频道部分，候选接收频率计算部分，其通过使搜索频道部分执行第一采集目标卫星的相关累积处理来计算第一采集目标卫星的候选接收频率 累积时间，候选频率确认部，其通过使搜索频道部对于比第一累积时间长的第二累积时间进行相关累积处理来确认候选接收频率的可靠性;最终频率计算部，其计算最终频率 通过使搜索频道部分对比第二累积时间长的第三累积时间执行相关累积处理，以及第一差分计算部分，其计算估计的同步频率对应t o每个首次采集目标卫星和最终频率。

公开(公告)号：US20100134348A1

公开(公告)日：2010-06-03

申请号：US12685363

申请日：2010-01-11

申请人： Shunichi MIZUOCHI

发明人： Shunichi MIZUOCHI

IPC分类号： G01S19/40

CPC分类号： G01S19/40 ,  G01S19/42

摘要： A positioning device, which locates a position based on satellite signals which are signals from positioning satellites, includes a position holding section which holds a reference position P, a stationary condition determination section which determines whether or not the reference position P satisfies stationary conditions B, an average position calculation section which averages the reference position P satisfying the stationary conditions B and a present located position Pg calculated by positioning to calculate an average position Pav, a position output section which outputs the average position Pav, and a position storage section which stores the average position Pav in the position holding section as the reference position P.

摘要翻译： 基于作为来自定位卫星的信号的卫星信号定位位置的定位装置包括保持基准位置P的位置保持部，确定基准位置P是否满足静止状态B的静止状态判定部， 平均位置计算部分，其平均满足静止条件B的基准位置P和通过定位计算的当前位置Pg以计算平均位置Pav，输出平均位置Pav的位置输出部分和存储 位置保持部分的平均位置Pav作为参考位置P.

公开(公告)号：US20090096671A1

公开(公告)日：2009-04-16

申请号：US12246813

申请日：2008-10-07

申请人： Shunichi MIZUOCHI

发明人： Shunichi MIZUOCHI

IPC分类号： G01S1/00

CPC分类号： G01S19/40 ,  G01S19/32 ,  G01S19/42

摘要： A positioning method includes: determining a receiving environment of a satellite signal from a positioning satellite; predicting a state vector including a position of a positioning device and a velocity of the positioning device based on the satellite signal; predicting a first distance-equivalent value indicating a distance between the positioning satellite and the positioning device; measuring a second distance-equivalent value indicating a distance between the positioning satellite and the positioning device; calculating an observed value indicating a difference between the first distance-equivalent value and the second distance-equivalent value; setting a first measurement error for the positioning satellite based on a signal strength of the satellite signal; setting a suitability condition of the observed value based on the receiving environment; setting a second measurement error larger than the first measurement error when the observed value is not suitable by the suitability condition; and correcting the state vector using the observed value and the second measurement error.

摘要翻译： 定位方法包括：从定位卫星确定卫星信号的接收环境; 基于卫星信号预测包括定位装置的位置和定位装置的速度的状态矢量; 预测表示所述定位卫星与所述定位装置之间的距离的第一距离当量值; 测量表示所述定位卫星与所述定位装置之间的距离的第二距离当量值; 计算表示第一距离当量值和第二距离当量值之间的差的观测值; 基于卫星信号的信号强度设置定位卫星的第一测量误差; 根据接收环境设定观测值的适用条件; 当观测值不适合适用条件时，设置大于第一测量误差的第二测量误差; 以及使用所述观测值和所述第二测量误差来校正所述状态向量。

公开(公告)号：US20090096670A1

公开(公告)日：2009-04-16

申请号：US12246792

申请日：2008-10-07

申请人： Shunichi MIZUOCHI ,  Koichiro YANO

发明人： Shunichi MIZUOCHI ,  Koichiro YANO

IPC分类号： G01S1/00

CPC分类号： G01S19/40

摘要： A positioning method includes: capturing a satellite signal from a positioning satellite; predicting a state vector including a position of a positioning device and a velocity of the positioning device based on the satellite signal; predicting a first distance-equivalent value indicating a distance between the positioning satellite and the positioning device; measuring a second distance-equivalent value indicating a distance between the positioning satellite and the positioning device; calculating an observed value indicating a difference between the first distance-equivalent value and the second distance-equivalent value; setting a measurement error for the positioning satellite based on a signal strength of the satellite signal; changing the measurement error based on a capture data indicating a data of capturing of the satellite signal; and correcting the state vector using the observed value, and the changed measurement error.

摘要翻译： 定位方法包括：从定位卫星捕获卫星信号; 基于卫星信号预测包括定位装置的位置和定位装置的速度的状态矢量; 预测表示所述定位卫星与所述定位装置之间的距离的第一距离当量值; 测量表示所述定位卫星与所述定位装置之间的距离的第二距离当量值; 计算表示第一距离当量值和第二距离当量值之间的差的观测值; 基于卫星信号的信号强度设置定位卫星的测量误差; 基于指示卫星信号的捕获数据的捕获数据来改变测量误差; 并使用观测值校正状态向量，并且改变测量误差。

公开(公告)号：US20090195452A1

公开(公告)日：2009-08-06

申请号：US12418883

申请日：2009-04-06

申请人： Shunichi MIZUOCHI ,  Akifumi HAYASHI

发明人： Shunichi MIZUOCHI ,  Akifumi HAYASHI

IPC分类号： G01S1/00

CPC分类号： G01S19/09 ,  G01S19/23 ,  G01S19/24 ,  G01S19/29 ,  G01S19/30

摘要： A terminal apparatus includes a control unit and a positioning device. The control unit determines a first satellite-to-be-acquired from among a plurality of SPS satellites, and generates an initial search frequency for the first satellite-to-be-acquired. The positioning device has a plurality of search units, and is configured to acquire the first satellite-to-be-acquired using the plurality of search units. The control unit determines first difference information, which is a difference between the initial search frequency and the frequency at which the first satellite-to-be-acquired is acquired. The control unit generates corrected search frequencies for other SPS satellites, using the first difference information. The positioning device acquires other necessary SPS satellites using the corresponding corrected search frequencies. The terminal apparatus can acquire SPS satellites accurately even when there has been a frequency shift in the terminal apparatus since the last positioning.

摘要翻译： 终端装置包括控制单元和定位装置。 所述控制单元从多个SPS卫星中确定要获取的第一卫星，并且生成用于所述第一待卫星的初始搜索频率。 定位装置具有多个搜索单元，并且被配置为使用多个搜索单元获取要获取的第一卫星。 控制单元确定第一差分信息，其是初始搜索频率与获取第一待卫星的频率之间的差。 所述控制单元使用所述第一差分信息来生成其他SPS卫星的校正搜索频率。 定位装置使用对应的校正搜索频率来获取其它必要的SPS卫星。 终端装置即使在终端装置中自上次定位以来发生频移时，也能够准确地获取SPS卫星。