CN101109808B - Positioning device, method for controlling positioning device - Google Patents
Positioning device, method for controlling positioning device Download PDFInfo
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- CN101109808B CN101109808B CN2007101304771A CN200710130477A CN101109808B CN 101109808 B CN101109808 B CN 101109808B CN 2007101304771 A CN2007101304771 A CN 2007101304771A CN 200710130477 A CN200710130477 A CN 200710130477A CN 101109808 B CN101109808 B CN 101109808B
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Abstract
A positioning device 20 receives a satellite signal from a satellite positioning system (SPS) satellite and locates a present position, the positioning device 20 including an azimuth calculation section which calculates an azimuth of the SPS satellite corresponding to the received satellite signal, and a reception environment determination section which determines a reception environment including a multipath environment based on the azimuths of the SPS satellites calculated by the azimuth calculation section.
Description
Technical field
The present invention relates to be used to the locating device that positions from the electric wave that sends the source, control method, program and the storage medium of locating device.
Background technology
At present, utilize satellite navigation system an example, be that (Global Positioning System: Global Positioning System (GPS)), the positioning system that the current location of GPS receiver is positioned is widely used GPS.
This GPS receiver (comprising: Almanac, almanac based on the navigation information that has write down information such as gps satellite track; Precise ephemeris, ephemeris, Deng), receive C/A (thick catch code: Clear and Acquision or Coarse Access) sign indicating number, it be a kind of be loaded in gps satellite signal (after, Pseudo-Random Noise Code the abbreviation satellite-signal) (after, be called for short the PN sign indicating number, PN:Psuedo random noise code).The C/A sign indicating number is the code as the basis, location.
The GPS receiver is determining that this C/A sign indicating number is on the basis of being sent by which gps satellite, and for example, the phase place (code phase, Code Phase) based on this C/A sign indicating number calculates the distance (pseudorange) between gps satellite and the GPS receiver.Then, pseudorange and each satellite position in orbit between GPS receiver basis and the gps satellite more than 3, the position that just can orient the GPS receiver.For example, the bit rate of C/A sign indicating number is 1.023Mbps, and code length is 1023 (Chip, chip, code elements).Thereby, can think that the C/A sign indicating number corresponding to about 300 kilometers of radio wave propagation during 1 millisecond (ms) distance, propagating forward with arranging.Therefore, the position of the gps satellite from the satellite orbit and the general location of GPS receiver, what C/A sign indicating numbers can calculate has between gps satellite and the GPS receiver, and then calculates pseudorange.Again specifically,, and calculate the phase place (the remainder part of C/A sign indicating number) of C/A sign indicating number, then can calculate pseudorange if can calculate the propagation distance (integral part of C/A sign indicating number) of the one-period (1023Chip) of C/A sign indicating number.At this, the integral part of C/A sign indicating number can for example in the 150km, remove to infer the general location of GPS receiver according to certain precision.Therefore, the GPS receiver can calculate pseudorange by the phase place of determining the C/A sign indicating number.
The GPS receiver for example, is got the inner C/A sign indicating number that duplicates that generates of the C/A sign indicating number that receives and GPS receiver oneself relevant, and carries out integration (accumulative total), when correlation integral value reaches certain level, determines the phase place of C/A sign indicating number.At this moment, on one side the GPS receiver is adjusted the phase place and the frequency of duplicating the C/A sign indicating number, Yi Bian carry out relevant treatment.
, arrive after the satellite-signal that receives is by reflections such as buildingss under the situation of indirect wave (below, be called indirect wave) of receiver, the GPS receiver just can not correctly be determined the phase place of C/A sign indicating number.
At this problem, following technology has been proposed.The GPS receiver that has communication function, preservation is accompanied by the take place frequently map datum of regional information of multipath effect, can judge that whether the current location that obtained by the location is the multipath effect area that takes place frequently, perhaps, if the communication base station in the communication is positioned at the block, city, the GPS receiver can judge it is the multipath effect area (for example, patent documentation 1) that takes place frequently in view of the above herein.
Patent documentation 1: TOHKEMY 2001-272450 communique
, use above-mentioned technology, must preserve map datum, perhaps, need communicate by letter with communication base station, this is first problem.In addition, the relatively poor situation of reception situation is not the environment that multipath effect takes place frequently, and, the multipath effect environment also not all is the same, if so just judge the multipath effect environment, so just can not effectively utilize satellite-signal according to diversified reception environment and position, this is second problem.
Summary of the invention
The object of the present invention is to provide the control method of a kind of locating device and locating device, it both needn't store map data, also needn't communicate by letter with communication base station, and the interference that just can promptly get rid of the multipath factor realizes the location.Furthermore, can use satellite-signal to position effectively at diversified reception environment.
The locating device that first aspect present invention is related, reception is carried out the current location location from the satellite-signal of SPS (Satellite Positioning System) satellite, comprise: position angle calculating portion, the position angle that is used to calculate the pairing described SPS satellite of described satellite-signal that receives; And the reception environment judging part, the reception environment that comprises the multipath effect environment is judged at the described position angle of a plurality of described SPS satellite that is calculated based on described position angle calculating portion.
Based on this, described locating device is because have described reception environment judging part, thus both needn't store map data, also needn't communicate by letter with communication base station, just can judge the described reception environment that comprises multi-path environment.
In addition, the locating device of present embodiment also can be constructed as follows: the different a plurality of station-keeping modes of signal intensity with work, described reception environment judging part according to the number of the pairing described SPS satellite of described satellite-signal that uses each described station-keeping mode to receive, is judged deflection.
Based on this, described locating device can be judged described reception environment according to the number of the pairing described SPS satellite of described satellite-signal that uses each described station-keeping mode to receive.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part, in a plurality of described SPS satellites, described position angle based on strong signal satellite, judge the deflection of a plurality of described SPS satellites, described strong signal satellite is the pairing described SPS satellite of described satellite-signal in the signal strength range of predesignating.
Based on this, described locating device can use the position angle of stronger relatively described SPS satellite to judge described reception environment, therefore can precision more judge described reception environment in the highland.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part, when satisfying the first deflection condition, be judged as described SPS satellite and be partial to the angle of described central area, the wherein said first deflection condition is meant with the angular ranges of 360 degree at least in the formed angular regions of eight equal parts, be positioned at the central area described strong signal satellite number and be positioned at the number of the described strong signal satellite of the neighboring region of described central area adjacency basic identical.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part, calculate center of gravity by the figure that coordinate constituted of each described SPS satellite of the elevation angle and position angle defined, and calculate the vector that points to described center of gravity from described locating device, when satisfying the second deflection condition, be judged as described SPS satellite and be partial to the direction of described vector, the described second deflection condition is meant that the size of described vector is smaller or equal to the size of predesignating.
In addition, locating device of the present invention also can be constructed as follows: described station-keeping mode is included in first station-keeping mode of work under the highfield and second station-keeping mode of working under the electric field intensity a little less than the more described highfield; Second weak electric field that described weak electric field is categorized into first weak electric field and is stipulated by the electric field intensity of the more described first light current field intensity; Described reception environment judging part, at the number of the pairing described SPS satellite of described satellite-signal that uses described first station-keeping mode to receive with when using the number of the pairing described SPS satellite of described satellite-signal that described second station-keeping mode of described second weak electric field receives basic identical, carry out the judgement of the described second deflection condition of the described first deflection conditioned disjunction.
In addition, locating device of the present invention also can be constructed as follows: at the number of the pairing described SPS satellite of described satellite-signal that uses described first station-keeping mode to receive with use the number of the pairing described SPS satellite of described satellite-signal that described second station-keeping mode of described second weak electric field receives basic identical and when not satisfying the described first deflection conditioned disjunction, the second deflection condition again, described reception environment is judged as in the paddy.
In addition, locating device of the present invention also can be constructed as follows: get rid of the described SPS satellite of going up in the opposite direction with described SPS satellite deflection side, position.
In addition, locating device of the present invention also can be constructed as follows: at described reception environment is in the paddy under the situation, gets rid of the described SPS satellite of the low elevation coverage of predesignating, and positions.
In addition, the satellite-signal that the present invention relates to receive from the SPS satellite carries out the current location positioning means for positioning, comprise: location basic value calculating part, based on described satellite-signal, calculating comprises the phase place of described satellite-signal, the location basic value of signal intensity; The reception environment judging part based on the accepting state of a plurality of described satellite-signals from described SPS satellite, is judged the reception environment of described satellite-signal; Described location basic value based on the reception environment that described reception environment judging part is judged, is used in the location division, positions.
Based on this, described locating device is because have described reception environment judging part, thus both needn't store map data, also needn't communicate by letter with communication base station, just can judge described reception environment.
And described locating device is because have a described location division, thus can be based on various described reception environment, and use described location basic value to position.
Based on this, described locating device both needn't store map data, also needn't communicate by letter with communication base station, and, can utilize satellite-signal to position efficiently according to diversified reception environment.
In addition, locating device of the present invention also can be constructed as follows: the different a plurality of station-keeping modes of signal intensity with work, described reception environment judging part according to the number of the pairing SPS satellite of described satellite-signal that uses each described station-keeping mode to receive, is judged described reception environment.
Based on this, described locating device can be judged described reception environment based on the number that uses the received pairing described SPS satellite of described satellite-signal of each described station-keeping mode.Promptly, because each described station-keeping mode is worked under unlike signal intensity, so,, can judge the signal intensity of each described satellite-signal indirectly according to the number that uses the received pairing described SPS satellite of described satellite-signal of each described station-keeping mode.Therefore, described locating device can be judged described reception environment.
In addition, locating device of the present invention also can be constructed as follows: described location division, and based on the reception environment that described reception environment judging part is judged, whether decision gets rid of described location basic value, and, whether proofread and correct described location basic value.
Based on this, because described locating device can determine whether to get rid of described location basic value, and whether proofread and correct described location basic value, so, can use satellite-signal to position efficiently according to various reception environment.
In addition, locating device of the present invention also can be constructed as follows: described station-keeping mode is included in first station-keeping mode of work under the highfield and second station-keeping mode of working under the electric field intensity a little less than the more described highfield.
In addition, locating device of the present invention also can be constructed as follows: described highfield is categorized as: first highfield, by second highfield of the electric field intensity of more described first forceful electric power field intensity regulation and by the 3rd highfield of the electric field intensity regulation of the more described second forceful electric power field intensity; Described weak electric field is categorized as: first weak electric field and second weak electric field of being stipulated by the electric field intensity of the more described first light current field intensity; Described reception environment judging part, the number of the pairing described SPS satellite of described satellite-signal that receives when described first station-keeping mode with described the 3rd highfield is judged as open space (OpenSky) environment with described reception environment during more than or equal to the setting predesignated.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part, the pairing described SPS satellite of described satellite-signal that receives at described first station-keeping mode with described the 3rd highfield, the pairing described SPS satellite of described satellite-signal that receives with described first station-keeping mode of described second highfield and mix when existing with the pairing described SPS satellite of described satellite-signal that described second station-keeping mode receives are judged open space (accurate OpenSky) environment that is as the criterion with described reception environment.
In addition, locating device of the present invention also can be constructed as follows described reception environment judging part, the pairing described SPS satellite of described satellite-signal that receives at described first station-keeping mode with described first highfield, the pairing described SPS satellite of described satellite-signal that receives with described first station-keeping mode of described second highfield and mix when existing with the pairing described SPS satellite of described satellite-signal that described second station-keeping mode receives are judged as first multi-path environment with described reception environment.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part, the pairing described SPS satellite of described satellite-signal that receives at described first station-keeping mode with described the 3rd highfield, the pairing described SPS satellite of described satellite-signal that receives with described second station-keeping mode of described second weak electric field mix and exist, and, when there is deflection in the configuration of a plurality of described SPS satellites, be judged as the deflection environment.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part, the pairing described SPS satellite of described satellite-signal that receives at described first station-keeping mode with described the 3rd highfield, the pairing described SPS satellite of described satellite-signal that receives with described second station-keeping mode of described second weak electric field mix and exist, and, when there is not deflection in the configuration of a plurality of described SPS satellites, be judged as environment in the paddy.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part, in the pairing described SPS number of satellite of the described satellite-signal that receives with described second station-keeping mode, than the pairing described SPS number of satellite of described satellite-signal that receives with described first station-keeping mode for a long time, be judged as second multi-path environment.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part when the pairing described SPS number of satellite of the described satellite-signal that receives with described first station-keeping mode has only one, is judged as the 3rd multi-path environment.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part during the pairing described SPS satellite of the described satellite-signal that receives when described second station-keeping mode that only exists with described second weak electric field, is judged as first weak electric field.
In addition, locating device of the present invention also can be constructed as follows: described reception environment judging part when the pairing described SPS satellite of the described satellite-signal that only has described first weak electric field that receives with described second station-keeping mode, is judged as second weak electric field.
In addition, the present invention relates to a kind of reception and carry out the control method of current location positioning means for positioning from the satellite-signal of SPS satellite, comprising: step, the position angle that is used to calculate the pairing described SPS satellite of described satellite-signal that receives are calculated in the position angle; The reception environment determining step based on the described position angle that a plurality of described SPS satellite that step calculates is calculated at described position angle, is judged the reception environment that comprises multi-path environment.
In addition, the present invention relates to a kind of reception and carry out the control method of current location positioning means for positioning from the satellite-signal of SPS satellite, comprise: location basic value calculation procedure, based on described satellite-signal, calculating comprises the phase place of described satellite-signal, the location basic value of signal intensity; The reception environment determining step is judged the reception environment of described satellite-signal; Positioning step based on the reception environment that described reception environment determining step is judged, uses described location basic value, positions.
In addition, present embodiment also can be constructed as follows: with above-mentioned control method, be compiled into executable program in computing machine, described built-in computer carries out in the current location positioning means for positioning in the satellite-signal that receives from the SPS satellite.Further, can be made into the computer-readable recording medium that records this program.
Description of drawings
Fig. 1 represents the synoptic chart of terminal of embodiments of the invention etc.
Fig. 2 represents the concept map of localization method.
Fig. 3 represents the key diagram of relevant treatment.
Fig. 4 represents the example that concerns between correlation integral value and the code phase.
Fig. 5 represents the synoptic chart that the main hardware of terminal constitutes.
Fig. 6 represents the synoptic chart that the main software of terminal constitutes.
Fig. 7 represents that satellite-signal receives the key diagram of the processing procedure of program.
Fig. 8 represents an example of observation information.
Fig. 9 represents the key diagram of the processing procedure of environment determining program.
Figure 10 represents the key diagram of the processing procedure of environment determining program and finder.
Figure 11 A and Figure 11 B are the key diagrams of reception environment
Figure 12 is the key diagram of reception environment.
Figure 13 A and Figure 13 B are the key diagrams of reception environment.
Figure 14 is the key diagram of reception environment.
Figure 15 A and Figure 15 B are the key diagrams of reception environment.
Figure 16 is the key diagram of reception environment.
Figure 17 A, Figure 17 B and Figure 17 C are the key diagrams of the judgement of deflection environment.
Figure 18 A, Figure 18 B and Figure 18 C are the key diagrams of the judgement of deflection environment.
Figure 19 A, Figure 19 B and Figure 19 C are the key diagrams of the judgement of deflection environment.
Figure 20 is the key diagram of the judgement of environment in the paddy.
Figure 21 represents the general flowchart of the work example of terminal.
Figure 22 A and Figure 22 B are the key diagrams of the judgement of deflection environment.
Embodiment
Below, with reference to accompanying drawing etc. the preferred embodiments of the present invention are described in detail.
In addition, the embodiment of the following stated is a preferred specific embodiment of the present invention, therefore, various preferred qualifications have been applied technically, in the following description, short ofly be used for limiting especially description of the invention, scope then of the present invention is not limited to these modes.
Fig. 1 is the synoptic chart of terminal 20 grades of expression embodiments of the invention.
As shown in Figure 1, terminal 20 can be from receiving electric wave S1, S2, S3, S4, S5, S6, S7 and S8 as SPS satellite such as gps satellite 12a, 12b, 12c, 12d, 12e, 12f, 12g and 12h.In addition, the SPS satellite is not limited to gps satellite.
Among electric wave S1 etc., carrying various sign indicating numbers (symbol).One of them is exactly C/A sign indicating number Sca.This C/A sign indicating number Sca is 1.023Mbps bit rate, 1023bit (=1msec) the long signal in position.C/A sign indicating number Sca is made of 1023 (chip).Terminal 20 is examples of locating device of location current location, and it receives the go forward side by side location of trade front position of this C/A sign indicating number Sca.This C/A sign indicating number Sca is an example of satellite-signal.
In addition, as the information that is carried among electric wave S1 etc., also have Almanac Sal (almanac) and precise ephemeris Seh (ephemeris), Almanac Sal is the information of the summary satellite orbit of expression all gps satellite 12a etc., and precise ephemeris Seh represents the information of the accurate satellite orbit of each gps satellite 12a etc.Almanac Sal and precise ephemeris Seh are referred to as navigation information.
Fig. 2 is the concept map of expression localization method example.
As shown in Figure 2, for example, between gps satellite 12a and terminal 20, can think that the C/A sign indicating number is to arrange continuously.And the distance between gps satellite 12a and the terminal 20 is not limited to the integral multiple of C/A code length (300 kilometers (km)), and the remainder portion C/Aa of C/A sign indicating number also exists.That is, between gps satellite 12a and terminal 20, exist the integral multiple part and the remainder times part of C/A sign indicating number.The part of the integral multiple of C/A sign indicating number and remainder doubly part and be pseudorange.Terminal 20 uses the pseudorange at the gps satellite 12a more than 3 to position.
In this manual, the remainder portion C/Aa with the C/A sign indicating number is called code phase (sign indicating number position).Code phase both can be represented with certain sheet among 1023 of for example C/A sign indicating number, can be converted into distance again and represent.During compute pseudo-ranges, code phase need be converted into distance.
And, as shown in Figure 2, Yi Bian allow the phase place of duplicating the C/A sign indicating number move along the direction of arrow X1, Yi Bian carry out relevant treatment.At this moment, on one side terminal 20 conversion are on one side carried out relevant treatment with frequency synchronously.This relevant treatment is handled by the relevant processing of narrating later (COHERENT) and incoherent (INCOHERENT) and is constituted.
The phase place of correlation integral value maximum is exactly sign indicating number remainder C/Aa.
Fig. 3 is the key diagram of relevant treatment.
Relevant processing is the C/A sign indicating number that receives of terminal 20 and duplicates and get relevant processing between the C/A sign indicating number.Duplicating the C/A sign indicating number is the code that terminal 20 produces.
For example, as shown in Figure 3,, in the time of 5 milliseconds (msec), calculate the C/A sign indicating number of synchronous integration and duplicate correlation between the C/A sign indicating number if be 5 milliseconds (msec) coherence time.The relevant result who handles is that relevant phase place (code phase) and correlation are got in output.
Incoherent is by the correlation of the relevant result of integration, calculates correlation integral value (incoherent value).
The result of relevant treatment, relevant code phase and the correlation integral value of handling output of output.
Fig. 4 is the exemplary plot that concerns between expression correlation integral value and the code phase.
The pairing code phase CP1 of the maximal value Pmax of the correlation integral value of Fig. 4 is the code phase that duplicates the C/A sign indicating number, is the code phase of C/A sign indicating number.
And terminal 20 is the code phase of two/a slice (chip) from distance codes phase place CP1, selects the correlation integral value Pnoise of the less correlation integral value of correlation integral value as noise.
In addition, under the situation of importing the signal of specifying electric field intensity, Pmax that calculates and signal intensity XPR can obtain by experiment.Therefore, terminal 20 can calculate the electric field intensity of received electric wave S1 of terminal 20 etc. from Pmax and signal intensity XPR.
In addition, electric field intensity is represented is the electric field intensity of electric wave S1 of locating of the antenna (not shown) of incoming terminal 20 etc.
Electric field intensity is strong more, even above-mentioned noncoherent time is shorter, also can determine code phase.And the precision of this code phase is very high.
Relative therewith, when electric field intensity is more weak,, just can not determine out code phase if noncoherent time is not long.And, to compare when strong with electric field intensity, the precision of the code phase of this moment is lower.
(main hardware of terminal 20 constitutes)
Fig. 5 is the skeleton diagram that the main hardware of expression terminal 20 constitutes.
As shown in Figure 5, terminal 20 has computing machine.Computing machine has bus 22.On bus 22, be connected with CPU (Central Processing Unit) 24, memory storage 26 etc.Memory storage 26 is as RAM (Random Access Memory), ROM (Read Only Memory) etc.
In addition, be connected with input media 28, supply unit 30, GPS device 32, display device 34, communicator 36 and clock 38 on the bus 22.
(main software of terminal 20 constitutes)
Fig. 6 is the skeleton diagram that the main software of expression terminal 20 constitutes.
As shown in Figure 6, terminal 20 have the control part 100 of control each several part, the GPS portion 102 corresponding with the GPS device of Fig. 5, with the corresponding timing portion 104 of clock 38 etc.
As shown in Figure 6, terminal 20 stores navigation information 152 in second storage part 150.Navigation information comprises Almanac 152a and precise ephemeris 152b.
As shown in Figure 6, terminal 20 storing initial positional information 154 in second storage part 150.Initial position P0 is the position location of last time for example.
As shown in Figure 6, terminal 20 storing satellite signal in first storage part 110 receives program 112.It is programs that control part 100 is used to receive electric wave S1 etc. that satellite-signal receives program 112.Control part 100 is with reference to Almanac 152a, judges gps satellite 12a that current time can observe etc.And control part 100 calculates current locations in orbit such as gps satellite 12a with reference to precise ephemeris 152b, and calculates the Doppler shift of electric wave S1 etc., and then infers that (infer, estimate) goes out receive frequency.Then, use the frequency of inferring out, the signal S1 that reception gps satellite 12a etc. sends etc.At this moment, the self-position as benchmark for example is initial position P0.
Fig. 7 is the key diagram that satellite-signal receives the processing that program 112 carried out.
As shown in Figure 7, satellite-signal reception program 112 is the programs that are used to implement search pattern M1, the first tracing mode M2 and the second tracing mode M3.
Search pattern M1 is the pattern that is used to catch electric wave S1 etc.Therefore, search pattern M1 searches for for example wideband of 3 KHz (KHz) (width frequency) scope.
The first tracing mode M2 (below, be called " pattern M2 ") be the station-keeping mode of after capturing electric wave S1 etc., following the tracks of.Pattern M2 is the mode of operation (station-keeping mode) of signal intensity (electric field intensity) when strong.So-called signal intensity is meant more by force more than negative (-) 139dBm.
Integral time in the pattern 2, (the INCOHERENT time: the incoherent time) t1 for example was 1 second.
The station-keeping mode that the second tracing mode M3 (below, be called " pattern M3 ") follows the tracks of after capturing electric wave S1 etc.Mode 3 is the mode of operation (station-keeping mode) of signal intensity when weak.Be meant a little less than the so-called signal intensity, more than negative (-) 160dBm and less than negative (-) 139dBm.
Integral time in the mode 3 (incoherent time), t2 for example was 2 seconds.
T2 integral time in the mode 3 is specified to longer than the product time t1 in the pattern 2.
As mentioned above, terminal 20 has a plurality of station-keeping modes according to the difference of working signal intensity.Pattern 2 and mode 3 are examples of station-keeping mode.In addition, pattern 2 also is an example of first station-keeping mode.And mode 3 also is an example of second station-keeping mode.
Environment determining program 114 and control part 100 are examples of position angle calculating portion.
In addition, observed reading is an example of location basic value.Therefore, environment determining program 114 and control part 100 also are examples of location basic value calculating part.The tracking of control part 100 Implementation Modes M2 or M3 simultaneously, calculates observed reading.
Fig. 8 is an example of expression observation information 156.
As shown in Figure 8, observation information 156 comprises satellite numbering 1 to 8.And, in the present embodiment, suppose to receive electric wave S1 to S8 from gps satellite 12a to 12h.
Corresponding gps satellite 12a is to 12h for satellite numbering 1 to 8 difference.
Observation information 156 also comprises code phase.About code phase, the code phase of each gps satellite 12a etc. has nothing in common with each other.
Observation information 156 also comprises Pmax, Pnoise and XPR.
Observation information 156 also comprises the elevation angle and position angle.This elevation angle and position angle are benchmark with the current location, represent the position of gps satellite 12a etc. with the elevation angle and position angle.Control part 100 calculates current locations in orbit such as each gps satellite 12a based on precise ephemeris 152b, be benchmark with initial position P0 again, calculates the elevation angle and the position angle of each gps satellite 12a etc.
Observation information 156 also comprises pattern M2 and M3.
For example, when use pattern M2 received from the electric wave S1 of gps satellite 12a, satellite numbering 1 was corresponding to pattern M2.When use pattern M3 received from the electric wave S5 of gps satellite 12e, satellite numbering 5 was corresponding to pattern M3.
Therefore, for example, when use pattern M2 receives from the electric wave S1 of gps satellite 12a, this gps satellite 12a is also referred to as " satellite of pattern M2 ".
Observation information 156 also comprises electric field intensity.Control part 100 calculates electric field intensity from Pmax and XPR.The electric field intensity of each gps satellite 12a etc. is different.
For example, v1 is negative (-) 159dBm, and v2 is negative (-) 140dBm.
In observation information 156, in the included information, code phase, Pmax, Pnoise, XPR, the elevation angle, position angle are referred to as observed reading.
As shown in Figure 6, terminal 20 storage environment determining program 114 in first storage part 110.Environment determining program 114 is control parts 100 based on the accepting state from the C/A sign indicating number of a plurality of gps satellite 12a etc., judges the program of the reception environment of C/A sign indicating number.Environment determining program 114 and control part 100 are examples of reception environment judging part.As hereinafter described, reception environment comprises the incidental multi-path environment of multipath effect.
As shown in Figure 6, terminal 20 store location program 116 in first storage part 110.Finder 116 is programs that control part 100 uses observed reading to position based on reception environment.Finder 116 and control part 100 are examples of location division.
Fig. 9 is the key diagram of the processing carried out of expression environment determining program 114.
Figure 10 is the key diagram of the processing carried out of environment determining program 114 and finder 116.
As shown in Figure 9, control part 100 is divided into highfield and weak electric field based on environment determining program 114 with (with reference to figure 8) such as electric field intensity v1.Highfield is the electric field intensity of pattern M2 work.Weak electric field is the electric field intensity of pattern M3 work.
Further, control part 100 is divided into first highfield, second highfield and the 3rd highfield with highfield.
First highfield is more than or equal to α 1 and less than the electric field intensity of α 2.Second highfield is more than or equal to α 2 and smaller or equal to the electric field intensity of α 3.The 3rd highfield is the electric field intensity more than or equal to α 3.α 1, α 2, α 3 are threshold values of electric field intensity, and α 2 is greater than α 1, and α 3 is greater than α 2.α 1 for example is negative (-) 140.α 2 for example is negative (-) 130.α 3 for example is negative (-) 124.
In addition, control part 100 is divided into first weak electric field and second weak electric field with weak electric field area.
First weak electric field is more than or equal to β 1 and less than the electric field intensity of β 2.Second weak electric field is more than or equal to β 2 and less than the electric field intensity of β 3.β 1, β 2, β 3 are threshold values of electric field intensity, and β 2 is greater than β 1, and β 3 is greater than β 2.β 1 for example is negative (-) 160.β 2 for example is negative (-) 150.β 3 for example is negative (-) 140.
As shown in figure 10, control part 100 is based on environment determining program 114, at the satellite of the M2 of the 3rd highfield more than or equal to 8, and, under the situation of the gps satellite beyond the satellite of the M2 that does not have the 3rd highfield, be judged as first environment (OpenSky).For example, the gps satellite of " satellite of M2 is 8 " expression use pattern M2 tracking is 8.
Figure 11 is the key diagram of reception environment to Figure 16.
First environment is shown in Figure 11 a, does not have the environment of the barrier of electric wave S1 etc. around terminal 20.Therefore, can there be the multipath problem according to reason.
As shown in figure 10, control part 100 is based on environment determining program 114, at the satellite of the satellite of the M2 of the satellite of the M2 of the 3rd highfield and second highfield and M3 and when depositing, is judged as second environment (accurate OpenSky).
Second environment is to exist to become the environment of the building 13A of barrier to 13D around terminal 20 shown in Figure 11 b.Therefore, from the signal of the satellite of M3 the multipath problem may appear at least.
As shown in figure 10, control part 100 is based on environment determining program 114, at the satellite of the satellite of the M2 of the satellite of the M2 of first highfield and second highfield and M3 and when depositing, is judged as the 3rd environment (first multi-path environment).
The 3rd environment as shown in figure 12, be around terminal 20, not only existed may become the building of barrier 13A to 13D, but also have the environment of the communication base station 14 etc. of noise source.Therefore, just from the signal of the satellite of M3, also the multipath problem may appear from the signal of the satellite of M2.
As shown in figure 10, control part 100 is based on environment determining program 114, at the satellite of the M3 of the satellite of the M2 of the 3rd highfield and second weak electric field and deposit, and, when satellite position has deflection, be judged as border, Fourth Ring (deflection environment).Here, control part 100 the satellite of the M2 of the 3rd highfield more than or equal to the satellite of the M3 of 3 and second weak electric field more than or equal to 4 situation etc. down, more than number is identical under (being more than 3 at this moment) situation, be judged as the satellite of M2 of the 3rd highfield and second weak electric field M3 satellite and deposit.The reasons are as follows of judging like this is described.
That is,, suppose that gps satellite can observe 6 to 9 in the place of appointment.At this moment, covered, in the time of perhaps can only seeing overhead situation, can have been supposed 3 to 4 signal intensities identical with it of satellite satellite coexistence of weak (second weak electric field) slightly of strong signal intensity (the 3rd highfield) with number in a certain direction.
The border, Fourth Ring shown in Figure 13 a, is the environment that satellite configuration westwards is partial to for example.This is the existence owing to building 15, and electric wave S6, the S7 of gps satellite 12f, 12g and 12h and S8 be incoming terminal 20 directly.That is, the border, Fourth Ring also is a kind of multi-path environment.
Figure 17, Figure 18 and Figure 19 are the key diagrams of the judgement of deflection environment.
Shown in Figure 17 a, will be the angular ranges of 360 degree at center with terminal 20 positions, for example be divided into 8 five equilibriums, the position angle belongs to these 8 angular regions R1 among the R8.In Figure 17 a, the distance expression elevation angle at distance circle center, the elevation angle of circle center is 90 degree, the elevation angle on circumference is 0 degree.
In addition, different with present embodiment, angular regions can be not limited to angular range 8 five equilibriums with 360 degree, for example also can 16 five equilibriums.
Then, control part 100 judges whether the satellite of highfield is partial to some angular regions.The satellite of highfield is an example of strong signal satellite.That is, control part 100 just can be judged the deflection situation of a plurality of gps satellite 12a etc. based on the position angle of strong signal satellite.
In addition, different with present embodiment, under the equal situation of the satellite number of the satellite number that does not limit highfield and second weak electric field, for example, the satellite number of highfield and the satellite number of second weak electric field are under the situation of prior specified number or amount, such as, under 3 above situations, control part 100 also can begin the judgement of the situation of being partial to.At this moment, for example, the satellite that can be highfield is that 3, the satellite number of second weak electric field are 4.
Next, control part 100 for example, in remove the zone (being called the second semicircle zone) that region R 7 adds region R 3 again and constitute from the first semicircle zone, calculates the satellite number of highfield shown in Figure 17 c.In the example of Figure 17 c, the satellite number of highfield is 3.
Next, control part 100 for example, in remove the zone (being called the 3rd semicircle zone) that region R 2 adds region R 6 again and constitute from the first semicircle zone, calculates the satellite number of highfield shown in Figure 18 a.In the example of Figure 18 a, the satellite number of highfield is 3.
Next, control part 100 for example, in remove the zone (being called the 4th semicircle zone) that region R 8 adds region R 4 again and constitute from the second semicircle zone (with reference to figure 17c), calculates the satellite number of highfield shown in Figure 18 b.In the example of Figure 18 b, the satellite number of highfield is 1.
Next, control part 100 for example, in remove the zone (being called the 5th semicircle zone) that region R 1 adds region R 5 again and constitute from the 4th semicircle zone (with reference to figure 18b), calculates the satellite number of highfield shown in Figure 18 c.In the example of Figure 18 c, the satellite number of highfield is 0.
Next, control part 100 for example, in remove the zone (being called the 6th semicircle zone) that region R 2 adds region R 6 again and constitute from the 5th semicircle zone (with reference to figure 18c), calculates the satellite number of highfield shown in Figure 19 a.In the example of Figure 19 a, the satellite number of highfield is 0.
Next, control part 100 for example, in remove the zone (being called the 7th semicircle zone) that region R 3 adds region R 7 again and constitute from the 6th semicircle zone (with reference to figure 19a), calculates the satellite number of highfield shown in Figure 19 b.In the example of Figure 19 b, the satellite number of highfield is 0.
Next, control part 100 for example, in remove the zone (being called the 8th semicircle zone) that region R 4 adds region R 8 again and constitute from the 7th semicircle zone (with reference to figure 19b), calculates the satellite number of highfield shown in Figure 19 c.In the example of Figure 19 c, the satellite number of highfield is 0.
As mentioned above, after the semicircle zone that control part 100 allows 180 degree angular ranges form rotates according to 45 degree at every turn, calculate the satellite number of highfield respectively.
Then, control part 100 equates to be condition with the highfield satellite number that satisfies in continuous 3 semicircle zones, is judged as the satellite deflection.At this, control part 100 is judged the direction of the semicircle zone, center in 3 semicircle zones for deflection.
For example, first area (with reference to figure 17b), second area (with reference to figure 17c) and the 3rd zone (with reference to figure 18a) are continuous, and the satellite number of highfield is identical.And the semicircle zone at center is the first area.And the center position of first area is north.
Therefore, control part 100 judges that gps satellite 12a etc. are by north.
In addition, in this embodiment, the first area is an example of central area.Second area and the 3rd zone are examples of neighboring region.And the highfield satellite number in continuous 3 semicircle zones equates that this condition is an example of the first deflection condition.
As shown in figure 10, control part 100 is based on environment determining program 114, at the satellite of the M3 of the satellite of the M2 of the 3rd highfield and second weak electric field and deposit, and, satellite position does not have deflection when (the highfield satellite number in continuous 3 semicircle zones equates that this condition does not satisfy), is judged as border, five rings (environment in the paddy).The border, five rings is, for example shown in Figure 13 b, though satellite configuration is not inclined to one side, is similar to environment in the paddy by what building 15 and 16 formed.For example, the state of Ri Ben Ginza.The border, five rings is the incidental environment of multipath effect.Promptly the border, five rings also is a kind of multi-path environment.
In addition, different with present embodiment, control part 100 also can be got rid of the observed reading that the elevation angle is the following satellite of 60 degree, positions.In the border, five rings, the signal of the satellite that the elevation angle 60 degree are following is a multipath, and this conclusion is that the present inventor is determined by experiment.The elevation angle 60 following scope of degree is an example of the low elevation coverage predesignated.
Figure 20 is the key diagram that environment is judged in the paddy.
When the satellite of the M3 of the satellite of the M2 of the 3rd highfield that has basic identical number and second weak electric field, and when not having deflection, as shown in figure 17, the elevation angle of the satellite of the M2 of the 3rd highfield is than the elevation angle height of the satellite of the M3 of second weak electric field.And, taking place in can be in the paddy such landform of the relation at the electric field intensity and the elevation angle, this phenomenon is that the present inventor is determined by experiment.
Therefore, when the satellite of the M3 of the satellite of the M2 of the 3rd highfield that has basic identical number and second weak electric field, and, when not having deflection, can be judged as (in the mountain) environment in the paddy.
As shown in figure 10, control part 100 is based on environment determining program 114, during more than the satellite of M2, is judged as the 6th environment (second multi-path environment) at the satellite of M3.
The 6th environment is, for example as shown in figure 14, exists building 17A to 17E, and the environment that overlaps each other between the buildings.Perhaps, the 6th environment is the indoor environment that window is arranged.In the 6th environment, a little less than the electric field intensity, and multipath takes place easily.
As shown in figure 10, control part 100 is based on environment determining program 114, and at the satellite that has only a M2, all the other all are under the situation of satellite of M3, are judged as the 7th environment (the 3rd multi-path environment).
The 7th environment is, for example shown in Figure 15 a, has only the environment in the buildings 18 of a window 18a.In the 7th environment, the satellite of the direction of window word 18a can be got tracking with M2, is likely multi-path signal from the signal of other satellites.
As shown in figure 10, control part 100 when the satellite of the M3 that has only second weak electric field, is judged as the 8th environment (second weak electric field) based on environment determining program 114.
The 8th environment is, for example shown in Figure 15 b, near the environment of noise source communication base station 14 and hi-line 18A is arranged.
As shown in figure 10, control part 100 when the satellite of the M3 that has only first weak electric field, is judged as the 9th environment (first weak electric field) based on environment determining program 114.
The 9th environment is, for example as shown in figure 16, near the environment of noise source communication base station 14 and hi- line 18A and 18B is arranged.
Above-mentioned the 3rd environment, border, Fourth Ring, border, five rings, the 6th environment and the 7th environment is an example of multi-path environment.
As shown in Figure 6, terminal 20 store location position written-out program 118 in first storage part 110.Position location written-out program 118 is, control part 100 outputs to program on the display device 34 (with reference to figure 5) with the position location.
As mentioned above, terminal 20 is used the number by the received pairing gps satellite 12a of C/A sign indicating number of pattern M2 and M3 etc., judges reception environment (first environment to the nine environment).
Therefore, terminal 20 there is no need to preserve map datum, also there is no need just can judge reception environment in communication base station communication.
In addition, terminal is based on reception environment, and whether decision gets rid of observed reading, and whether proofreaies and correct observed reading, positions.
So, terminal 20 needn't be preserved map datum and be communicated by letter with communication base station, and, can adapt to various reception environment, utilize satellite-signal efficiently, position.
It more than is the formation of the related terminal of present embodiment 20.Below, at the work example, use Figure 21 to describe.
Figure 21 is the general flowchart of the work example of expression terminal 20.
At first, terminal 20 receives (the step ST1 of Figure 21) such as electric wave S1, calculates observed reading (ST2).This step ST1 and ST2 are examples of basic value calculation procedure.
Next, terminal 20 is carried out environment judgement (step ST3).This step ST3 is an example of reception environment determining step.
Next, terminal 20 positions (step ST4).This step ST4 is an example of positioning step.
Next, terminal 20 output position locations (step ST5).
To ST5, terminal 20 needn't be preserved map datum and be communicated by letter with communication base station by above-mentioned step ST1, and, can adapt to various reception environment, utilize satellite-signal efficiently, position.
(variation)
Figure 22 is the key diagram that deflection is judged.
Figure 22 a represents the situation of satellite deflection.
Shown in Figure 22 a, the control part 100 of terminal 20 calculates, by the center of gravity G of the formed figure of each co-ordinates of satellite of the elevation angle and position angle definition.Then, control part 100 calculates the vector H that points to center of gravity G from terminal 20.Then, control part 100 is that elevation angle composition for example satisfies under the situations less than 45 degree in the size of vector H, is judged as the direction of deflection vector H such as gps satellite 12a.Less than 45 degree are examples of the size of prior regulation.
The size of vector H is that elevation angle composition is for example spent less than 45, and this condition is an example of the second deflection condition.
Figure 22 b represents the situation that satellite is not inclined to one side.
Shown in Figure 22 b, when satellite was not inclined to one side, vectorial H was more than 45 degree.
Therefore, by the size (elevation angle composition) of vectorial H, the deflection that just can judge satellite whether.
(program and computer-readable recording medium etc.)
Can be used as the control program of the locating device that can move on the computing machine, move the position angle of above-mentioned work example and calculate step and reception environment determining step etc.
In addition, can also be as the computer-readable recording medium of the control program etc. of these locating devices of storage.
Program recorded medium is installed the control program of these locating devices etc. on computers, and make these programs be in executable state by computing machine, program recorded medium not only comprises: for example resemble the such flexible plastic disc of floppy disk (registered trademark), CD-ROM (Compact Disc Read Only Memory: CD drive), CD-R (Compact Disc Recordable: the CD-R driver), CD-RW (Compact Disc-Rewritable: the CD-RW driver), DVD (Digital Versatile Disc: etc. the packet mode medium Digital video disc driver), can also be by the semiconductor memory of temporary transient or permanent storage program, magnetic disk memory, or optical disc memory waits and realizes.
The invention is not restricted to each above-mentioned embodiment.It also can be the combination of above-mentioned each embodiment.
As mentioned above, embodiments of the invention are had been described in detail, but according to inventive point of the present invention and effect only otherwise the various distortion that break away from essence aim of the present invention all are conspicuous to one skilled in the art.Therefore, this variation also should be included in protection scope of the present invention.
Claims (8)
1. a locating device receives the satellite-signal from the SPS satellite, carries out the location of current location, comprising:
Position angle calculating portion is used to calculate the position angle of the pairing described SPS satellite of described satellite-signal that receives; And
The reception environment judging part based on the described position angle of a plurality of described SPS satellite that is calculated by described position angle calculating portion, is judged the reception environment that comprises multi-path environment,
Described reception environment judging part has the number of each pairing described SPS satellite of described satellite-signal that receives of the different a plurality of station-keeping modes of the signal intensity of work according to use, judges the deflection of described SPS satellite.
2. locating device according to claim 1, wherein,
Described reception environment judging part, in a plurality of described SPS satellites, based on the described position angle of strong signal satellite, judge the deflection of a plurality of described SPS satellites, described strong signal satellite is the pairing described SPS satellite of described satellite-signal in the signal strength range of predesignating.
3. locating device according to claim 2, wherein,
With the angular ranges of 360 degree at least in the formed angular regions of eight equal parts, be positioned at as the number of the described strong signal satellite of the central area in the semicircle zone at the center among described three semicircle zones when selecting continuous three semicircles zone and be positioned at when being partial to condition with the number essentially identical first of the described strong signal satellite of the neighboring region in the semicircle zone of described central area adjacency when satisfying, described reception environment judgement section judges is the angle that described SPS satellite is partial to described central area.
4. locating device according to claim 1, wherein,
Described reception environment judging part calculates the center of gravity by the figure that coordinate constituted of each described SPS satellite of the elevation angle and described position angle defined, and calculates the vector that points to described center of gravity from described locating device,
When satisfying the second deflection condition, be judged as the direction that described SPS satellite is partial to described vector, the described second deflection condition is meant that the size of described vector is smaller or equal to the size of predesignating.
5. according to claim 3 or 4 described locating devices, wherein,
Described station-keeping mode comprises: first station-keeping mode of working under highfield; And second station-keeping mode of under the electric field intensity a little less than the more described highfield, working;
Described weak electric field is divided into first weak electric field, and by second weak electric field of the electric field intensity of more described first light current field intensity regulation;
Described reception environment judging part, at the number of the pairing described SPS satellite of described satellite-signal that uses described first station-keeping mode to receive with when using the number of the pairing described SPS satellite of described satellite-signal that described second station-keeping mode of described second weak electric field receives basic identical, carry out the judgement of the described second deflection condition of the described first deflection conditioned disjunction.
6. according to claim 3 or 4 described locating devices, wherein,
Described reception environment judging part, at the number of the pairing described SPS satellite of described satellite-signal that uses described first station-keeping mode to receive with use the number of the pairing described SPS satellite of described satellite-signal that described second station-keeping mode of described second weak electric field receives basic identical and when not satisfying the described first deflection conditioned disjunction, the second deflection condition again, described reception environment is judged as in the paddy.
7. according to each described locating device in the claim 1 to 4, wherein, get rid of the described SPS satellite of going up in the opposite direction with described SPS satellite deflection side, position.
8. the control method of a locating device receives the satellite-signal from the SPS satellite, carries out the location of current location, comprising:
Step, the position angle that is used to calculate the pairing described SPS satellite of described satellite-signal that receives are calculated in the position angle; And
The reception environment determining step based on the described position angle that a plurality of described SPS satellite that step calculates is calculated at described position angle, is judged the reception environment that comprises multi-path environment,
Described reception environment determining step has the number of each pairing described SPS satellite of described satellite-signal that receives of the different a plurality of station-keeping modes of the signal intensity of work according to use, judges the deflection of described SPS satellite.
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| JP2006198755A JP4285509B2 (en) | 2006-07-20 | 2006-07-20 | POSITIONING DEVICE, POSITIONING DEVICE CONTROL METHOD, AND PROGRAM |
| JP2006-198756 | 2006-07-20 | ||
| JP2006198756A JP4151715B2 (en) | 2006-07-20 | 2006-07-20 | POSITIONING DEVICE, POSITIONING DEVICE CONTROL METHOD, AND CONTROL PROGRAM THEREOF |
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| US9470529B2 (en) | 2011-07-14 | 2016-10-18 | Microsoft Technology Licensing, Llc | Activating and deactivating sensors for dead reckoning |
| US10184798B2 (en) | 2011-10-28 | 2019-01-22 | Microsoft Technology Licensing, Llc | Multi-stage dead reckoning for crowd sourcing |
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