Positioning method

• US 10,267,920 B2
• Filed: 06/27/2012
• Issued: 04/23/2019
• Est. Priority Date: 06/27/2012
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Ishigami, Tadatomi, Maeda, Atsushi, Fujii, Masatoshi, Chiyonobu, Hirokazu, Fujimoto, Kohei
• Primary Examiner(s): Gregory, Bernarr E
• Assistant Examiner(s): Mull, Fred H
• Application Number:
  US14/403,647
• Publication Number:
  US 20150138015A1
• Time in Patent Office: 2,491 Days
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/42 Determining position
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

An object is to provide in a positioning device of a moving body such as a vehicle, a technique which can modify a built-in clock error of a moving body to increase accuracy of a velocity. The positioning device includes a built-in clock error estimating unit which estimates a built-in clock error of the vehicle as a built-in clock error based on a difference between a delta range and a calculated range rate, and a range rate estimating unit which estimates a vehicle stop range rate based on position and velocity of GPS satellite based on transmission signal and a vehicle position, and modifies a calculated range rate, based on the built-in clock error. Further, the positioning device includes an own vehicle velocity calculating unit which calculates own vehicle velocities in three axial directions which form an orthogonal coordinate system, based on a navigation matrix, the vehicle stop range rate and the modified calculated range rate.

Claims

1. A navigation method that displays a position of a moving body on a map for destination guidance, comprising:

storing map data including linear shapes and road links represented by coordinate points;

receiving, by a GPS receiver, transmission signals from at least one GPS satellite at predefined time periods;

obtaining raw GPS data from the received transmission signals;

determining a moving body position by

calculating a delta range of said at least one GPS satellite based on a difference between a pseudo distance for a GPS satellite received from a current transmission signal and a pseudo distance for the GPS satellite received from the previous transmission signal from the GPS satellite and a first range rate of said at least one GPS satellite based on a Doppler shift of said transmission signal;

estimating a built-in clock error of a built-in clock of said moving body based on a difference between said calculated delta range of said at least one GPS satellite and said calculated first range rate of said at least one GPS satellite;

estimating a second range rate, assuming that said moving body has stopped at the current time period, based on position and velocity of said GPS satellite determined from said current transmission signal and a position of said moving body;

modifying said calculated first range rate based on said built-in clock error; and

calculating a first velocity of said moving body related to three axial directions that form an orthogonal coordinate system, based on a navigation matrix, said second range rate and said modified first range rate, where said navigation matrix includes the position of said at least one GPS satellite based on said current transmission signal and includes the position of said moving body; and

outputting the position of the moving body to a display, the display configured to display the position of the moving body on a map based on a road link read from the stored map data.

2. The navigation method according to claim 1, wherein determining the moving body position further comprises

determining whether or not a change in the built-in clock error is larger than a predetermined value;

and

estimating the built-in clock error used for modifying said calculated first range rate by excluding or lowering a weight of the built-in clock error in which the change is determined to be larger than said predetermined value.

3. The navigation method according to claim 2, wherein when the GPS receiver receives transmission signals from a plurality of GPS satellites, determining the moving body position comprises

calculating a plurality of delta ranges, each delta range corresponding to a respective one of the plurality of GPS satellites;

calculating a plurality of said first range rates, each first range rate corresponding to a respective one of the plurality of GPS satellites;

estimating a built-in clock error based on each of said plurality of GPS satellites, the built-in clock error for each GPS satellite being based on a difference between said calculated delta range of the respective GPS satellite and said calculated first range rate of the respective GPS satellite;

determining whether or not a change in the built-in clock error for each of the plurality of GPS satellites is larger than a predetermined value; and

determining an average built-in clock error based on the estimated built-in clock errors for the plurality of GPS satellites, excluding or lowering a weight of said estimated built-in clock errors for the GPS satellites in which the change is determined to be larger than said predetermined value.

4. The navigation method according to claim 1, further comprising:

receiving, from a velocity sensor, a pulse signal corresponding to moving distance of said moving body;

determining whether or not said moving body performs predetermined driving based on said calculated first velocity; and

calculating, when it is determined that the moving body does not perform the predetermined driving, a scale factor based on the calculated first velocity and the pulse signal received from said velocity sensor.

5. The navigation method according to claim 1, further comprising

determining whether or not a change in the built-in clock error is larger than the predetermined value;

receiving, from a velocity sensor, a pulse signal corresponding to a moving distance of said moving body; and

calculating, when it is determined that a change in said built-in clock error is equal to or less than a predetermined value, a scale factor based on said first calculated velocity and the pulse signal received from said velocity sensor.

6. The navigation method according to claim 5, wherein when the GPS receiver receives transmission signals from a plurality of GPS satellites, determining the moving body position comprises

calculating a plurality of delta ranges, each delta range corresponding to a respective one of said plurality of GPS satellites,

calculating a plurality of first range rates each first range rate corresponding to a respective one of said plurality of GPS satellites,

estimating a plurality of built-in clock errors, each built-in clock error corresponding to a respective one of said plurality of GPS satellites,

determining whether or not changes in said plurality of built-in clock errors are larger than the predetermined value, and

calculating, when a number of said GPS satellites whose changes in said built-in clock errors are determined to be equal to or less than said predetermined value is equal to or more than a predetermined number, said scale factor based on said calculated first velocity and the pulse signal received from said velocity sensor.

7. The navigation method according to claim 1, further comprising:

receiving, from a velocity sensor, a pulse signal corresponding to a moving distance of said moving body;

receiving, from an acceleration sensor, a voltage corresponding to a second acceleration along said traveling direction of said moving body;

calculating a scale factor based on said calculated first velocity and the pulse signal received from said velocity sensor;

measuring a first acceleration in a traveling direction of said moving body based on said pulse signal received from said velocity sensor and said scale factor;

calculating a first pitch angle based on said calculated first velocity; and

correcting a zero voltage of said acceleration sensor based on said first acceleration, said voltage, and said first pitch angle, time axes of said first acceleration, said voltage and said first pitch angle being aligned.

8. The navigation method according to claim 7, further comprising

measuring a second pitch angle based on said first acceleration, said voltage from said acceleration sensor, and said zero voltage, time axes of said first acceleration, said voltage and said zero voltage being aligned.

9. The navigation method according to claim 8, further comprising

correcting said zero voltage at a cycle shorter than an observation cycle of said GPS satellite.

10. The navigation method according to claim 1, wherein when the GPS receiver receives transmission signals from a plurality of GPS satellites, determining the moving body position comprises

calculating a plurality of delta ranges, each delta range corresponding to a respective one of said plurality of GPS satellites,

calculating a plurality of first range rates, each first range rate corresponding to a respective one of the plurality of GPS satellites,

estimating a plurality of built-in clock errors, each built-in clock error corresponding to a respective one of said plurality of GPS satellites,

determining whether or not changes in said plurality of built-in clock errors are equal to or larger than a predetermined value,

estimating said second range rate and modifying said first range rate for each of said GPS satellites whose changes in said built-in clock errors are determined to be smaller than said predetermined value, and estimating said second and third range rates for each of said GPS satellites whose changes in said built-in clock errors are determined to be larger than said predetermined value, and

calculating said first velocity based on at least one of said modified first range rates and said third range rate, and said second range rate.

11. A global positioning method that determines a position of a moving body, comprising:

storing map data;

receiving, by a GPS receiver, transmission signals from at least one GPS satellite at predefined time periods;

obtaining raw GPS data from the received transmission signals; and

determining a moving body position by

calculating a delta range of said at least one GPS satellite based on a difference between a pseudo distance for a GPS satellite received from a current transmission signal and a pseudo distance for the GPS satellite received from the previous transmission signal from the GPS satellite and a first range rate of said at least one GPS satellite based on a Doppler shift of said transmission signal;

estimating a built-in clock error of a built-in clock of said moving body based on a difference between said calculated delta range of said at least one GPS satellite and said calculated first range rate of said at least one GPS satellite;

estimating a second range rate, assuming that said moving body has stopped at the current time period, based on position and velocity of said GPS satellite determined from said current transmission signal and a position of said moving body;

modifying said calculated first range rate based on said built-in clock error;

calculating a first velocity of said moving body related to three axial directions that form an orthogonal coordinate system, based on a navigation matrix, said second range rate and said modified first range rate, where said navigation matrix includes the position of said at least one GPS satellite based on said current transmission signal and includes the position of said moving body; and

outputting the position of the moving body to identify the position of the moving body on a map, wherein said position of the moving body on the map is output to outside a global positioning device.

12. A global positioning method according to claim 11, further comprising

determining whether or not a change in the built-in clock error is larger than a predetermined value;

and

estimating the built-in clock error used for modifying said calculated first range rate by excluding or lowering a weight of the built-in clock error in which the change is determined to be larger than said predetermined value.

13. A global positioning method according to claim 12, wherein when the GPS receiver receives transmission signals from a plurality of GPS satellites, determining the moving body position comprises

calculating a plurality of delta ranges, each delta range corresponding to a respective one of the plurality of GPS satellites;

calculating a plurality of said first range rates, each first range rate corresponding to a respective one of the plurality of GPS satellites;

estimating a built-in clock error based on each of said plurality of GPS satellites, the built-in clock error for each GPS satellite being based on a difference between said calculated delta range of the respective GPS satellite and said calculated first range rate of the respective GPS satellite;

determining whether or not a change in the built-in clock error for each of the plurality of GPS satellites is larger than a predetermined value; and

determining an average built-in clock error based on the estimated built-in clock errors for the plurality of GPS satellites, excluding or lowering a weight of said estimated built-in clock errors for the GPS satellites in which the change is determined to be larger than said predetermined value.

14. A global positioning method according to claim 11, further comprising:

receiving, from a velocity sensor, a pulse signal corresponding to moving distance of said moving body;

determining whether or not said moving body performs predetermined driving based on said calculated first velocity; and

calculating, when it is determined that the moving body does not perform the predetermined driving, a scale factor based on the calculated first velocity and the pulse signal received from said velocity sensor.

15. A global positioning method according to claim 11, further comprising

determining whether or not a change in the built-in clock error is larger than the predetermined value;

receiving, from a velocity sensor, a pulse signal corresponding to moving distance of said moving body; and

calculating, when it is determined that a change in said built-in clock error is equal to or less than a predetermined value, a scale factor based on said first calculated velocity and the pulse signal received from said velocity sensor.

16. A global positioning method according to claim 15, wherein when the GPS receiver receives transmission signals from a plurality of GPS satellites, determining the moving body position comprises

calculating a plurality of delta ranges, each delta range corresponding to a respective one of said plurality of GPS satellites,

calculating a plurality of first range rates each first range rate corresponding to a respective one of said plurality of GPS satellites,

estimating a plurality of built-in clock errors, each built-in clock error corresponding to a respective one of said plurality of GPS satellites,

determining whether or not changes in said plurality of built-in clock errors are larger than the predetermined value, and

calculating, when a number of said GPS satellites whose changes in said built-in clock errors are determined to be equal to or less than said predetermined value is equal to or more than a predetermined number, said scale factor based on said calculated first velocity and the pulse signal received from said velocity sensor.

18. The global positioning method according to claim 11, wherein the position of the moving body is output to a display, the display being configured to display the position of the moving body on the map based on a road link read from the stored map data.

17. method for identifying the position of a vehicle on a road link, comprising:

receiving, by a GPS receiver, transmission signals from at least one GPS satellite at predefined time periods;

obtaining raw GPS data from the received transmission signals; and

determining a position of the vehicle by

calculating a delta range of said at least one GPS satellite based on a difference between a pseudo distance for a GPS satellite received from a current transmission signal and a pseudo distance for the GPS satellite received from the previous transmission signal from the GPS satellite and a first range rate of said at least one GPS satellite based on a Doppler shift of said transmission signal;

estimating a built-in clock error of a built-in clock of said vehicle based on a difference between said calculated delta range of said at least one GPS satellite and said calculated first range rate of said at least one GPS satellite;

estimating a second range rate, assuming that said vehicle has stopped at the current time period, based on position and velocity of said GPS satellite determined from said current transmission signal and a position of said vehicle;

modifying said calculated first range rate based on said built-in clock error;

calculating a first velocity of said vehicle related to three axial directions that form an orthogonal coordinate system, based on a navigation matrix, said second range rate and said modified first range rate, where said navigation matrix includes the position of said at least one GPS satellite based on said current transmission signal and includes the position of said vehicle; and

using the position of the vehicle to identify the position of the vehicle on a map.

19. The method according to claim 17, wherein the position of the vehicle is used by a display, the display being configured to display the position of the vehicle on a map based on a road link read from a stored map data.

20. A navigation method that displays a position of a moving body on a map for destination guidance, comprising:

storing map data including linear shapes and road links represented by coordinate points;

receiving, by a GPS receiver, transmission signals from at least one GPS satellite at predefined time periods;

obtaining raw GPS data from the received transmission signals;

determining a moving body position by

calculating a delta range of said at least one GPS satellite based on a difference between a pseudo distance for a GPS satellite received from a current transmission signal and a pseudo distance for the GPS satellite received from the previous transmission signal from the GPS satellite and a first range rate of said at least one GPS satellite based on a Doppler shift of said transmission signal;

estimating a built-in clock error of a built-in clock of said moving body based on a difference between said calculated delta range of said at least one GPS satellite and said calculated first range rate of said at least one GPS satellite;

receiving, from a velocity sensor, a pulse signal corresponding to a moving distance of said moving body;

receiving, from an angular velocity sensor, a voltage corresponding to a yaw rate of said moving body;

calculating a scale factor based on said calculated first velocity and the pulse signal received from said velocity sensor;

measuring a moving distance of said moving body based on said pulse signal received from said velocity sensor and said scale factor;

determining a yaw angle based on the voltage received from said angular velocity sensor;

estimating a position and an azimuth of said moving body based on said measured moving distance and said yaw angle, and

estimating a second range rate, assuming that said moving body has stopped at the current time period, based on position and velocity of said GPS satellite determined from said current transmission signal, the estimated position, and the azimuth of said moving body;

modifying said calculated first range rate based on said built-in clock error; and

calculating a first velocity of said moving body related to three axial directions that form an orthogonal coordinate system, based on a navigation matrix, said second range rate and said modified first range rate, where said navigation matrix includes the position of said at least one GPS satellite based on said current transmission signal and includes the position of said moving body; and

outputting the position of the moving body to a display, the display configured to display the position of the moving body on a map based on a road link read from the stored map data.

21. A navigation method that displays a position of a moving body on a map for destination guidance, comprising:

storing map data including linear shapes and road links represented by coordinate points;

receiving, by a GPS receiver, transmission signals from at least one GPS satellite at predefined time periods;

obtaining raw GPS data from the received transmission signals;

determining a moving body position by

calculating a delta range of said at least one GPS satellite based on a difference between a pseudo distance for a GPS satellite received from a current transmission signal and a pseudo distance for the GPS satellite received from the previous transmission signal from the GPS satellite and a first range rate of said at least one GPS satellite based on a Doppler shift of said transmission signal;

estimating a built-in clock error of a built-in clock of said moving body based on a difference between said calculated delta range of said at least one GPS satellite and said calculated first range rate of said at least one GPS satellite;

receiving, from a velocity sensor, a pulse signal corresponding to a moving distance of said moving body;

receiving, from an angular velocity sensor, a voltage corresponding to a yaw rate of said moving body;

calculating a scale factor based on said calculated first velocity and the pulse signal received from said velocity sensor;

measuring a moving distance of said moving body based on said pulse signal received from said velocity sensor and said scale factor;

determining a yaw angle based on the voltage received from said angular velocity sensor;

estimating a position and an azimuth of said moving body based on said measured moving distance and said yaw angle, and

estimating a second range rate, assuming that said moving body has stopped at the current time period, based on position and velocity of said GPS satellite determined from said current transmission signal, the estimated position, and the azimuth of said moving body;

modifying said calculated first range rate based on said built-in clock error; and

calculating a first velocity of said moving body related to three axial directions that form an orthogonal coordinate system, based on a navigation matrix, said second range rate and said modified first range rate, where said navigation matrix includes the position of said at least one GPS satellite based on said current transmission signal and includes the position of said moving body;

determining a second velocity of said moving body based on said pulse signal received from said velocity sensor and said scale factor,

determining whether or not a change in said built-in clock error is equal to or larger than the predetermined value,

estimating, when said built-in clock error is determined to be larger than said predetermined value, a third range rate in case said moving body is driving, based on the position and the velocity of the at least one GPS satellite based on said transmission signal, the position and the azimuth of said moving body, and said second velocity, and

re-calculating, when said built-in clock error is determined to be larger than said predetermined value, said first velocity using said third range rate; and

outputting the position of the moving body to a display, the display configured to display the position of the moving body on a map based on a road link read from the stored map data.

22. A global positioning method that determines a position of a moving body, comprising:

storing map data;

receiving, by a GPS receiver, transmission signals from at least one GPS satellite at predefined time periods;

obtaining raw GPS data from the received transmission signals; and

determining a moving body position by

calculating a delta range of said at least one GPS satellite based on a difference between a pseudo distance for a GPS satellite received from a current transmission signal and a pseudo distance for the GPS satellite received from the previous transmission signal from the GPS satellite and a first range rate of said at least one GPS satellite based on a Doppler shift of said transmission signal;

estimating a built-in clock error of a built-in clock of said moving body based on a difference between said calculated delta range of said at least one GPS satellite and said calculated first range rate of said at least one GPS satellite;

receiving, from a velocity sensor, a pulse signal corresponding to a moving distance of said moving body;

receiving, from an angular velocity sensor, a voltage corresponding to a yaw rate of said moving body,

calculating a scale factor based on said calculated first velocity and the pulse signal received from said velocity sensor;

measuring a moving distance of said moving body based on said pulse signal received from said velocity sensor and said scale factor;

determining a yaw angle based on the voltage received from said angular velocity sensor;

estimating a position and an azimuth of said moving body based on said measured moving distance and said yaw angle,

estimating a second range rate, assuming that said moving body has stopped at the current time period, based on position and velocity of said GPS satellite determined from said current transmission signal, the estimated position, and the azimuth of said moving body;

modifying said calculated first range rate based on said built-in clock error;

calculating a first velocity of said moving body related to three axial directions that form an orthogonal coordinate system, based on a navigation matrix, said second range rate and said modified first range rate, where said navigation matrix includes the position of said at least one GPS satellite based on said current transmission signal and includes the position of said moving body;

determining a second velocity of said moving body based on said pulse signal received from said velocity sensor and said scale factor;

determining whether or not a change in said built-in clock error is equal to or larger than the predetermined value,

estimating, when said built-in clock error is determined to be larger than said predetermined value, a third range rate in case said moving body is driving, based on the position and the velocity of the at least one GPS satellite based on said transmission signal, the position and the azimuth of said moving body, and said second velocity, and

re-calculating, when said built-in clock error is determined to be larger than said predetermined value, said first velocity using said third range rate; and

outputting the position of the moving body to identify the position of the moving body on a map, wherein said position of the moving body on the map is output to outside a global positioning device.