Global positioning device

• US 10,393,879 B2
• Filed: 03/28/2014
• Issued: 08/27/2019
• Est. Priority Date: 03/28/2014
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Saito, Masayuki, Miya, Masakazu, Sato, Yuki, Fujita, Seigo, Terao, Kazuhiro
• Primary Examiner(s): Nguyen, Chuong P
• Application Number:
  US15/127,993
• Publication Number:
  US 20170090038A1
• Time in Patent Office: 1,978 Days
• Field of Search: 34235723, 34235724, 34235744, 34235746, 34235751
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01S 19/071 DGPS corrections
• CPC Class Codes: G01S 19/073 involving a network of fixed stations
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

A correction data creation unit receives a value of an error used in satellite positioning at a first time interval, and receives a correction value of the error at a second time interval that is a time interval 1/n (n is an integer of two or larger) time interval of the first time interval. The correction data creation unit also corrects the value of the error at the second time interval by using the correction value.

Claims

1. A global positioning device comprising:

a receiver configured to receive a value of an error used in satellite positioning at a first time interval and receive a first correction value of the error at a second time interval that is 1/n (n is an integer of two or larger) time interval of the first time interval; and

processing circuitry configured to correct the value of the error at the second time interval using the first correction value, wherein

the receiver is further configured to receive, at the first time interval, a first value of a frequency-dependent error that is an error dependent on a frequency of a carrier from a positioning satellite and a second value of a frequency-independent error that is an error independent of the frequency of the carrier and receive, at the second time interval, a second correction value of the frequency-independent error, and

the processing circuitry is further configured to correct the second value of the frequency-independent error at the second time interval using the second correction value.

2. The global positioning device according to claim 1, wherein the processing circuitry is further configured to

calculate a third correction value of the frequency-dependent error for the second time interval, and

correct, at the second time interval, the second value of the frequency-independent error using the first correction value received by the receiver and the first value of the frequency-dependent error using the calculated third correction value.

3. The global positioning device according to claim 2, wherein

the processing circuitry is further configured to calculate a fourth correction value of the frequency-independent error for the second time interval by linear interpolation that employs time extrapolation.

4. The global positioning device according to claim 1, wherein

the receiver is further configured to

receive, at the first time interval, at least any one of:

a value of an inter-frequency bias of an L1 wave, a value of an inter-frequency bias of an L2 wave and a value of an ionospheric delay error as the value of the frequency-dependent error and at least any one of a value of a satellite orbit error, a value of an inter-frequency bias of an L0 wave and a value of a tropospheric delay error as the value of the frequency-independent error, and

receive, at the second time interval, at least any one of;

a correction value of the satellite orbit error, a correction value of the inter-frequency bias of the L0 wave and a correction value of the tropospheric delay error as the correction value of the frequency-independent error.

5. The global positioning device according to claim 4, wherein the processing circuitry is further configured to

calculate a third correction value of the inter-frequency bias of the L1 wave for the second time interval, a fourth correction value of the inter-frequency bias of the L2 wave for the second time interval and a fifth correction value of the ionospheric delay error for the second time interval, and

correct, at the second time interval, the frequency-independent error using the first correction value received by the receiver and the frequency-dependent error using a respective one or more of the calculated third, fourth and fifth correction values.

6. The global positioning device according to claim 1, wherein

the receiver is further configured to receive the second correction value of the frequency-independent error together with a satellite clock error at the second time interval.

7. The global positioning device according to claim 1, wherein

the receiver is further configured to receive the value of the error at thirty second intervals and receive the first correction value of the error at five second intervals, and

the processing circuitry is further configured to correct the value of the error at five second intervals using the first correction value.

8. A global positioning device comprising:

processing circuitry configured to perform positioning calculation using a state quantity including at least either an ionospheric residual or a tropospheric residual that remains after error correction processing is performed on observation data from a positioning satellite, wherein

the procession circuitry is further configured to

perform time extrapolation calculation on a state quantity of a past epoch including at least either the ionospheric residual or the tropospheric residual to estimate a state quantity of a current epoch including at least either the ionospheric residual or the tropospheric residual,

calculate a double difference residual using double difference data obtained by double difference calculation on the observation data, a geometric distance between the positioning satellite and the positioning device obtained from the observation data, and the state quantity of the estimated current epoch, and

perform observation update calculation using the double difference residual to update the state quantity of the estimated current epoch.

9. The global positioning device according to claim 8, wherein

the processing circuitry obtains a positioning result from which at least either the ionospheric residual or the tropospheric residual is eliminated.

10. The global positioning device according to claim 8, wherein

the processing circuitry performs positioning calculation by using the state quantity including L1-wave ambiguity and wide-lane ambiguity.

11. The global positioning device according to claim 8, wherein

the processing circuitry is further configured to perform observation update calculation based on an assumption that a value of the ionospheric residual included in the double difference residual is zero to update the state quantity of the estimated current epoch including at least the ionospheric residual.

12. The global positioning device according to claim 8, wherein

the processing circuitry is further configured to perform observation update calculation based on an assumption that a value of the tropospheric residual included in the double difference residual is zero to update the state quantity of the estimated current epoch including at least the tropospheric residual.

13. The global positioning device according to claim 8, wherein

the processing circuitry is further configured to perform observation update calculation by maximizing a value of observation noise after L1-wave ambiguity and wide-lane ambiguity are determined.

14. The global positioning device according to claim 8, wherein

the processing circuitry is further configured to perform time extrapolation calculation using a transition matrix of a Gauss-Markov process.