Conversion device and computer readable medium

• US 10,578,746 B2
• Filed: 06/16/2015
• Issued: 03/03/2020
• Est. Priority Date: 06/17/2014
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Miya, Masakazu, Sato, Yuki, Fujita, Seigo, Terao, Kazuhiro, Saito, Masayuki
• Primary Examiner(s): Phan, Dao L
• Application Number:
  US15/319,188
• Publication Number:
  US 20170123072A1
• Time in Patent Office: 1,722 Days
• Field of Search: 34235764
• CPC Class Codes: G01S 19/072 Ionosphere corrections
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/25 involving aiding data received from a cooperating element, e.g. assisted GPS
• CPC Class Codes: G01S 19/35 Constructional details or hardware or software details of the signal processing chain
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Abstract

A mechanism converts positioning correction information included in an SSR message as defined by “RTCM STANDARD 10403.2” to positioning correction information conforming to “RTCM 10402.3”. A conversion device includes a computation processing section that acquires a plurality of types of positioning correction information conforming to “RTCM STANDARD 10403.2”, an approximate position being a positioning result, and a satellite position of a satellite that transmits positioning information based on which the approximate position is calculated, and based on the types of positioning correction information, the approximate position, and the satellite position that have been acquired, generates pieces of element data, such as CLR and ORB, which are elements used for generating the types of positioning correction information conforming to “RTCM 10402.3”, by computation, and a conversion calculation section that generates the types of positioning correction information conforming to “RTCM 10402.3”, based on the pieces of element data.

Claims

1. A conversion device comprising:

computation processing circuitry configured to acquire a plurality of types of positioning correction information used for correcting a positioning error resulting from a satellite that transmits positioning information and a positioning error resulting from a propagation path of the positioning information, approximate position being a positioning result, and a satellite position and a satellite velocity of the satellite that transmits the positioning information based on which the approximate position is calculated, the positioning correction information being defined for each error source in positioning of a mobile body and being included in a state amount message for positioning reinforcement, and based on the plurality of types of positioning correction information, the approximate position, the satellite position, and the satellite velocity of the satellite that have been acquired, generate a plurality of types of element data which are elements used for generating a plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message, by computation; and

conversion calculation circuitry configured to combine the plurality of types of element data generated by the computation processing circuitry, to generate a plurality of types of positioning correction information indicating at least one of an observation amount used for positioning and a correction amount of the observation amount, by computation, as the plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message.

2. The conversion device according to claim 1, further comprising:

correction information generation section circuitry configured to generate, as element data, correction information for correcting a position-dependent error which is an error resulting from a positioning position, based on the approximate position and the satellite position,

wherein the conversion calculation circuitry is further configured to combine the plurality of types of element data generated by the computation processing circuitry and a plurality of pieces of the element data generated by the correction information generation circuitry, to generate the plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message.

3. The conversion device according to claim 2, wherein the correction information generation circuitry generates element data corresponding to a solid earth tide effect and element data corresponding to a phase wind-up effect.

4. The conversion device according to claims 1, wherein the computation processing circuitry acquires a satellite orbit error, a satellite signal bias, and a satellite clock error, as each piece of the positioning correction information for correcting the positioning error resulting from the satellite that transmits the positioning information, and acquires tropospheric delay information and ionospheric delay information as each piece of the positioning correction information for correcting the positioning error resulting from the propagation path of the positioning information.

5. The conversion device according to claims 1, wherein the plurality of types of positioning correction information included in the state amount message conform to an RTCM Standard 10403.2, and

the plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message conform to an RTCM Standard 10402.3.

6. A non-transitory computer readable medium storing a program for causing a computer to execute processing comprising:

acquiring a plurality of types of positioning correction information used for correcting a positioning error resulting from a satellite that transmits positioning information and a positioning error resulting from a propagation path of the positioning information, an approximate position being a positioning result, and a satellite position and a satellite velocity of the satellite that transmits the positioning information based on which the approximate position is calculated, the positioning correction information being defined for each error source in positioning of a mobile body and being included in a state amount message for positioning reinforcement, and based on the plurality of types of positioning correction information, the approximate position, and the satellite position and the satellite velocity of the satellite that have been acquired, generate a plurality of types of element data which are elements used for generating a plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message, by computation; and

combining the plurality of types of element data that have been generated, to generate a plurality of types of positioning correction information indicating at least one of an observation amount used for positioning and a correction amount of the observation amount, by computation, as the plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message.

7. The non-transitory computer readable medium according to claim 6, wherein

the plurality of types of positioning correction information included in the state amount message conform to an RTCM Standard 10403.2, and

the plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message conform to an RTCM Standard 10402.3.

8. A conversion method, comprising:

acquiring a plurality of types of positioning correction information used for correcting a positioning error resulting from a satellite that transmits positioning information and a positioning error resulting from a propagation path of the positioning information, an approximate position being a positioning result, and a satellite position and a satellite velocity of the satellite that transmits the positioning information based on which the approximate position is calculated, the positioning correction information being defined for each error source in positioning of a mobile body and being included in a state amount message for positioning reinforcement, and based on the plurality of types of positioning correction information, the approximate position, and the satellite position and the satellite velocity of the satellite that have been acquired, and thereby generating a plurality of types of element data which are elements used for generating a plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message; and

combining the plurality of types of element data that have been generated, and thereby generating a plurality of types of positioning correction information indicating at least one of an observation amount used for positioning and a correction amount of the observation amount, by computation, as the plurality of types of positioning correction information which are different from the types of positioning correction information included in the state amount message.