Positioning device, method of controlling positioning device, program for controlling positioning device, and computer-readable recording medium having program for controlling positioning device recorded thereon

• US 20070203647A1
• Filed: 02/27/2007
• Published: 08/30/2007
• Est. Priority Date: 02/28/2006
• Status: Abandoned Application

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Kurata, Tomoyuki, Mizuochi, Shunichi, Yano, Koichiro, Muraki, Kiyotaka
• Application Number:
  US11/710,977
• Publication Number:
  US 20070203647A1
• Time in Patent Office: Days
• US Class Current: 701/213
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude
• CPC Class Codes: G01S 19/52 Determining velocity

Abstract

A positioning device includes a position calculation section which calculates a determined position of the positioning device based on a satellite signal S1 and the like, a velocity calculation section which calculates moving velocity of the positioning device, a stationary state determination section which determines whether or not a stationary state condition beta is satisfied in which a time elapsed from the last positioning is within an allowable time range specified in advance, moving velocity v0 during the last positioning is within a first velocity allowable range specified in advance, and current moving velocity v1 is within a second velocity allowable range specified in advance, an average position calculation section which calculates an average position Q1 by averaging a determined position P0 during the last positioning and a current determined position P1, and the like.

Claims

1. A positioning device which locates a position based on a satellite signal which is a signal from a positioning satellite, the positioning device comprising:

a determined position calculation section which calculates a determined position of the positioning device based on the satellite signal;

a velocity calculation section which calculates moving velocity of the positioning device based on the satellite signal;

an elapsed time evaluation section which determines whether or not time elapsed from last positioning is within an allowable time range specified in advance;

a last velocity evaluation section which determines whether or not moving velocity during the last positioning is within a first velocity allowable range specified in advance;

a current velocity evaluation section which determines whether or not current moving velocity is within a second velocity allowable range specified in advance;

a stationary state determination section which determines whether or not a stationary state condition is satisfied in which the time elapsed from the last positioning is within the allowable time range, the moving velocity during the last positioning is within the first velocity allowable range, and the current moving velocity is within the second velocity allowable range;

an average position calculation section which calculates an average position by averaging the determined position during the last positioning and the current determined position when the stationary state determination section has determined that the stationary state condition is satisfied; and

a position output section which outputs the average position.

2. The positioning device as defined in claim 1, wherein the position output section outputs the current determined position when the stationary state determination section has determined that the stationary state condition is not satisfied.

3. A method of controlling a positioning device comprising:

a determined position calculation step of causing the positioning device to calculate a determined position of the positioning device based on a satellite signal which is a signal from a positioning satellite;

an elapsed time evaluation step of causing the positioning device to determine whether or not time elapsed from last positioning is within an allowable time range specified in advance;

a last velocity evaluation step of causing the positioning device to determine whether or not moving velocity during the last positioning is within a first velocity allowable range specified in advance;

a current velocity evaluation step of causing the positioning device to determine whether or not current moving velocity is within a second velocity allowable range specified in advance;

an average position calculation step of causing the positioning device to calculate an average position by averaging the determined position during the last positioning and the current determined position when the positioning device has determined that the time elapsed from the last positioning is within the allowable time range, the moving velocity during the last positioning is within the first velocity allowable range, and the current moving velocity is within the second velocity allowable range; and

a position output step of causing the positioning device to output the average position.

4. A program for controlling a positioning device, the program causing a computer to execute:

a determined position calculation step of causing the positioning device to calculate a determined position of the positioning device based on a satellite signal which is a signal from a positioning satellite;

an elapsed time evaluation step of causing the positioning device to determine whether or not time elapsed from last positioning is within an allowable time range specified in advance;

a last velocity evaluation step of causing the positioning device to determine whether or not moving velocity during the last positioning is within a first velocity allowable range specified in advance;

a current velocity evaluation step of causing the positioning device to determine whether or not current moving velocity is within a second velocity allowable range specified in advance;

an average position calculation step of causing the positioning device to calculate an average position by averaging the determined position during the last positioning and the current determined position when the positioning device has determined that the time elapsed from the last positioning is within the allowable time range, the moving velocity during the last positioning is within the first velocity allowable range, and the current moving velocity is within the second velocity allowable range; and

a position output step of causing the positioning device to output the average position.

5. A computer-readable recording medium having a program for controlling a positioning device recorded thereon, the program causing a computer to execute:

a determined position calculation step of causing the positioning device to calculate a determined position of the positioning device based on a satellite signal which is a signal from a positioning satellite;

an elapsed time evaluation step of causing the positioning device to determine whether or not time elapsed from last positioning is within an allowable time range specified in advance;

a last velocity evaluation step of causing the positioning device to determine whether or not moving velocity during the last positioning is within a first velocity allowable range specified in advance;

a current velocity evaluation step of causing the positioning device to determine whether or not current moving velocity is within a second velocity allowable range specified in advance;

an average position calculation step of causing the positioning device to calculate an average position by averaging the determined position during the last positioning and the current determined position when the positioning device has determined that the time elapsed from the last positioning is within the allowable time range, the moving velocity during the last positioning is within the first velocity allowable range, and the current moving velocity is within the second velocity allowable range; and

a position output step of causing the positioning device to output the average position.