SATELLITE NAVIGATION/DEAD-RECKONING NAVIGATION INTEGRATED POSITIONING DEVICE

• US 20130311085A1
• Filed: 03/21/2013
• Published: 11/21/2013
• Est. Priority Date: 02/13/2008
• Status: Active Grant

• Current Assignee: Furuno Electric Co, Ltd
• Original Assignee: Furuno Electric Co, Ltd
• Inventors: TODA, Hiroyuki, SUYAMA, Masaki, HAMADA, Hiroshi, TANAKA (NINOMIYA), Mika, HASHIMOTO, Kunihiko
• Granted Patent: US 9,714,841 B2
• Time in Patent Office: Days
• US Class Current: 701/445
• CPC Class Codes: G01C 21/165 combined with non-inertial navigation instruments
• CPC Class Codes: G01C 23/00 Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
• CPC Class Codes: G01S 19/23 Testing, monitoring, correcting or calibrating of receiver elements
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled

Abstract

A satellite and/or dead-reckoning navigation integrated positioning device with improved accuracy including position, velocity, etc. is disclosed. A tracking processing module performs, based on a GPS signal, acquisition and tracking thereof and demodulation of a navigation message. A GPS calculation module calculates position, velocity, and the like based on pseudo-range and Doppler frequency observations, and ephemeris data and gives the calculations to output judgment and tracking processing modules. Based on external support information including inertial sensor output, map information or information about differences between map position and measured position , along with the pseudo-range and Doppler observations, an integrated positioning calculation module estimates position, velocity, and the like, and gives the estimates to the output judgment module. The output judgment module compares outputs of the GPS calculation and the integrated positioning calculation modules to judge reliability of data from the integrated positioning calculation module and abnormality of external support data.

Claims

1. A satellite navigation/dead-reckoning navigation integrated positioning device, comprising:

a tracking processing module for receiving positioning signals of navigation satellites to track the positioning signals and finding a pseudo range and Doppler frequency information;

a satellite navigation positioning calculation module for executing a positioning calculation based on the pseudo range and the Doppler frequency information to find a position and a velocity of a moving body;

an integrated positioning calculation module for finding, based on the pseudo range and the Doppler frequency information found by the tracking processing module and external support data obtained from an external device, a position and a velocity of the moving body; and

an abnormality determination module for comparing a result of the positioning calculation by the satellite navigation positioning calculation module with a result of the positioning calculation by the integrated positioning calculation module to determine abnormality of the external support data.

2. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 1, wherein the external support data includes data by an inertial sensor, and the abnormality determination module compares the result of the positioning calculation by the satellite navigation positioning calculation module with the data by the inertial sensor to determine abnormality of the inertial sensor.

3. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 1, wherein the external support data includes map data input information, and the abnormality determination module compares the result of the positioning calculation by the satellite navigation positioning calculation module with the map data to determine abnormality of the map data input information.

4. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 1, wherein the abnormality determination module compares the result found by the satellite navigation positioning calculation module with the result found by the integrated positioning calculation module to determine abnormality of the result of the calculation of the integrated positioning calculation module.

5. The satellite navigation/dead-reckoning navigation integrated positioning device of any one of claims 1 to 4, comprising a module for outputting the calculation result by the satellite navigation positioning calculation module to a user if the abnormality determination module determines an abnormality.

6. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 1, wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values.

7. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 1, wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module.

8. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 2, wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values.

9. The satellite navigation/dead-reckoning navigation integrated positioning device of claims 3, wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values.

10. The satellite navigation/dead-reckoning navigation integrated positioning device of any one of claim 4, wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values.

11. The satellite navigation/dead-reckoning navigation integrated positioning device of claims 5, wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values.

12. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 2, wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module.

13. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 3, wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module.

14. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 4, wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module.

15. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 5, wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module.

16. The satellite navigation/dead-reckoning navigation integrated positioning device of claim 6, wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module.