COLLISION DETERMINATION APPARATUS, PSEUDO RANGE INFORMATION TRANSMITTING APPARATUS
First Claim
1. A collision determination apparatus used in a mobile body comprising:
- a receiver receiving radio waves including sender information of a sender which transmits the radio waves, the radio waves being transmitted from a plurality of reference stations each being present in mutually different locations;
a pseudo range identifying unit determining a captured reference station from which the radio waves are received among the plurality of reference stations, and successively identifying a pseudo range to the captured reference station based on the radio waves received by the receiver and transmitted from the captured station;
a self-single difference calculation unit successively calculating a self-single difference between a first reference station and a second reference station which are different from each other, the first reference station and the second reference station being selected from two or more captured reference stations, and the self-single difference being a difference between the pseudo range to the first reference station and the pseudo range to the second reference station;
a transmission unit transmitting pseudo range associated information to surroundings the mobile body by a wireless communication, the pseudo range associated information being determined depending on the pseudo range to the captured reference station identified by the pseudo range identifying unit, and the pseudo range associated information being used for an external apparatus which receives the information to identify the self-single difference in the mobile body;
a reception unit receiving the pseudo range associated information of the external apparatus, the external apparatus being present outside the mobile body;
an external single difference identifying unit successively identifying, based on the pseudo range associated information of the external apparatus received by the reception unit, an external single difference between the pseudo range to the first reference station of the external apparatus and the pseudo range to the second reference station of the external apparatus;
a double difference calculating unit successively calculating a double difference between the self-single difference calculated by the self-single difference calculation unit and the external single difference identified by the self-single difference calculation unit; and
an approaching relationship determination unit determining whether or not the double difference tends to decrease based on the double difference at a plurality of time points, and determining the external apparatus and the mobile body as being in an approaching relationship when the double difference tends to decrease.
1 Assignment
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Accused Products
Abstract
A collision determination apparatus used in a mobile body includes: a receiver receiving radio waves from reference stations; a pseudo range identifying unit identifying a pseudo range to a captured reference station; a self-single difference calculation unit calculating a self-single difference between a first reference station and a second reference station; a transmission unit transmitting a pseudo range associated information into surrounding the mobile body; a reception unit receiving the pseudo range associated information of an external apparatus; an external single difference identifying unit identifying an external single difference between the pseudo ranges to the first and second reference stations; a double difference calculating unit calculating a double difference between the self-single difference and the external single difference; and an approaching relationship determination unit determining whether or not the double difference tends to decrease and determining an approaching relationship when the double difference tends to decrease.
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Citations
9 Claims
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1. A collision determination apparatus used in a mobile body comprising:
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a receiver receiving radio waves including sender information of a sender which transmits the radio waves, the radio waves being transmitted from a plurality of reference stations each being present in mutually different locations; a pseudo range identifying unit determining a captured reference station from which the radio waves are received among the plurality of reference stations, and successively identifying a pseudo range to the captured reference station based on the radio waves received by the receiver and transmitted from the captured station; a self-single difference calculation unit successively calculating a self-single difference between a first reference station and a second reference station which are different from each other, the first reference station and the second reference station being selected from two or more captured reference stations, and the self-single difference being a difference between the pseudo range to the first reference station and the pseudo range to the second reference station; a transmission unit transmitting pseudo range associated information to surroundings the mobile body by a wireless communication, the pseudo range associated information being determined depending on the pseudo range to the captured reference station identified by the pseudo range identifying unit, and the pseudo range associated information being used for an external apparatus which receives the information to identify the self-single difference in the mobile body; a reception unit receiving the pseudo range associated information of the external apparatus, the external apparatus being present outside the mobile body; an external single difference identifying unit successively identifying, based on the pseudo range associated information of the external apparatus received by the reception unit, an external single difference between the pseudo range to the first reference station of the external apparatus and the pseudo range to the second reference station of the external apparatus; a double difference calculating unit successively calculating a double difference between the self-single difference calculated by the self-single difference calculation unit and the external single difference identified by the self-single difference calculation unit; and an approaching relationship determination unit determining whether or not the double difference tends to decrease based on the double difference at a plurality of time points, and determining the external apparatus and the mobile body as being in an approaching relationship when the double difference tends to decrease. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A pseudo range information transmitting apparatus used in a mobile body comprising:
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a receiver receiving radio waves including sender information of a sender which transmits the radio waves, the radio waves being transmitted from a plurality of reference stations each being present in mutually different locations; a pseudo range identifying unit determining a captured reference station from which the radio waves are received among the plurality of reference stations, and successively identifying a pseudo range to the captured reference station based on the radio waves received by the receiver and transmitted from the captured station; and a transmission unit transmitting pseudo range associated information to surroundings the mobile body by a wireless communication, wherein the pseudo range associated information is determined depending on the pseudo range identified by the pseudo range identifying unit, for each of a predetermined three captured reference stations, when three or more captured reference stations are present.
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Specification