Mobile unit's position measurement apparatus and mobile unit's position measurement method

• US 8,521,179 B2
• Filed: 11/19/2009
• Issued: 08/27/2013
• Est. Priority Date: 11/19/2008
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Hasegawa, Naoto
• Primary Examiner(s): MEHRA, INDER P
• Application Number:
  US13/130,163
• Publication Number:
  US 20110230207A1
• Time in Patent Office: 1,377 Days
• Field of Search: 455/456.1, 455/456.3, 455/257, 455/67.11, 342/357.44, 342/357.36, 342/357.31, 342/357.23, 342/357.14, 342/357.3, 342/357.27, 342/357.62, 342/357.59, 342/357.28, 342/357.68, 342/357.78, 342/357.64, 342/389.1, 701/217, 701/220
• US Class Current: 455/456.1
• CPC Class Codes: G01S 19/42 Determining position
• 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 mobile unit'"'"'s position measurement apparatus is provided. The apparatus includes an observation data selection portion that calculates a plurality of estimated error values that correspond respectively to the plurality of pieces of observation data obtained by observing the signals received by the reception portion, that generates groups each of which includes estimated error values corresponding to at least a predetermined number of satellites, and then extracts, from the estimated error value groups generated, in which a difference between a maximum value and a minimum value of the estimated error values included is less than a predetermined value, and that consequently selects pieces of observation data provided by the signals from the satellites that correspond to the estimated error values that are included in an estimated error value group whose standard deviation of the estimated error values is smallest among the estimated error value groups extracted.

Claims

1. A mobile unit'"'"'s position measurement apparatus comprising:

a reception portion that receives signals from a plurality of satellites;

an observation data selection portion

that calculates a plurality of estimated error values that correspond respectively to a plurality of pieces of observation data obtained by observing the signals received by the reception portion,

that generates groups, each of which includes estimated error values corresponding to at least a predetermined number of satellites, and

then extracts, from the estimated error value groups generated, estimated error value groups in which a difference between a maximum value and a minimum value of the estimated error values included is less than a predetermined value, and

that consequently selects pieces of observation data provided by the signals from the satellites that correspond to the estimated error values that are included in an estimated error value group whose standard deviation of the estimated error values is smallest among the estimated error value groups extracted; and

a positioning computation portion that performs a positioning computation based on the pieces of observation data selected by the observation data selection portion.

2. The mobile unit'"'"'s position measurement apparatus according to claim 1, wherein the observation data is at least one of a pseudo-distance between the plurality of satellites and the mobile unit'"'"'s position measurement apparatus, an amount of change in the Doppler frequency of a signal that the reception portion receives, and an integrated value of the amount of change in the Doppler frequency.

3. The mobile unit'"'"'s position measurement apparatus according to claim 2, further comprising a position/velocity estimation portion that estimates a position and a velocity of the mobile unit, wherein the observation data selection portion calculates the estimated error value based on the pseudo-distance, and the position of the mobile unit.

4. The mobile unit'"'"'s position measurement apparatus according to claim 3, wherein, the observation data selection portion calculates the estimated error value based on the amount of change in the Doppler frequency, and the velocity of the mobile unit.

5. The mobile unit'"'"'s position measurement apparatus according to claim 2, wherein the observation data selection portion calculates the estimated error value based on the integrated value of the amount of change in the Doppler frequency, and the position of the mobile unit.

6. The mobile unit'"'"'s position measurement apparatus according to claim 1, wherein

each of the generated groups includes at least a predetermined number of estimated error values selected from the plurality of estimated error values calculated, and

the groups are generated based on combinations of the at least the predetermined number of estimated error values.

7. The mobile unit'"'"'s position measurement apparatus according to claim 6, wherein the predetermined number estimated error values is commensurate with the predetermined number of satellites.

8. The mobile unit'"'"'s position measurement apparatus according to claim 6, wherein the groups are generated based on all possible combinations of the at least the predetermined number of estimated error values.

9. The mobile unit'"'"'s position measurement apparatus according to claim 1, wherein the generated groups includes x generated groups, where x=_nC_r+_nC_r+1+_nC_r+2 . . . _nC_n, n is a total number of the plurality of estimated error values, and r is the predetermined number of satellites.

10. The mobile unit'"'"'s position measurement apparatus according to claim 1, wherein the generated groups include groups of each possible combination of at least a predetermined number of the plurality of estimated error values.

11. The mobile unit'"'"'s position measurement apparatus according to claim 10, wherein the predetermined number of the plurality of estimated error values is the predetermined number of satellites.

12. The mobile unit'"'"'s position measurement apparatus according to claim 11, wherein the predetermined number of satellites is a number of satellites needed for the positioning computation.

13. A mobile unit'"'"'s position measurement method comprising:

calculating a plurality of estimated error values that correspond respectively to a plurality of pieces of observation data that are obtained by observing signals transmitted from a plurality of satellites;

generating groups, each of which includes estimated error values corresponding to at least a predetermined number of satellites;

then

extracting, from the estimated error value groups generated, estimated error value groups in which a difference between a maximum value and a minimum value of the estimated error values included is less than a predetermined value; and

then

selecting pieces of observation data provided by the signals from the satellites that correspond to the estimated error values that are included in an estimated error value group whose standard deviation of the estimated error values is smallest among the estimated error value groups extracted; and

performing a positioning computation based on the at least one or all of the pieces of observation data selected.