Position calculating method and position calculating device

• US 8,775,076 B2
• Filed: 04/11/2012
• Issued: 07/08/2014
• Est. Priority Date: 04/11/2011
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Shirai, Tsubasa
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US13/444,728
• Publication Number:
  US 20120259543A1
• Time in Patent Office: 818 Days
• Field of Search: None
• US Class Current: 701/469
• CPC Class Codes: G01S 19/22 Multipath-related issues
• CPC Class Codes: G01S 19/40 Correcting position, velocity or attitude

Abstract

A position calculating method comprising: receiving a positioning signal; and performing a position calculating operation using the received positioning signal, the position calculating operation being a operation based on a given probability distribution model having at least a variation in previous operation result as a random variable.

Claims

1. A position calculating method comprising:

receiving, by a position calculating device comprising a processor, a positioning signal;

performing, by a position calculating device, a position calculating operation for calculating a position using the received positioning signal, the position calculating operation for being an operation based on a given probability distribution model having at least a variation in previous operation result as a random variable, wherein the operation includes updating a criterion of the variation based on the previous operation result; and

calculating the variation using the criterion; and

providing, by the position calculating device, the calculated position to a display device for display of the calculated position on a map.

2. The position calculating method according to claim 1, wherein the position calculating operation is an operation based on a normal distribution model having at least the previous operation result as a random variable, and

wherein the position calculating method further comprises updating the normal distribution model based on the previous operation result.

3. The position calculating method according to claim 2, further comprising measuring a pseudo-range based on the received positioning signal,

wherein the position calculating operation is an operation based on the normal distribution model having the variation of the previous operation result as a random variable and a probability distribution model having an error included in the pseudo-range as a random variable.

4. The position calculating method according to claim 3, wherein the probability distribution model having the error included in the pseudo-range as a random variable is a normal distribution model or a normal mixture distribution model.

5. The position calculating method according to claim 2, wherein the position calculating operation is an operation of calculating at least any one of position information, clock bias, velocity information, and clock drift, and

wherein the normal distribution model is a model having variations of elements of the previous operation result as random variables.

6. The position calculating method according to claim 1, further comprising calculating a value of a predetermined parameter out of calculation parameters by performing a predetermined convergence operation using the received signal, the calculation parameters being able to be calculated through the use of the position calculating operation,

wherein the position calculating operation is an operation using the value of the predetermined parameter previously calculated through the use of the convergence operation.

7. A position calculating device comprising:

a RF (radio frequency) receiving circuit that receives a positioning signal; and

a processor coupled to a storage unit including one or more memories, the processor;

performing a position calculating operation for calculating a position using the positioning signal received by the RF receiving circuit, the position calculating operation being an operation based on a given probability distribution model having at least a variation in previous operation result as a random variable, wherein the operation includes updating a criterion of the variation based on the previous operation result; and

calculating the variation using the criterion; and

providing the calculated position to a display device for display of the calculated position on a map.