Positioning device, control method of positioning device, control program of positioning device, and computer readable recording medium recording control program of positioning device

• US 20060271294A1
• Filed: 05/23/2006
• Published: 11/30/2006
• Est. Priority Date: 05/24/2005
• Status: Active Grant

• Current Assignee: Seiko Epson Corporation (Seiko Group)
• Original Assignee: Seiko Epson Corporation (Seiko Group)
• Inventors: Mizuochi, Shunichi
• Granted Patent: US 7,835,862 B2
• Time in Patent Office: Days
• US Class Current: 701/213
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G01S 19/42 Determining position

Abstract

A positioning device includes: altitude information storing means; satellite signal receiving means; three-dimensional coordinate information generating means; positioning condition information generating means for generating positioning condition information indicating positioning condition when the three-dimensional coordinate information has been generated; reliability allowable range judging means for judging whether reliability of three-dimensional altitude information included in the three-dimensional coordinate information is within a predetermined reliability allowable range or not based on the positioning condition information; altitude information renewing means for renewing the altitude information by using the three-dimensional altitude information based on judging result of the reliability allowable range judging means; two-dimensional coordinate information generating; and positioning method deciding means for deciding whether to use the three-dimensional coordinate information generating means or to use the two-dimensional coordinate information generating means based on judging result of the renewal time evaluating means.

Claims

1. A positioning device comprising:

altitude information storing means for storing altitude information indicating altitude;

satellite signal receiving means for receiving satellite signals, which are signals from positioning satellites;

three-dimensional coordinate information generating means for generating three-dimensional coordinate information by performing a three-dimensional positioning based on the satellite signals;

positioning condition information generating means for generating positioning condition information indicating positioning condition when the three-dimensional coordinate information was generated;

reliability allowable range judging means for judging whether reliability of three-dimensional altitude information included in the three-dimensional coordinate information is within a predetermined reliability allowable range or not based on the positioning condition information;

altitude information renewing means for renewing the altitude information by using the three-dimensional altitude information based on judging result of the reliability allowable range judging means;

renewal time evaluating means for judging whether renewal time of the altitude information is within a predetermined two-dimensional positioning use allowable range or not;

two-dimensional coordinate information generating means for generating two-dimensional coordinate information by performing two-dimensional positioning based on the satellite signals and the altitude information; and

positioning method deciding means for deciding whether to use the three-dimensional coordinate information generating means or to use the two-dimensional coordinate information generating means based on judging result of the renewal time evaluating means.

2. The positioning device according to claim 1, wherein the altitude information renewing means is configured to renew the altitude information by making a weight of the altitude information to the three-dimensional altitude information heavier as renewal time of the altitude information increases.

3. The positioning device according to claim 1 or 2, comprising:

speed information generating means for generating speed information indicating speed of the positioning device, wherein, the altitude information renewing means is configured to renew the altitude information by making a weight of the altitude information to the three-dimensional altitude information heavier when the speed is within a predetermined speed allowable range, and to renew the altitude information by making a weight of the altitude information to the three-dimensional altitude information lightened when the speed is out of the speed allowable range.

4. The positioning device according to any one of claims 1 through 3, wherein the altitude information storing means stores one altitude information.

5. A control method of a positioning device, comprising the steps of:

generating three-dimensional coordinate information, by performing three-dimensional positioning based on satellite signals by means of a positioning device having altitude information storing means for storing altitude information indicating altitude and satellite signal receiving means for receiving the satellite signals, which are signals from positioning satellites;

generating a positioning condition information indicating positioning condition when the three-dimensional coordinate information was generated, by means of the positioning device;

judging whether reliability of three-dimensional altitude information included in the three-dimensional coordinate information is within a predetermined reliability allowable range or not based on the positioning condition information, by means of the positioning device;

renewing an altitude information by using the three-dimensional altitude information based on a judging result in the step of judging the reliability allowable range, by means of the positioning device;

evaluating whether renewal time of the altitude information is within a predetermined two-dimensional positioning use allowable range or not, by means of the positioning device; and

deciding whether to perform the three-dimensional positioning or two-dimensional positioning at a next positioning based on a judging result in the step of evaluating the renewal times, by means of the positioning device.

6. A control program of a positioning device, causing a computer to execute the steps of:

generating three-dimensional coordinate information by performing three-dimensional positioning based on satellite signals by means of the positioning device having altitude information storing means for storing altitude information indicating altitude and satellite signal receiving means for receiving the satellite signals, which are signals from positioning satellites;

generating positioning condition information indicating positioning condition when the three-dimensional coordinate information was generated by means of the positioning device;

judging whether reliability of three-dimensional altitude information included in the three-dimensional coordinate information is within a predetermined reliability allowable range or not based on the positioning condition information by means of the positioning device;

renewing the altitude information by using the three-dimensional altitude information based on a judging result in the step of judging the reliability allowable range, by means of the positioning device;

evaluating whether renewal time of the altitude information is within a predetermined two-dimensional positioning use allowable range or not by means of the positioning device; and

deciding whether to perform the three-dimensional positioning or two-dimensional positioning at a next positioning based on a judging result in the step of evaluating the renewal times, by means of the positioning device.

7. A computer readable recording medium recording a control program of a positioning device, causing a computer to execute:

generating three-dimensional coordinate information by performing three-dimensional positioning based on satellite signals by means of a positioning device having altitude information storing means for storing altitude information indicating altitude and satellite signal receiving means for receiving the satellite signals, which are signals from positioning satellites;

generating a positioning condition information indicating positioning condition when the three-dimensional coordinate information was generated, by means of the positioning device;

judging whether reliability of three-dimensional altitude information included in the three-dimensional coordinate information is within a predetermined reliability allowable range or not based on the positioning condition information by means of the positioning device;

renewing the altitude information by using the three-dimensional altitude information based on a judging result in the step of judging reliability allowable range, by means of the positioning device;

evaluating whether renewal time of the altitude information is within a predetermined two-dimensional positioning use allowable range or not by means of the positioning device; and

deciding whether to perform the three-dimensional positioning or two-dimensional positioning at a next positioning based on a judging result in the step of judging the renewal times, by means of the positioning device.