JP7287128B2 - POSITIONING DEVICE, POSITIONING METHOD AND POSITIONING SYSTEM - Google Patents

Description

The present invention relates to a positioning device, a positioning method, and a positioning system that receive radio waves from satellites and perform positioning.

GNSS (Global Navigation Satellite System) is known as a system for positioning the position of a mobile object or the like. GNSS is a general term for satellite positioning systems such as GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), Galileo, and Quasi-Zenith Satellite System (QZSS). GNSS is a positioning system that measures the position of an antenna by triangulating the positions of GNSS satellites. Triangulation requires the positions of three or more GNSS satellites and the distance between each GNSS satellite and the antenna, called the pseudorange.
If the number of GNSS satellites used for positioning calculation is three, the three-dimensional position of the antenna can be measured. can be synchronized with the time system of

As for the position of a GNSS satellite, if a positioning device (GNSS receiver) receives a navigation message broadcast from a GNSS satellite, the position can be grasped moment by moment from the orbital information included in the navigation message.
On the other hand, the pseudo-range can be calculated from the propagation time and the phase of the carrier wave for the radio wave broadcast from the GNSS satellite to reach the ground. However, in order for the positioning device to accurately calculate the propagation time, it is necessary to synchronize the built-in clock of the positioning device with the time system of the GNSS satellites.

However, the pseudoranges calculated by positioning devices contain various errors, such as propagation delay errors that occur when radio waves pass through the ionosphere and troposphere, and radio waves reflected by buildings that are received and cannot be used for positioning. Multipath errors are known to be used.

As a method to reduce the effects of propagation delay errors, there is a method of observing propagation delay errors when passing through the ionosphere and troposphere using ground reference stations and transmitting correction information for propagation delay errors from GNSS satellites. there is

In addition, as a method for reducing the effects of multipath errors, Patent Document 1 discloses that the presence or absence of multipath errors is detected by comparing the measured value and the predicted value of the Doppler shift frequency, A method for performing positioning calculations without using radio waves is described.

JP-A-11-118903

In addition to the above-described propagation delay and multipath, intentional interfering waves are also factors that cause an error in the pseudorange.

For example, jamming, which is one type of jamming wave, is a malicious jammer sending noise toward an antenna, which lowers the signal-to-noise ratio. Distance error increases and positioning accuracy decreases. In addition, since the positioning device described in Patent Document 1 does not take countermeasures against interfering waves, and errors caused by interfering waves cannot be reduced by correction information, there is a risk of a decrease in positioning accuracy. rice field.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a positioning device capable of reducing the deterioration of positioning accuracy under the influence of interfering waves.

A positioning apparatus according to the present invention includes first satellite information generated from radio waves received by a first antenna, and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna. a satellite information acquisition unit that acquires information, and determines whether the first antenna is receiving an interfering wave based on the first satellite information, and if it is determined that the first antenna is receiving an interfering wave, a determination unit that determines second satellite information as satellite information to be used for positioning calculation; and a positioning calculation unit that performs positioning calculation using the satellite information determined by the determination unit, wherein the first satellite information includes a plurality of satellites and the determination unit compares the first satellite information and the second satellite information for each satellite to determine whether the first antenna receives an interfering wave.
Further, the positioning apparatus according to the present invention provides first satellite information generated from radio waves received by the first antenna, and second satellite information generated from radio waves received by the second antenna having a narrower coverage area than the first antenna. a satellite information acquisition unit that acquires 2 satellite information; and a case where it is determined whether or not the first antenna is receiving an interfering wave based on the first satellite information, and that the first antenna is receiving an interfering wave. a determination unit that determines the second satellite information as satellite information to be used for positioning calculation; and a positioning calculation unit that performs positioning calculation using the satellite information determined by the determination unit, wherein the determination unit includes the first antenna When it is determined that the is receiving an interfering wave, the first satellite information is compared with the first prediction information generated based on the information input from the inertial navigation system, and the 1 satellite information is determined as satellite information to be used for positioning calculation.
Further, the positioning apparatus according to the present invention provides first satellite information generated from radio waves received by the first antenna, and second satellite information generated from radio waves received by the second antenna having a narrower coverage area than the first antenna. a satellite information acquisition unit that acquires 2 satellite information; and a case where it is determined whether or not the first antenna is receiving an interfering wave based on the first satellite information, and that the first antenna is receiving an interfering wave. a determination unit that determines the second satellite information as satellite information to be used for positioning calculation; and a positioning calculation unit that performs positioning calculation using the satellite information determined by the determination unit, wherein the determination unit includes the first antenna When it determines that it is receiving an interfering wave, it compares the first satellite information with the second prediction information generated based on past satellite information, and determines the first satellite information that is not affected by the interfering wave. It is characterized by determining as satellite information used for positioning calculation.

A positioning method according to the present invention includes first satellite information generated from radio waves received by a first antenna, and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna. a satellite information acquiring step of acquiring information; determining whether the first antenna is receiving an interfering wave based on the first satellite information; and when determining that the first antenna is receiving an interfering wave, a determination step of determining the second satellite information as satellite information to be used for positioning calculation; and a positioning calculation step of performing positioning calculation using the satellite information determined in the determination step, wherein the first satellite information includes a plurality of satellites and the determining step compares the first satellite information and the second satellite information for each satellite to determine if the first antenna is receiving an interfering wave.
Further, the positioning method according to the present invention includes first satellite information generated from radio waves received by a first antenna, and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna. a satellite information acquiring step of acquiring 2 satellite information; and determining whether or not the first antenna is receiving an interfering wave based on the first satellite information, and determining that the first antenna is receiving an interfering wave. a determination step of determining the second satellite information as satellite information to be used for positioning calculation; and a positioning calculation step of performing positioning calculation using the satellite information determined in the determination step, wherein the determination step includes the first antenna When it is determined that the is receiving an interfering wave, the first satellite information is compared with the first prediction information generated based on the information input from the inertial navigation system, and the 1 satellite information is determined as satellite information to be used for positioning calculation.
Further, the positioning method according to the present invention includes first satellite information generated from radio waves received by a first antenna, and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna. a satellite information acquiring step of acquiring 2 satellite information; and determining whether or not the first antenna is receiving an interfering wave based on the first satellite information, and determining that the first antenna is receiving an interfering wave. a determination step of determining the second satellite information as satellite information to be used for positioning calculation; and a positioning calculation step of performing positioning calculation using the satellite information determined in the determination step, wherein the determination step includes the first antenna When it determines that it is receiving an interfering wave, it compares the first satellite information with the second prediction information generated based on past satellite information, and determines the first satellite information that is not affected by the interfering wave. It is characterized by determining as satellite information used for positioning calculation.

A positioning system according to the present invention includes a first antenna, a second antenna having a narrower coverage area than the first antenna, first satellite information generated from radio waves received by the first antenna, and the second antenna. a satellite information acquisition unit that acquires second satellite information generated from the received radio waves; and a first antenna that determines whether or not the first antenna receives an interfering wave based on the first satellite information, and the first antenna detects the interfering wave. a determination unit that determines the second satellite information as satellite information to be used for positioning calculation when determining that the second satellite information is received; and a positioning calculation unit that performs positioning calculation using the satellite information determined by the determination unit. and a positioning device.

According to the positioning device of the present invention, it is determined whether or not the first antenna is receiving an interfering wave based on the first satellite information, and when it is determined that the first antenna is receiving an interfering wave, the 2 Since the determination unit is provided for determining the satellite information as the satellite information to be used for positioning calculation, when the first antenna is receiving an interfering wave, the radio wave received by the second antenna which is not receiving the interfering wave By using the generated second satellite information for positioning calculation, it is possible to reduce the decrease in positioning accuracy under the influence of interfering waves.

1 is a configuration diagram showing configurations of a positioning device and a positioning system according to Embodiment 1; FIG. FIG. 4 is an explanatory diagram showing the relationship between the first antenna and interfering waves; FIG. 4 is an explanatory diagram showing the relationship between the second antenna and interference waves; 2 is a configuration diagram showing the configuration of a satellite information acquisition unit according to Embodiment 1; FIG. 4 is a configuration diagram showing the configuration of a determination unit according to Embodiment 1; FIG. 4 is a configuration diagram showing a hardware configuration of a determination unit according to Embodiment 1; FIG. 4 is a flow chart showing an operation of performing positioning by the positioning device according to Embodiment 1. FIG. 9 is a flowchart showing an operation of performing candidate information selection processing; 9 is a flowchart showing an operation of performing candidate information selection processing;

Embodiment 1
FIG. 1 is a configuration diagram showing configurations of a positioning device 1 and a positioning system 100 according to Embodiment 1. As shown in FIG.
In FIG. 1 , positioning system 100 includes positioning device 1 , first antenna 1001 and second antenna 1002 , and positioning device 1 includes satellite information acquisition unit 2 , determination unit 10 and positioning calculation unit 5 .
In Embodiment 1, positioning device 1 is connected to first antenna 1001 and second antenna 1002 . The first antenna 1001 and the second antenna 1002 may be installed on a stationary object such as a building or a pillar, but in Embodiment 1, they are assumed to be installed on a mobile object such as a vehicle or ship. Further, it is assumed that the positioning device 1 is also installed in a moving object.

A first antenna 1001 is an antenna with a wide coverage area similar to that used in a conventional GNSS receiver, and a second antenna 1002 is an antenna with directivity and a narrower coverage area than the first antenna 1001 . For example, when assuming operation in the Tokyo metropolitan area, the first antenna 1001 covers an elevation angle of 0 degrees or more so that radio waves can be received from all-sky satellites, and the second antenna 1002 covers an elevation angle of 70 degrees. The above elevation angle may be used as the coverage area. In the wards of Tokyo, one or more quasi-zenith satellites can always be captured at an elevation angle of 70 degrees or more. That is, it is desirable that the coverage area of the second antenna 1002 is narrower than that of the first antenna and has an elevation angle that can capture at least one or more quasi-zenith satellites.

FIG. 2 is an explanatory diagram showing the relationship between the first antenna 1001 and the interfering wave 3000, and FIG. 3 is an explanatory diagram showing the relationship between the second antenna 1002 and the interfering wave 3000. FIG. In FIGS. 2 and 3, consider a case where an interfering wave 3000 is transmitted from an aircraft 2000. FIG.
As illustrated in FIG. 2, an antenna with a wide coverage area 2001, such as the first antenna 1001, can receive an interfering wave 3000 from an aircraft 2000 flying at a position far away in the horizontal direction, that is, at a position with a small elevation angle. Resulting in. In other words, the antenna of a normal GNSS receiver is designed to have a wide coverage area in order to receive radio waves from as many satellites as possible. receive interfering waves.

On the other hand, as shown in FIG. 3, the second antenna 1002, whose coverage area 2002 is narrower than that of the first antenna 1001, receives radio waves only from positions with large elevation angles. Interfering wave 3000 from 2000 is not received.
For example, assuming an aircraft flying at an altitude of 20 km and transmitting interfering waves to an antenna that receives radio waves from an elevation angle of 70 degrees or more, the aircraft must be at a horizontal distance of approximately It is necessary to approach the antenna up to 7.2 km. However, since approaching such a distance increases the likelihood that the aircraft will be detected by the user of the antenna, it is considered unlikely that the transmitter of the jammer will allow the aircraft to approach such a distance.

FIG. 4 is a configuration diagram showing the configuration of the satellite information acquisition section 2 according to Embodiment 1. As shown in FIG.
The satellite information acquisition unit 2 acquires satellite information from radio waves received by an antenna. In Embodiment 1, first satellite information generated from radio waves received by the first antenna 1001 and second antenna 1002 acquires the second satellite information generated from the received radio waves. The satellite information acquisition unit 2 also has a reception circuit 13 , a satellite capture unit 14 and a satellite information generation unit 20 .
In this specification, satellite information is information generated based on radio waves from satellites, and includes pseudo-range information indicating pseudo-ranges, navigation information indicating navigation messages, and satellite position information indicating satellite positions. including. Further, the navigation information includes orbit information indicating the orbit of the satellite, such as almanac and ephemeris, and correction information indicating correction values for correcting satellite clock errors and ionospheric errors. In Embodiment 1, satellite position information is calculated from orbital information.
In this specification, when describing satellite information, there are cases where it indicates information including all of the above information and cases where it indicates each information included in the satellite information. Likewise, candidate information, which is a candidate for satellite information used for positioning calculation, is also referred to as candidate information when pseudo-range information, navigation information including orbit information and correction information, and satellite position information are all included. It can refer both to the information it contains and to each of the above pieces of information.

The receiving circuit 13 converts electrical signals input from the first antenna 1001 and the second antenna 1002 into electrical signals suitable for signal processing by the satellite capturing unit 14 and the satellite information generating unit 20 . Specifically, the reception circuit 13 converts the electrical signals input from the first antenna 1001 and the second antenna 1002 into electrical signals in a frequency band suitable for signal processing by the satellite acquisition unit 14 and the satellite information generation unit 20. , and the frequency-converted electric signal is amplified to a voltage suitable for signal processing by the satellite capturing unit 14 and the satellite information generating unit 20 . The amplified electric signal is converted from an analog signal to a digital signal by an A/D converter and output to the satellite acquisition unit 14 .

In Embodiment 1, the receiving circuit 13 has a first receiving circuit 131 and a second receiving circuit 132 . The first receiving circuit 131 performs the above processing on the electrical signal input from the first antenna 1001 to convert the electrical signal, and the second receiving circuit 132 receives the input from the second antenna 1002. The electric signal is subjected to the above processing to convert the electric signal.

The satellite capturing unit 14 identifies the radio wave from each satellite, that is, captures each satellite by correlating the electrical signal input from the receiving circuit 13 and the replica signal generated by the satellite capturing unit 14. It is. The satellite capturing unit 14 has a plurality of channels for identifying satellites, and the electrical signals input from the receiving circuit 13 are distributed to these channels. The number of channels is designed by multiplying the maximum number of visible satellites by the number of frequencies to be processed and the number of types of PRN (Pseudo Random Noise) codes. The satellite acquisition unit 14 generates a replica signal having the PRN code of each satellite in each channel, and correlates the replica signal with the electrical signal input from the receiving circuit 13 to identify radio waves from each satellite. , acquire satellites. That is, the satellite acquisition unit 14 extracts the electrical signal from each satellite from the input electrical signals, and outputs the electrical signal extracted for each satellite to the satellite information generation unit 20 .

In Embodiment 1, satellite capturing section 14 has first satellite capturing section 141 and second satellite capturing section 142 . The first satellite acquisition unit 141 performs the above processing on the electrical signal input from the first reception circuit 131 to acquire a satellite. The above processing is performed on the electrical signal input from the to capture the satellite. Also, each of the first satellite acquisition unit 141 and the second satellite acquisition unit 142 has the above number of channels.

The satellite information generating section 20 generates satellite information for each satellite captured by the satellite capturing section 14 .
In Embodiment 1, the satellite information generator 20 has a first generator 21 and a second generator 22 .
The first generating section 21 generates satellite information based on the electrical signal input from the first satellite capturing section 141, and the second generating section 22 generates the electrical signal input from the second satellite capturing section 142. to generate satellite information based on
In Embodiment 1, the first satellite information is the satellite information generated by the first generator 21, that is, the satellite information generated from the radio wave received by the first antenna 1001, and the second satellite information is This is satellite information generated by the second generator 22 , that is, satellite information generated from radio waves received by the second antenna 1002 .

First generator 21 includes first pseudorange information generator 211 , first navigation information generator 212 , and first satellite position information generator 213 .
Similarly, the second generator 22 includes a second pseudorange information generator 221 , a second navigation information generator 222 , and a second satellite position information generator 223 .

The first pseudo-range information generation unit 211 generates pseudo-range information indicating the pseudo-range between the satellite and the first antenna 1001 based on the electrical signal input from the first satellite acquisition unit 141. The pseudo-range information generating section 221 generates pseudo-range information indicating the pseudo-range between the satellite and the second antenna 1002 based on the electrical signal input from the second satellite capturing section 142 . In Embodiment 1, the pseudorange information generated by the first pseudorange information generator 211 is called first pseudorange information, and the pseudorange information generated by the second pseudorange information generator 221 is called the second pseudorange. called information. In the above processing, the pseudorange may be calculated based on the propagation time of radio waves from the satellite to the antenna, or may be calculated based on the phase of the carrier wave.

The first navigation information generation unit 212 generates navigation information indicating a navigation message based on the electrical signal input from the first satellite acquisition unit 141. The second navigation information generation unit 222 generates the second satellite Based on the electrical signal input from the capture unit 142, navigation information indicating a navigation message is generated.
Here, the navigation information generated by the first navigation information generator 212 is called first navigation information, and the navigation information generated by the second navigation information generator 222 is called second navigation information. Further, the orbit information and correction information included in the first navigation information are referred to as first orbit information and first correction information, respectively, and the orbit information and correction information included in the second navigation information are referred to as second orbit information and second correction information, respectively. called information.
The first navigation information generation unit 212 transmits the first orbit information indicating the orbit of the satellite among the first navigation information to the first satellite position information generation unit 213, and transmits the first correction information indicating the correction value to the correction information I2. , and transmitted to the first correction information determination unit 312 . Similarly, the second navigation information generation unit 222 transmits the second orbit information of the second navigation information to the second satellite position information generation unit 223, and includes the second correction information in the correction information I2 to perform the first correction. It is transmitted to the information determination unit 312 .

Based on the first orbital information input from the first navigation information generating unit 212, the first satellite position information generating unit 213 generates satellite position information indicating the satellite positions of the satellites receiving radio waves with the first antenna 1001. Based on the second orbital information input from the second navigation information generating unit 222, the second satellite position information generating unit 223 generates It generates satellite position information indicating satellite positions.
Here, the satellite position information generated by the first satellite position information generator 213 is called first satellite position information, and the satellite position information generated by the second satellite position information generator 223 is called second satellite position information. .

The satellite information acquisition unit 2 obtains pseudorange information I1 including first pseudorange information and second pseudorange information, correction information I2 including first correction information and second correction information, and first satellite position information. Satellite position information I3 including the second satellite position information is output to the determination unit 10 .

FIG. 5 is a configuration diagram showing the configuration of the determination unit 10 according to Embodiment 1. As shown in FIG.
The determining unit 10 determines whether or not the first antenna 1001 is receiving an interfering wave based on the first satellite information, and if it is determined that the first antenna 1001 is receiving an interfering wave, the second satellite information is determined as satellite information to be used for positioning calculation. Further, in Embodiment 1, when determining that first antenna 1001 has not received an interfering wave, determination section 10 determines the first satellite information as the satellite information to be used for positioning calculation.
Further, in this specification, determining the second satellite information as the satellite information to be used for the positioning calculation does not mean that only the second satellite information is determined as the satellite information to be used for the positioning calculation. It includes determining satellite information including other information as satellite information to be used for positioning calculation. This also applies to the selection unit 3, which will be described later.
In Embodiment 1, the determination unit 10 has a selection unit 3 and a satellite determination unit 4 .

The selection unit 3 selects candidates to be used for positioning calculation from among the satellite information generated by the satellite information acquisition unit 2 as candidate information, and selects the second satellite information as candidates when the first antenna is receiving interference waves. It is selected as information. Satellite information includes information from multiple satellites. In Embodiment 1, the selector 3 has a first selector 31 , a second selector 32 and a third selector 33 . In Embodiment 1, a process of selecting candidates to be used for positioning calculation from satellite information generated by the satellite information acquisition unit 2 as candidate information is called candidate information selection process. The satellite determination unit 4 determines satellite information to be used for positioning calculation from among the satellite information selected as candidate information by the selection unit 3 .

The first selection unit 31 compares the first satellite information and the second satellite information for each satellite, and determines whether or not the first antenna is receiving an interfering wave. The candidate information is selected from the satellite information including The first selection unit 31 determines that the first antenna 1001 is receiving an interfering wave when the first satellite information and the second satellite information do not match. That is, when the difference between the value indicated by the first satellite information and the value indicated by the second satellite information is greater than the judgment value, first selection section 31 judges that first antenna 1001 is receiving an interfering wave. do. When the first satellite information and the second satellite information contain a plurality of pieces of information, it is determined whether each value indicated by each piece of information is greater than the judgment value.

In this specification, matching between the first satellite information and the second satellite information means not only the case where the value indicated by the first satellite information and the value indicated by the second satellite information completely match, but also the case where the value indicated by the first satellite information It also includes the case where the difference between the value and the value indicated by the second satellite information is less than or equal to the judgment value. A judgment value is a threshold value that serves as a reference for judgment of matching. Also, in this specification, the difference between a certain value and another certain value refers to the absolute value of the difference.
In Embodiment 1, matching the first satellite information and the second satellite information means that the first pseudorange information and the second pseudorange information match and the first correction information and the second correction information match. and that the first satellite position information and the second satellite position information match. Conversely, when the first satellite information and the second satellite information do not match, the first pseudorange information and the second pseudorange information, the first correction information and the second correction information, or the first satellite position information and the second It means that one of the satellite position information does not match.
Whether or not the pseudorange information matches can be determined, for example, by comparing the values of the pseudoranges at each time, by comparing the central values of the distribution of the pseudoranges within a predetermined period of time, and by comparing the dispersion of the distributions. The same applies to determination of matching regarding correction information and satellite position information.

Processing performed by the first selection unit 31 will be described in detail.
If the first satellite information and the second satellite information match for all satellites receiving radio waves with both the first antenna 1001 and the second antenna 1002, the first selection unit 31 selects the first antenna 1001 as the interference signal. It is determined that no wave has been received. Then, the first selection unit 31 selects the first satellite information of all satellites receiving radio waves by the first antenna 1001 as candidate information, and transmits the first satellite information to the satellite determination unit 4 . This is because the first antenna 1001 is not jammed if the first satellite information and the second satellite information of the satellite from which radio waves are received by both the first antenna 1001 and the second antenna 1002 match. , is based on the idea that the first satellite information of all satellites can be used for positioning calculations.
On the other hand, if the first satellite information and the second satellite information do not match for one of the satellites receiving radio waves with both the first antenna 1001 and the second antenna 1002, the first selection unit 31 It is determined that the first antenna 1001 is receiving an interfering wave. Then, first selection unit 31 selects the second satellite information as candidate information for satellites receiving radio waves by both first antenna 1001 and second antenna 1002, and selects the second satellite information as satellite determination information. In addition to transmitting the first satellite information to the second selection unit 32 , the first satellite information is transmitted to the second selection unit 32 for satellites receiving radio waves only through the first antenna 1001 .
This is because when the first satellite information generated from the radio waves received by the first antenna 1001 and the second satellite information generated from the radio waves received by the second antenna 1002 do not match, the first antenna 1001 detects jamming. This is based on the idea that the radio wave received by the second antenna 1002, which is jammed and is not jammed, should be used for positioning.

In Embodiment 1, the first selection section 31 has a first pseudorange information determination section 311 , a first correction information determination section 312 and a first satellite position information determination section 313 .
Specifically, each determination unit included in the first selection unit 31 performs the following processes.

The first pseudo-range information determination unit 311 receives the pseudo-range information I1 from the satellite information acquisition unit 2, and determines the first satellite information for each satellite receiving radio waves with both the first antenna 1001 and the second antenna 1002. If the difference between the pseudorange indicated by the first pseudorange information included in the and the pseudorange indicated by the second pseudorange information included in the second satellite information is equal to or less than the first determination value, the first pseudorange information and the second pseudorange It is determined that the distance information matches.
The first determination value may be generated by the first pseudorange information determination unit 311 based on the pseudorange indicated by the first pseudorange information or the pseudorange indicated by the second pseudorange information. It may be set.

The first correction information determination unit 312 receives the correction information I2 from the satellite information acquisition unit 2, and the first satellite information includes information about each satellite receiving radio waves through both the first antenna 1001 and the second antenna 1002. If the difference between the correction value indicated by the first correction information and the correction value indicated by the second correction information included in the second satellite information is equal to or less than the second judgment value, it is judged that the first correction information and the second correction information match. do.
The second determination value may be generated by the first correction information determination unit 312 based on the correction value indicated by the first correction information or the correction value indicated by the second correction information, or may be preset by the user. can be

First satellite position information determination unit 313 receives satellite position information I3 from satellite information acquisition unit 2, and determines first satellite information for each satellite receiving radio waves through both first antenna 1001 and second antenna 1002. If the difference between the satellite position indicated by the first satellite position information included in and the satellite position indicated by the second satellite position information included in the second satellite information is equal to or less than the third judgment value, the first satellite position information and the second satellite It is determined that the position information matches.
The third determination value may be generated by the first satellite position information determination unit 313 based on the satellite position indicated by the first satellite position information or the satellite position indicated by the second satellite position information, or may be generated by the user in advance. It may be set.

When it is determined that the first satellite information and the second satellite information for all satellites match, that is, the first pseudorange information determining unit 311 determines that the first pseudorange information and the second pseudorange information match, and , the first correction information determination unit 312 determines that the first correction information and the second correction information match, and the first satellite position information determination unit 313 determines that the first satellite position information and the second satellite position information match. In this case, each determination unit selects the first satellite information of all satellites as candidate information and transmits it to the satellite determination unit 4 . On the other hand, if there is a satellite in which the first satellite information and the second satellite information do not match, each judgment unit determines the second satellite of the satellites for which radio waves are received by both the first antenna 1001 and the second antenna 1002. Information, that is, all second satellite information is selected as candidate information and transmitted to the satellite determination unit 4, and the first satellite information of satellites receiving radio waves only with the first antenna 1001 is sent to the second selection unit 32. Output.
Specifically, the first pseudorange information determination unit 311 outputs the first pseudorange information of the satellite receiving radio waves only with the first antenna 1001 to the second selection unit 32, and the first correction information determination unit 312 outputs the first correction information of the satellite receiving radio waves only with the first antenna 1001 to the second selection section 32, and the first satellite position information determination section 313 receives radio waves only with the first antenna 1001. It outputs the first satellite position information of the satellites that are currently on to the second selection unit 32 .

When the second selection unit 32 determines that the first antenna 1001 is receiving an interfering wave, the second selection unit 32 generates first prediction information based on the first satellite information and the information input from the inertial navigation system 11. , and selects the first satellite information, which is free from the influence of the interfering waves, as the candidate information. The first satellite information that is not affected by interfering waves means first satellite information about satellites that can be used for positioning with a small error caused by interfering waves even when the first antenna 1001 receives interfering waves. do.
In Embodiment 1, the second selection unit 32 determines that the first satellite information is not affected by interference waves when the first satellite information and the first prediction information match. That is, the second selection unit 32 selects the first satellite information as candidate information when the difference between the value indicated by the first satellite information and the value indicated by the first prediction information is equal to or less than the determination value.
Here, the inertial navigation system 11 is provided with a sensor such as a gyro, and calculates the movement amount and the movement amount change rate of the moving body based on the measurement information of the sensor. The moving object provided with the inertial navigation system 11 is the same as the moving object provided with the first antenna 1001 and the second antenna 1002 .
The second selection unit 32 according to the first embodiment selects the first prediction information including the first pseudo-range prediction information based on the information indicating the movement amount and the movement amount change rate of the moving object input from the inertial navigation system 11. Generate. The first prediction information is information that predicts values that the satellite information can take, and the first pseudorange prediction information is information that predicts values that the pseudorange information can take. In this specification, information that predicts possible values of satellite information is referred to as prediction information.

The second selection unit 32 determines that the difference between the pseudorange indicated by the first pseudorange information included in the first satellite information and the pseudorange indicated by the first pseudorange prediction information included in the first prediction information is equal to or less than a fourth determination value. If there is, it is determined that the first pseudorange information and the first pseudorange prediction information match, and the first pseudorange information is selected as candidate information. Also, the second selection unit 32 selects, as candidate information, first correction information and first satellite position information regarding the same satellite as the first pseudorange information selected as candidate information.
The fourth determination value may be generated by the second selection unit 32 based on the pseudorange indicated by the first pseudorange information or the pseudorange indicated by the first pseudorange prediction information, or may be preset by the user. You may do so.

The second selection unit 32 outputs the first satellite information selected as candidate information to the satellite determination unit 4 and outputs the first satellite information not selected as candidate information to the third selection unit 33 . Specifically, the second selection unit 32 outputs the first pseudorange information, the first correction information, and the first satellite position information selected as candidate information to the satellite determination unit 4, and outputs the first pseudorange information, the first correction information, and the first satellite position information selected as candidate information. The first pseudorange information that was not selected as candidate information is output to the second pseudorange information determination unit 331, the first correction information that was not selected as candidate information is output to the second correction information determination unit 332, and the information that was not selected as candidate information is output to the second correction information determination unit 332. The first satellite position information is output to the second satellite position information determination section 333 .

When the third selection unit 33 determines that the first antenna 1001 is receiving an interfering wave, the third selection unit 33 compares the first satellite information with second prediction information generated based on past satellite information, First satellite information that is not affected by interfering waves is selected as candidate information. The third selection unit 33 selects the first satellite information as candidate information when the difference between the value indicated by the first satellite information and the value indicated by the second prediction information is equal to or less than the determination value.
In Embodiment 1, the third selection unit 33 generates second prediction information based on past satellite information input from the past data storage unit 12 . The second prediction information is information that predicts the values that the satellite information can take. The second pseudorange prediction information that predicts the values that the pseudoranges can take, and the second correction prediction that predicts the values that the correction values can take. and second satellite position prediction information that predicts possible values of satellite positions.
In Embodiment 1, the first corrected prediction information and the first satellite position prediction information do not exist. bottom. The prediction information generated by the second selection unit 32 is the first prediction information, and the prediction information generated by the third selection unit 33 is the second prediction information.

The past data storage unit 12 stores past satellite information. In Embodiment 1, past data storage section 12 stores satellite information generated by first generation section 21 during a time period in which first antenna 1001 does not receive an interfering wave.

In Embodiment 1, the third selector 33 includes a second pseudorange information determiner 331 , a second correction information determiner 332 , and a second satellite position information determiner 333 .

The second pseudorange information determination unit 331 makes a fifth determination of the difference between the pseudorange indicated by the first pseudorange information included in the first satellite information and the pseudorange indicated by the second pseudorange prediction information included in the second prediction information. If it is equal to or less than the value, it is determined that the first pseudorange information and the second pseudorange prediction information match, and the first pseudorange information is selected as candidate information.
The fifth determination value may be generated by the second pseudorange information determining unit 331 based on the pseudorange indicated by the first pseudorange information or the pseudorange indicated by the second pseudorange prediction information. You may make it set beforehand.
Further, the second pseudorange information determination section 331 outputs the first pseudorange information selected as candidate information to the satellite determination section 4, and discards the first pseudorange information not selected as candidate information.

The second correction information determination unit 332 determines that the difference between the correction value indicated by the first correction information included in the first satellite information and the correction value indicated by the second correction prediction information included in the second prediction information is equal to or less than the sixth determination value. If there is, it is determined that the first correction information and the second correction prediction information match, and the first correction information is selected as candidate information.
The sixth determination value may be generated by the second correction information determination unit 332 based on the correction value indicated by the first correction information or the correction value indicated by the second correction prediction information, or may be preset by the user. You may do so.
Further, the second correction information determination unit 332 outputs the first correction information selected as candidate information to the satellite determination unit 4, and discards the first correction information not selected as candidate information.

The second satellite position information determination unit 333 makes a seventh determination of the difference between the satellite position indicated by the first satellite position information included in the first satellite information and the satellite position indicated by the second satellite position prediction information included in the second prediction information. If it is less than or equal to the value, the first satellite information is selected as satellite information to be used for positioning calculation.
The seventh determination value may be generated by the second satellite position information determination unit 333 based on the satellite position indicated by the first satellite position information or the satellite position indicated by the second satellite position prediction information, or may be generated by the user. You may make it set beforehand.
The second satellite position information determination unit 333 also outputs the first satellite position information selected as candidate information to the satellite determination unit 4, and discards the first satellite position information not selected as candidate information.

The satellite determination unit 4 determines satellite information to be used for positioning calculation from input candidate information, that is, determines satellites to be used for positioning.
Specifically, when pseudorange information, correction information, and satellite position information are all input as candidate information for a certain satellite, the satellite determination unit 4 determines that the satellite information of that satellite is to be used for positioning calculation. If any of the pseudo-range information, correction information, and satellite position information for a given satellite is not input as candidate information and is missing, the satellite information for that satellite is discarded without being used for positioning calculation.

The positioning calculation unit 5 performs positioning calculation using the satellite information determined by the determination unit 10 to be used for positioning calculation. When the number of satellites determined to be used for positioning calculation by the determining unit 10 is four or more, the positioning calculation unit 5 in Embodiment 1 starts the positioning calculation, and determines the number of satellites determined to be used for the positioning calculation. is less than four, the operation is terminated.
In addition, since it is considered that an error due to a deviation in the installation position of the first antenna 1001 and the second antenna 1002 is included, according to the distance between the first antenna 1001 and the second antenna 1002 measured in advance, before performing the positioning calculation Satellite information may be corrected.

Each function of the determination unit 10 is implemented by a computer. FIG. 6 is a configuration diagram showing an example of the hardware configuration of a computer that implements the determination unit 10. As shown in FIG.
The hardware shown in FIG. 6 includes a processing device 10000 such as a CPU (Central Processing Unit), a storage device 10001 such as a ROM (Read Only Memory) or hard disk, and an input interface section 10002 . The processing device 10000 and the storage device 10001 are connected by an electrical signal cable, and similarly the processing device 10000 and the input interface section 10002 are connected by an electrical signal cable.

The determination unit 10 shown in FIG. 1 is implemented by executing a program stored in the storage device 10001 by the processing device 10000 . The input interface section 10002 has a function of transferring an electrical signal received from the outside to the processing device 10000 .
In addition, the method of realizing each function of the determination unit 10 is not limited to the combination of the hardware and the program described above, but can be realized by a single piece of hardware such as an LSI (Large Scale Integrated Circuit) in which the program is implemented in the processing unit. Alternatively, part of the functions may be realized by dedicated hardware, and part of the functions may be realized by a combination of a processor and a program.

As described above, the positioning device 1 and the positioning system 100 in Embodiment 1 are configured.
Next, the positioning method according to Embodiment 1, that is, the operation of the positioning device 1 will be described.
FIG. 7 is a flowchart showing the operation of positioning performed by the positioning device 1 .
In step S1, a satellite information acquisition process is performed, in steps S2 and S3, a determination process is performed, and in step S4, a positioning calculation process is performed.

First, when the positioning device 1 starts operating, in step S1, the satellite information acquisition unit 2 acquires the first satellite information generated from the radio waves received by the first antenna 1001, and from the radio waves received by the second antenna 1002, Acquire the generated second satellite information.

The first receiving circuit 131 and the second receiving circuit 132 frequency-convert the electric signals received from the first antenna 1001 and the second antenna 1002, respectively, and then amplify the voltages of the signals. Output to the unit 142 . The first satellite acquisition unit 141 and the second satellite acquisition unit 142 respectively acquire satellites on each channel and output demodulated electrical signals to the first generation unit 21 and the second generation unit 22 .

The first generator 21 generates pseudo-range information, navigation information, and satellite position information for each satellite using the input electrical signal. Specifically, first, using the propagation time to first antenna 1001 , first pseudorange information generating section 211 generates first pseudorange information indicating the pseudorange between the satellite and first antenna 1001 . On the other hand, the first navigation information generator 212 demodulates the electrical signal from each satellite and generates first navigation information indicating a navigation message. Then, the first satellite position information generator 213 calculates each satellite position using the first orbit information included in the first navigation information, and generates and acquires first satellite position information indicating each satellite position.
In parallel with the first generation unit 21 generating the first satellite information, the second generation unit 22 similarly generates the second satellite information.

Next, in step S2, the selection unit 3 performs candidate information selection processing for selecting satellite information candidates to be used for positioning calculation from among the satellite information generated by the satellite information acquisition unit 2 as candidate information. The selection unit 3 transmits information selected as candidate information to the satellite determination unit 4 . Regarding the candidate information selection process, the first satellite information and the second satellite information for all satellites receiving radio waves by both the first antenna 1001 and the second antenna 1002 match, and the second satellite information for any satellite is selected. A separate case where the first satellite information and the second satellite information do not match will be described later.

Next, in step S3, the satellite determination unit 4 determines satellite information to be used for positioning calculation from the candidate information. Specifically, among the input candidate information, a satellite that has all of the pseudo-range information, correction information, and satellite position information is determined as the satellite to be used for positioning, and the satellite information of the satellite is determined as the satellite information to be used for positioning. decide. The satellite determination unit 4 also outputs the satellite information determined to be used for positioning to the positioning calculation unit 5 .

Finally, in step S4, the positioning calculation unit 5 performs positioning calculation when satellite information of four or more satellites is input, and terminates the operation when only satellite information of less than four satellites is input. .

Next, candidate information selection processing will be described for a case where the first satellite information and the second satellite information match for all satellites from which radio waves are commonly received by the first antenna 1001 and the second antenna 1002 .
FIG. 8 shows that when the first satellite information matches the second satellite information for all satellites receiving radio waves from both the first antenna 1001 and the second antenna 1002, the selection unit 3 performs candidate information selection processing. It is a flowchart which shows the operation|movement to perform.

When the candidate information selection process is started, in step S21, the first selection unit 31 determines whether the first satellite information and the second satellite information match.
Specifically, first, the first pseudorange information determination unit 311 determines the pseudorange indicated by the first pseudorange information generated by the first pseudorange information generation unit 211 and the pseudorange indicated by the first pseudorange information generated by the second pseudorange information generation unit 221. It is determined whether the difference from the pseudorange indicated by the second pseudorange information is equal to or smaller than the first determination value. Here, the first determination value may be set in advance as described above, or may be generated by the first pseudorange information determination section 311 . The same applies to other determination values to be described later.
In parallel with the determination of the pseudorange, the first selection unit 31 also determines correction information and satellite position information. The first correction information determination unit 312 determines whether the difference between the correction value indicated by the first correction information and the correction value indicated by the second correction information is equal to or smaller than the second determination value. determines whether the difference between the satellite position indicated by the first satellite position information and the satellite position indicated by the second satellite position information is equal to or less than the third decision value.
In this flowchart, it is assumed that the first satellite information matches the second satellite information for all satellites from which radio waves are commonly received by the first antenna 1001 and the second antenna 1002. The selector 31 determines that the first satellite information and the second satellite information match. That is, first selection section 31 determines that first antenna 1001 does not receive an interfering wave, and selects first satellite information for all satellites received by first antenna 1001 as candidate information. The first selection unit 31 transmits the first satellite information selected as candidate information to the satellite determination unit 4, and ends the candidate information selection process.

Next, candidate information selection processing when the first satellite information and the second satellite information do not match for one of the satellites for which radio waves are received by both the first antenna 1001 and the second antenna 1002 will be described. .
FIG. 9 shows that for satellites from which radio waves are commonly received by the first antenna 1001 and the second antenna 1002, when the first satellite information and the second satellite information do not match for one of the satellites, the selection unit 3 9 is a flowchart showing an operation of performing candidate information selection processing;

When the candidate information selection process is started, in step S201, the first selection unit 31 determines whether the first satellite information and the second satellite information match. The determination made in step S201 is the same as the determination made in step S21. In this flowchart, regarding satellites receiving radio waves with both the first antenna 1001 and the second antenna 1002, the case where the first satellite information and the second satellite information do not match for one of the satellites is considered. The 1 selection unit 31 determines that the first satellite information and the second satellite information do not match for a given satellite. That is, first selection section 31 determines that first antenna 1001 is receiving an interfering wave. In this case, the second satellite information is selected as candidate information for satellites receiving radio waves with both the first antenna 1001 and the second antenna 1002, and the second satellite information is transmitted to the satellite determination unit 4. At the same time, the first satellite information is transmitted to the second selector 32 for satellites receiving radio waves only through the first antenna.

Next, in step S202, the second selection unit 32 determines whether the input first satellite information matches the first prediction information.
Specifically, first, the second selection unit 32 selects the first Generate first prediction information including pseudorange prediction information. The second selection unit 32 determines whether the difference between the pseudorange indicated by the first pseudorange information and the pseudorange indicated by the first pseudorange prediction information is equal to or less than a fourth threshold. The second selection unit 32 uses the first pseudorange information determined to match the first pseudorange prediction information, and the first correction information and first satellite position information regarding the same satellite as the first pseudorange information as candidate information. Along with outputting to the determining unit 4 , the first satellite information determined not to match is output to the third selecting unit 33 .

Next, in step S203, the third selection unit 33 determines whether the first satellite information and the second prediction information match.
Specifically, first, the second pseudorange information determination unit 331 generates second pseudorange prediction information based on the past pseudorange information input from the past data storage unit 12 . Similarly, the second correction information determination unit 332 generates second correction prediction information based on the past correction information input from the past data storage unit 12, and the second satellite position information determination unit 333 determines the past data Second satellite position prediction information is generated based on the past satellite position information input from the storage unit 12 .
The second pseudorange information determination unit 331 determines whether the difference between the pseudorange indicated by the second pseudorange prediction information and the pseudorange indicated by the first pseudorange information is equal to or less than a fifth decision value. The second pseudorange information determination unit 331 outputs the first pseudorange information determined to match the second pseudorange prediction information to the satellite determination unit 4 as candidate information, and outputs the first pseudorange information determined to not match the second pseudorange prediction information to the satellite determination unit 4. Discard.
In parallel with the determination of the pseudorange, the third selection unit 33 also determines correction information and satellite position information. The second correction information determination unit 332 determines whether the difference between the correction value indicated by the first correction information and the correction value indicated by the second correction prediction information is equal to or less than the seventh threshold. determines whether the difference between the satellite position indicated by the first satellite position information and the satellite position indicated by the second satellite position prediction information is equal to or less than a sixth threshold. The first correction information determination unit 312 outputs the first correction information determined to match the second corrected prediction information to the satellite determination unit 4 as candidate information, discards the first correction information determined to not match, The 2-satellite position information determination unit 333 outputs the first satellite position information determined to match the second satellite position prediction information to the satellite determination unit 4, and discards the first satellite position information determined to not match.
After completing the operation of step S203, the selection unit 3 ends the candidate information selection process.
As described above, the selection unit 3 performs candidate information selection processing and selects candidate information.

With the operation described above, the positioning apparatus 1 can generate the second antenna generated from the radio wave received by the second antenna even in a situation where the radio wave received by the first antenna 1001 cannot be used for positioning due to the influence of the interfering wave. By using the two-satellite information for positioning, it is possible to reduce the decrease in positioning accuracy.
Further, when the first antenna 1001 does not receive an interfering wave, by using the first satellite information generated from the radio waves received by the first antenna 1001, which is an antenna with a wide coverage area, for positioning, the second Information from more satellites can be used for positioning than when only satellite information is used for positioning, and positioning accuracy can be improved.

A modification of the positioning device 1 according to Embodiment 1 will be described below.

When there is a satellite whose first satellite information and second satellite information do not match, the determining unit 10 determines the second satellite information as the satellite information to be used for positioning, but the first satellite information and the second satellite information are compared. Instead, the signal-to-noise ratio of the first satellite information is calculated, and when the signal-to-noise ratio is equal to or lower than a predetermined threshold, the second satellite information may be determined as the satellite information to be used for positioning. . That is, the determination as to whether or not the first antenna is receiving an interfering wave may be based only on the signal-to-noise ratio instead of the comparison between the first satellite information and the second satellite information. Alternatively, first prediction information generated based on information input from the inertial navigation system 11 or second prediction information generated based on information input from the past data storage unit 12 is compared with the first satellite information. to determine whether the first antenna is receiving an interfering wave.
Further, determining whether the first antenna is receiving an interfering wave means not only directly determining that the first antenna is receiving an interfering wave, but also indirectly by satisfying certain conditions of satellite information. , assuming that the first antenna is receiving jammers.

When the first selection unit 31 determines that the first antenna 1001 has not received an interfering wave, the first satellite information of all satellites is output to the satellite determination unit 4. Instead of directly transmitting the information to the satellite determination unit 4, the information may be output to the second selection unit 32 and the second selection unit 32 and the third selection unit 33 may make determinations. Similarly, even when it is determined that the first antenna 1001 is receiving an interfering wave, the first selection unit 31 does not output the second satellite information selected as the candidate information to the satellite determination unit 4. , may be output to the second selection unit 32 . Similarly, the second selection unit 32 may output the satellite information selected as the candidate information to the third selection unit 33 instead of the satellite determination unit 4 . In these cases, as will be described later, it is possible to reduce the influence of not only jamming but also other interfering waves such as meaconing and spoofing.

The first selection unit 31 and the third selection unit 33 compare the first satellite position information and the second satellite position information, or the first satellite position information and the second satellite position prediction information. may be compared.

The first pseudorange information determination unit 311, the second selection unit 32, and the second pseudorange information determination unit 331 compare the pseudoranges indicated by the pseudorange information. The rate of change in distance may also be compared.

When the pseudorange information, correction information, and satellite position information are all input for a given satellite, the satellite determination unit 4 determines that the satellite information of that satellite is used for positioning calculation. If it is not necessary, it may be determined to use satellites for which correction information is not input for positioning calculation.

The satellite acquisition unit 14 has the number of channels obtained by multiplying the maximum number of visible satellites by the number of frequencies to be processed and the number of code types. A configuration in which signals are processed in order may be used.

Although the past data storage unit 12 is configured to be provided outside the positioning device 1 , it may be provided inside the positioning device 1 and its function is realized by the storage device 10001 .

The satellite information acquisition unit 2 is configured to acquire satellite information by generating the first satellite information and the second satellite information by the first generation unit 21 and the second generation unit 22, respectively. A configuration may be adopted in which satellite information generated outside the positioning device 1 is acquired without generating satellite information.

When the first pseudorange information matches the first prediction information and is selected as candidate information, the second selection unit 32 selects first correction information and first satellite position information regarding the same satellite as the first pseudorange information. is selected as candidate information, it is also possible to select only the first pseudorange information as candidate information without selecting the first correction information and the first satellite position information as candidate information.

The effects of the selection unit 3 included in the positioning device 1 according to Embodiment 1 having the second selection unit 32 and the third selection unit 33 will be described below.

When the first antenna receives an interfering wave, the first satellite information and the second satellite information do not match, so the first selector 31 transmits only the second satellite information to the satellite determination unit 4 as candidate information. . At this time, if four or more satellites are captured by the second antenna, the positioning calculation can be performed without problems. Also, positioning calculation can be performed by using satellite information selected as candidate information by the second selection unit 32 and the third selection unit 33 from among the first satellite information.

In addition, the effect of the selection unit 3 having the second selection unit 32 and the third selection unit 33 is not limited to the case where the number of satellites that can be captured by the second antenna is less than four. For example, the effects of meaconing and spoofing can be reduced.

Meaconing is to retransmit a GNSS signal, which is a signal transmitted from a GNSS satellite, as it is or after some processing. Since the signals broadcast from GNSS satellites are weak, even weak meaconing signals can interfere with positioning devices. Specifically, it can be easily realized by recording and reproducing the GNSS signal with an RF (Radio Frequency) recorder, and the position measured by the positioning device is greatly deviated.

Spoofing is the act of generating and transmitting a GNSS signal independently, and since the signal format of the GNSS signal is open to the public, with the exception of some, simulating this with a simulator can prevent the intentional error of the jammer. It is possible to position a GNSS receiver to a position In recent years, advances in software-defined radio technology have made it possible to achieve this at low cost and easily.

Jamming requires the use of large equipment, making it easy to detect aircraft equipped with such equipment. Even if you get close, you may not be able to find it.
On the other hand, the selection unit 3 included in the positioning device 1 according to Embodiment 1 compares the first satellite information with the first prediction information predicted using the information input from the inertial navigation device 11, A second selection unit that selects satellite information candidates to be used for positioning calculation as candidate information, compares the first satellite information and second prediction information predicted from past satellite information, and selects satellite information to be used for positioning calculation. and a third selection unit for selecting, when the first satellite information and the first prediction information do not match, or when the first satellite information and the second prediction information do not match, the first antenna is meaconing. It is possible to reduce the decrease in positioning accuracy by determining that an interfering wave caused by meaconing or spoofing is being received and not using the satellite information generated from the interfering wave caused by meaconing or spoofing for positioning calculation.

For example, when an interfering wave due to meaconing or spoofing is received from within the coverage area of the second antenna 1002, not only the first pseudorange information but also the second pseudorange information may indicate a pseudorange different from the original pseudorange. have a nature. However, since the first pseudorange prediction information predicted by the inertial navigation system 11 has no relationship with the interfering wave, by comparing this first pseudorange prediction information with the first pseudorange information or the second pseudorange information, By determining whether or not an interfering wave is being received and appropriately selecting satellite information to be used for positioning, it is possible to reduce the decrease in positioning accuracy due to the effects of meaconing and spoofing.

Like the second selection unit, the third selection unit can reduce the deterioration of positioning accuracy due to the effects of meaconing and spoofing. can do.

As described above, when it is desired to reduce the effects of not only jamming but also meaconing and spoofing, even if the first selection unit determines that no interfering waves are received, the first satellite information is sent to the second selection unit. , and determination may be performed by the second selection unit and the third selection unit. Further, even when the first selection unit determines that an interfering wave is received, the second satellite information is output to the second selection unit instead of the satellite determination unit 4, and the second selection unit and the third selection unit You may make it determine by.
Further, in Embodiment 1, when any of the first selection unit 31, the second selection unit 32, or the third selection unit 33 selects candidate information, the candidate information is output to the satellite determination unit 4. However, it may be output to the satellite determination unit 4 when all the selection units select it as candidate information.

The positioning device according to the present invention is suitable for use in a positioning system that measures the position of a mobile object.

1 positioning device 100 positioning system 2 satellite information acquisition unit 20 satellite information generation unit 3 selection unit 4 satellite determination unit 5 positioning calculation unit 10 determination unit 11 inertial navigation device 12 past data storage unit 13 receiver circuit 131 first receiver circuit 132 second receiver circuit 14 satellite capture unit 141 first satellite capture unit 142 second satellite capture unit 21 first generator 211 first pseudorange information generator 212 1st navigation information generation unit 213 1st satellite position information generation unit 22 2nd generation unit 221 2nd pseudo-range information generation unit 222 2nd navigation information generation unit 223 2nd satellite position information generation unit 31 1 selection unit 311 first pseudorange information determination unit 312 first correction information determination unit 313 first satellite position information determination unit 32 second selection unit 33 third selection unit 331 second pseudorange information determination unit , 332 second correction information determination unit 333 second satellite position information determination unit 1001 first antenna 1002 second antenna 2000 aircraft 2001,2002 coverage 3000 interference wave 10000 processing device 10001 storage device 10002 Input interface section

Claims (9)

Satellite information for acquiring first satellite information generated from radio waves received by a first antenna and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna an acquisition unit;
determining whether the first antenna is receiving an interfering wave based on the first satellite information, and if determining that the first antenna is receiving an interfering wave, performing positioning calculation using the second satellite information; a decision unit that decides as satellite information to be used for
a positioning calculation unit that performs positioning calculation using the satellite information determined by the determination unit;
with
the first satellite information includes information from a plurality of satellites;
The determining unit compares the first satellite information and the second satellite information for each satellite, and determines whether or not the first antenna receives an interfering wave.
A positioning device characterized by : The determination unit determines that the first antenna is receiving an interfering wave when a difference between the value indicated by the first satellite information and the value indicated by the second satellite information is greater than a judgment value. The positioning device according to claim 1 , characterized by: Satellite information for acquiring first satellite information generated from radio waves received by a first antenna and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna an acquisition unit;
determining whether the first antenna is receiving an interfering wave based on the first satellite information, and if determining that the first antenna is receiving an interfering wave, performing positioning calculation using the second satellite information; a decision unit that decides as satellite information to be used for
a positioning calculation unit that performs positioning calculation using the satellite information determined by the determination unit;
with
The determination unit, when determining that the first antenna is receiving an interfering wave, determines the first prediction information generated based on the first satellite information and the information input from the inertial navigation system. Then, the first satellite information that is not affected by the interfering waves is determined as the satellite information to be used for the positioning calculation.
A positioning device characterized by : The determining unit determines the first satellite information as the satellite information to be used for positioning calculation when a difference between the value indicated by the first satellite information and the value indicated by the first prediction information is equal to or less than a judgment value. The positioning device according to claim 3 , characterized by: Satellite information for acquiring first satellite information generated from radio waves received by a first antenna and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna an acquisition unit;
determining whether the first antenna is receiving an interfering wave based on the first satellite information, and if determining that the first antenna is receiving an interfering wave, performing positioning calculation using the second satellite information; a decision unit that decides as satellite information to be used for
a positioning calculation unit that performs positioning calculation using the satellite information determined by the determination unit;
with
When the determination unit determines that the first antenna is receiving an interfering wave, the determination unit compares the first satellite information with second prediction information generated based on the past satellite information, determining the first satellite information that is not affected by interference waves as the satellite information to be used for positioning calculation;
A positioning device characterized by : The determination unit determines the first satellite information as the satellite information to be used for positioning calculation when a difference between the value indicated by the first satellite information and the value indicated by the second prediction information is equal to or less than a judgment value. The positioning device according to claim 5 , characterized by: Satellite information for acquiring first satellite information generated from radio waves received by a first antenna and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna an acquisition step;
determining whether the first antenna is receiving an interfering wave based on the first satellite information, and if determining that the first antenna is receiving an interfering wave, performing positioning calculation using the second satellite information; A determination step of determining as satellite information used for
a positioning calculation step of performing positioning calculation using the satellite information determined in the determination step;
including
the first satellite information includes information from a plurality of satellites;
In the determining step, the first satellite information and the second satellite information are compared for each satellite to determine whether the first antenna is receiving an interfering wave.
A positioning method characterized by : Satellite information for acquiring first satellite information generated from radio waves received by a first antenna and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna an acquisition step;
determining whether the first antenna is receiving an interfering wave based on the first satellite information, and if determining that the first antenna is receiving an interfering wave, performing positioning calculation using the second satellite information; A determination step of determining as satellite information used for
a positioning calculation step of performing positioning calculation using the satellite information determined in the determining step;
including
In the determination step, when it is determined that the first antenna is receiving an interfering wave, the first prediction information generated based on the first satellite information and the information input from the inertial navigation system. Then, the first satellite information that is not affected by the interfering waves is determined as the satellite information to be used for the positioning calculation.
A positioning method characterized by : Satellite information for acquiring first satellite information generated from radio waves received by a first antenna and second satellite information generated from radio waves received by a second antenna having a narrower coverage area than the first antenna an acquisition step;
determining whether the first antenna is receiving an interfering wave based on the first satellite information, and if determining that the first antenna is receiving an interfering wave, performing positioning calculation using the second satellite information; A determination step of determining as satellite information used for
a positioning calculation step of performing positioning calculation using the satellite information determined in the determination step;
including
comparing the first satellite information with second prediction information generated based on past satellite information when it is determined in the determining step that the first antenna is receiving an interfering wave; determining the first satellite information that is not affected by interference waves as the satellite information to be used for positioning calculation;
A positioning method characterized by :

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