# US 10,371,820 B2 · Positioning device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,371,820 B2 - Document ID: US10371820B2 - Status: Granted - Kind: B2 - Application number: 15/128,005 - Filed: 2014-03-28 - Published: 2017-05-11 - Granted: 2019-08-06 - Earliest claimed: 2014-03-28 - Assignees: Mitsubishi Electric Corporation - Applicants: Mitsubishi Electric Corporation - Inventors: Masayuki Saito; Masakazu Miya; Yuki Sato; Seigo Fujita; Kazuhiro Terao - Web page: https://patentgrep.com/patent/US10371820B2 ## CPC - G01S 19/22: Multipath-related issues - G01S 19/396: {Determining accuracy or reliability of position or pseudorange measurements} - G01S 19/44: Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract An observation data screening unit (103) executes least squares method positioning using, as an observation amount, n (n is an integer of 3 or larger) number of single difference amounts of an L1-wave pseudorange obtained from n pieces of observation data from n number of positioning satellites and n pieces of correction data corresponding to the n pieces of the observation data. The observation data screening unit (103) calculates a sum of squares of n residuals obtained for each positioning satellite by executing the least squares method positioning and normalizes the n residuals. The observation data screening unit (103) then evaluates the sum of squares of the residuals and the n normalized residuals. ## Claims ### Claim 1 A positioning device comprising: processing circuitry configured to: execute least squares method positioning by using, as an observation amount, n, n is an integer of 3 or larger, number of single difference amounts of an L1-wave pseudorange obtained from n pieces of observation data from n number of positioning satellites and n pieces of correction data corresponding to the n pieces of observation data, calculate a sum of squares of n residuals obtained for each positioning satellite by executing the least squares method positioning, normalize the n residuals, evaluate the calculated sum of squares and the normalized n residuals, and apply correction to the n pieces of observation data used for positioning based on the evaluation. ### Claim 2 (depends on 1) The positioning device according to claim 1, wherein processing circuitry is further configured to evaluate by being configured to compare the sum of squares with a first threshold, compare each of the n normalized residuals with a second threshold, and discard any of the n pieces of observation data when the sum of squares exceeds the first threshold and when at least any of the n normalized residuals exceeds the second threshold. ### Claim 3 (depends on 2) The positioning device according to claim 2, wherein processing circuitry is further configured to evaluate by being configured to discard, from among the n pieces of observation data, a piece of observation data from a positioning satellite with the normalized residual having the largest absolute value. ### Claim 4 (depends on 1) The positioning device according to claim 1, wherein the processing circuitry is further configured to evaluate by being configured to, for each positioning satellite, compare signal intensity of a positioning signal with a third threshold and discard observation data from a positioning satellite with the signal intensity of the positioning signal falling below the third threshold. ### Claim 5 (depends on 1) The positioning device according to claim 1, wherein the processing circuitry is further configured to evaluate by being configured to, for each positioning satellite, a satellite elevation angle with a fourth threshold and discard observation data from a positioning satellite with the satellite elevation angle falling below the fourth threshold. ### Claim 6 (depends on 1) The positioning device according to claim 1, wherein the processing circuitry is further configured to evaluate by being configured to, for each positioning satellite, a pseudorange double difference residual with a fifth threshold and discard observation data from a positioning satellite with the pseudorange double difference residual exceeding the fifth threshold. ### Claim 7 (depends on 1) The positioning device according to claim 1, wherein the processing circuitry is further configured to calculate ambiguity for each positioning satellite, wherein the processing circuitry is further configured to evaluate by being configured to compare a carrier phase double difference residual with a sixth threshold for each positioning satellite, and wherein the processing circuitry is further configured to recalculate ambiguity of a positioning satellite with the carrier phase double difference residual exceeding the sixth threshold. ### Claim 8 A positioning device comprising: processing circuitry configured to: select a combination of n number of positioning satellites, 3≤n