Positioning device
AssigneesDenso Corporation, Toyota Jidosha Kabushiki Kaisha
InventorsAkira Miyajima, Katsuhiro Matsuoka
Life of this patent
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Abstract
A positioning device includes a satellite positioning unit, an autonomous positioning unit and an error estimation unit. The satellite positioning unit acquires a position of a moving object determined by satellite navigation based on navigation signals. The autonomous positioning unit estimates a movement trajectory of the moving object based on satellite information, which is information before the position of the moving object is calculated in the satellite navigation and detection values of behavior detection sensors, and estimates the position of the moving object based on a reference point and the movement trajectory of the moving object.
Claims8
A positioning device comprising:
- a satellite positioning unit configured to acquire a position of a moving object determined by satellite navigation based on navigation signals received by a GNSS receiver;
- an autonomous positioning unit configured to
- estimate a movement trajectory of the moving object based on
- satellite information, which is determined according to the navigation signals received by the GNSS receiver and
- detection values of behavior detection sensors for detecting a behavior of the moving object, and
- estimate the position of the moving object based on a reference point and the movement trajectory of the moving object;
- and
- an error estimation unit configured to estimate a satellite positioning error as an error in the position of the moving object determined by the satellite positioning unit, and estimate an autonomous positioning error as an error in the position of the moving object estimated by the autonomous positioning unit,
- wherein the autonomous positioning unit is configured to set the position of the moving object acquired by the satellite positioning unit as the reference point, in response to that the satellite positioning error is smaller than the autonomous positioning error.
A positioning device comprising:
- a computer configured to:
- acquire a position of a moving object determined by satellite navigation based on navigation signals received by a GNSS receiver;
- estimate a movement trajectory of the moving object based on
- satellite information, which is determined according to the navigation signals received by the GNSS receiver, and
- detection values of behavior detection sensors for detecting a behavior of the moving object;
- estimate the position of the moving object based on a reference point and the movement trajectory of the moving object;
- estimate a satellite positioning error as an error in the position of the moving object determined by the computer, and estimate an autonomous positioning error as an error in the position of the moving object estimated by the computer;
- set the position of the moving object acquired by the computer as the reference point, in response to the satellite positioning error being smaller than the autonomous positioning error.
Dependencies are inferred from the claim text.