# US 11,079,494 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 11,079,494 B2 - Document ID: US11079494B2 - Status: Granted - Kind: B2 - Application number: 16/730,483 - Filed: 2019-12-30 - Published: 2020-05-14 - Granted: 2021-08-03 - Earliest claimed: 2017-07-07 - Assignees: Denso Corporation; Toyota Jidosha Kabushiki Kaisha - Applicants: Denso Corporation; Toyota Jidosha Kabushiki Kaisha - Inventors: Akira Miyajima; Katsuhiro Matsuoka - Web page: https://patentgrep.com/patent/US11079494B2 ## CPC - G01S 19/23: Testing, monitoring, correcting or calibrating of receiver elements - G01C 21/28: with correlation of data from several navigational instruments - G01S 19/393: {Trajectory determination or predictive tracking, e.g. Kalman filtering} - G01S 19/47: the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial - G01S 19/49: whereby the further system is an inertial position system, e.g. loosely-coupled - 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 - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The positioning device according to claim 1, 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 has been smaller than the autonomous positioning error for a time longer than a preset continuation determination time period. ### Claim 3 (depends on 1) The positioning device according to claim 1, further comprising: an azimuth estimation unit configured to estimate a movement azimuth of the moving object based on Doppler shift amounts of the navigation signals, wherein the autonomous positioning unit is configured to: estimate the movement trajectory of the moving object based on the movement azimuth of the moving object and a speed of the moving object; and acquire a detection value of a yaw rate sensor included in the behavior detection sensors, wherein, when the azimuth estimation unit estimates the movement azimuth of the moving object, the autonomous positioning unit estimates the movement trajectory of the moving object based on the movement azimuth of the moving object estimated by the azimuth estimation unit, wherein, when the azimuth estimation unit does not estimate the movement azimuth of the moving object, the autonomous positioning unit estimates an amount of azimuth angle change of the moving object based on the detection value of the yaw rate sensor, and determines the movement azimuth of the moving object based on the amount of azimuth angular change of the moving object and a past reference azimuth, and wherein, when the autonomous positioning unit estimates the movement trajectory of the moving object based on the movement azimuth of the moving object estimated by the azimuth estimation unit, the error estimation unit adjusts an amount of increase in the autonomous positioning error to be small as compared with a situation of the autonomous positioning unit determining the movement azimuth of the moving object based on the detection value of the yaw rate sensor. ### Claim 4 (depends on 1) The positioning device according to claim 1, wherein the error estimation unit is configured to calculate the satellite positioning error by multiplying a pseudorange residual by a precision deterioration factor, and wherein the precision deterioration factor is determined based on at least one of an extent of variation of the pseudorange residual, S/N of the navigation signals, or a precision decrease rate. ### Claim 5 (depends on 4) The positioning device according to claim 4, wherein the precision deterioration factor is determined based on the extent of variation of the pseudorange residual. ### Claim 6 (depends on 4) The positioning device according to claim 4, wherein the precision deterioration factor is determined based on the S/N of the navigation signals. ### Claim 7 (depends on 4) The positioning device according to claim 4, wherein the precision deterioration factor is determined based on the precision decrease rate. ### Claim 8 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.