Positioning method and positioning terminal
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorKazuyuki Yoshino
Life of this patent
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Abstract
A processor calibrates the velocity of a moving object by removing a velocity bias from the velocity of the moving object and calculates a DR solution based on the calibrated velocity of the moving object. In a case where a fixed solution is calculated in positioning calculation, the processor outputs the fixed solution as coordinates of the moving object, whereas in a case where a fixed solution is not calculated, the processor outputs the DR solution based on the calibrated velocity of the moving object as the coordinates of the moving object.
Claims15
A positioning method for determining coordinates of a moving object, by a positioning terminal, by performing a positioning calculation based on information transmitted from a plurality of satellites,
- wherein the positioning terminal
- calculates a fixed solution which is a solution obtained by the positioning calculation or a float solution which is a solution obtained by the positioning calculation and has lower accuracy than the fixed solution,
- calculates a velocity bias based on a movement amount of the fixed solution,
- calculates a velocity of the moving object,
- calibrates a velocity of the moving object by removing the velocity bias from the velocity of the moving object,
- calculates a dead reckoning (DR) solution which is an estimated value of the coordinates of the moving object based on the calibrated velocity of the moving object,
- outputs the DR solution as the coordinates of the moving object in a case where at least the fixed solution is not calculated in the positioning calculation, and
- outputs the fixed solution as the coordinates of the moving object in a case where the fixed solution is calculated in the positioning calculation.
A positioning terminal comprising:
- a receiver that receives positioning signals transmitted from a plurality of satellites;
- and
- a processor that determines coordinates of a moving object by performing a positioning calculation based on information included in the positioning signals,
- wherein the processor
- calculates a fixed solution which is a solution obtained by the positioning calculation or a float solution which is a solution obtained by the positioning calculation and has lower accuracy than the fixed solution,
- calculates a velocity bias based on a movement amount of the fixed solution,
- calculates a velocity of the moving object,
- calibrates a velocity of the moving object by removing the velocity bias from the velocity of the moving object,
- calculates a dead reckoning (DR) solution which is an estimated value of the coordinates of the moving object based on the calibrated velocity of the moving object,
- outputs the DR solution as the coordinates of the moving object in a case where at least the fixed solution is not calculated in the positioning calculation, and
- outputs the fixed solution as the coordinates of the moving object in a case where the fixed solution is calculated in the positioning calculation.
Dependencies are inferred from the claim text.