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US 11,899,117 B2Granted
Moving body positioning system, method, and program
AssigneeNEC Solution Innovators, Ltd.
InventorsRyo Miyamoto, Maho Kashiwagi, Yuka Kanda
Life of this patent
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Abstract
A moving body positioning system of the present invention includes: a GNSS receiver that is included in a moving body and that receives a GNSS signal transmitted from each of one or more satellites and acquires pieces of observation data respectively corresponding to the satellites; an external data acquisition means that acquires external data; a multipath detection means that detects multipath with respect to an observation data group; and a positioning calculation means that performs positioning calculation after a selection of a satellite to be used and a satellite to be excluded on the basis of a result of the multipath detection.
Claims10
A moving body positioning system comprising:
- a GNSS receiver that is included in a moving body and that receives a GNSS signal transmitted from each of one or more satellites and acquires observation data corresponding to each of the satellites;
- an external data acquisition unit that acquires external data that is predetermined data other than the observation data;
- a multipath detection unit that detects multipath with respect to an observation data group that is a set of pieces of observation data used for positioning calculation to identify a position of the moving body and that is a set of pieces of observation data respectively acquired from the GNSS signals of the one or more satellites;
- and
- a positioning calculation unit that performs the positioning calculation after selection of a satellite to be used and a satellite to be excluded on the basis of a result of the multipath detection, wherein
- the multipath detection unit detects the multipath by determining whether the observation data is the multipath on the basis of a blocked range with respect to the GNSS signals in the moving body or an observation status of the GNSS signals in a different station that is a receiver station other than the moving body, the blocked range or the observation status being acquired from an analysis of the external data, and
- wherein
- the multipath detection unit includes
- an invalidity determination condition assignment unit that assigns, to at least observation data included in the observation data group and determined to be the multipath, a predetermined index to be a determination condition for invalidity of the observation data.
6 more elements
A moving body positioning method comprising:
- acquiring observation data that is acquired from a GNSS signal transmitted from each of one or more satellites and received by a GNSS receiver included in a moving body and that is observation data corresponding to each of the satellites;
- acquiring external data that is predetermined data other than the observation data;
- detecting multipath, with respect to an observation data group that is a set of pieces of the observation data respectively corresponding to the satellites, by determining whether each piece of the observation data in the observation data group is the multipath on the basis of a blocked range with respect to the GNSS signals in the moving body or an observation status of the GNSS signals in a different station that is a receiver station other than the moving body, the blocked range or the observation status being acquired by an analysis of the external data;
- and
- performing positioning calculation after selection of a satellite to be used or a satellite to be excluded on the basis of a result of the multipath detection, acquiring observation data, acquiring external data, detecting the multipath, and performing position calculation being performed by an information processing device,
- wherein detecting the multipath comprises:
- assigning, to at least observation data included in the observation data group and determined to be the multipath, a predetermined index to be a determination condition for invalidity of the observation data.
4 more elements
A non-transitory computer-readable recording medium in which a moving body positioning program is recorded, the moving body positioning program causing a computer to execute:
- processing of acquiring observation data that is acquired from a GNSS signal transmitted from each of one or more satellites and received by a GNSS receiver included in a moving body and that is observation data corresponding to each of the satellites,
- processing of acquiring external data that is predetermined data other than the observation data,
- processing of detecting multipath, with respect to an observation data group that is a set of pieces of the observation data respectively corresponding to the satellites, by determining whether each piece of the observation data in the observation data group is the multipath on the basis of a blocked range with respect to the GNSS signals in the moving body or an observation status of the GNSS signals in a different station that is a receiver station other than the moving body, the blocked range or the observation status being acquired by an analysis of the external data, and
- processing of performing positioning calculation after selection of a satellite to be used and a satellite to be excluded on the basis of a result of the multipath detection,
- wherein, in the processing of detecting the multipath, the moving body positioning program causes the computer to execute:
- assigning, to at least observation data included in the observation data group and determined to be the multipath, a predetermined index to be a determination condition for invalidity of the observation data.
3 more elements
Dependencies are inferred from the claim text.