Carrier phase-based relative positioning apparatus

A carrier phase-based relative positioning apparatus comprising:

• a plurality of antennas of which at least one is installed on a mobile unit;
• means for determining the attitude of a baseline vector between at least two of the multiple antennas by receiving radio signals transmitted from a plurality of position-fixing satellites with the multiple antennas, observing a single difference phase or a double difference phase, and calculating an integer ambiguity of the single difference phase or the double difference phase;
• and
• means for judging whether the integer ambiguity has been correctly determined based on whether the attitude falls in a preset range in which the attitude will fall under normal conditions.

A carrier phase-based relative positioning apparatus comprising:

• a plurality of antennas of which at least one is installed on a mobile unit;
• means for determining the attitude of the mobile unit from the relative positions of two of the multiple antennas by receiving radio signals transmitted from a plurality of position-fixing satellites with the multiple antennas, observing a single difference phase or a double difference phase, and calculating an integer ambiguity of the single difference phase or the double difference phase;
• and
• means for judging whether the integer ambiguity has been correctly determined by comparing said attitude with the attitude of the mobile unit measured by an attitude measuring device without using the radio signals from the position-fixing satellites and judging whether the difference between said two attitudes fall in a preset range in which the difference between both will fall under normal conditions.

A carrier phase-based relative positioning apparatus comprising:

• a plurality of antennas of which at least one is installed on a mobile unit;
• means for obtaining at least two baseline vectors from two pairs of the multiple antennas by receiving radio signals transmitted from a plurality of position-fixing satellites with the multiple antennas, observing a single phase difference or a double phase difference, and calculating an integer ambiguity of the single phase difference or the double phase difference;
• and
• means for judging whether the integer ambiguity has been correctly determined by calculating the cross product of the two baseline vectors and judging whether the cross product falls in a preset range in which the cross product will fall under normal conditions.

A carrier phase-based relative positioning apparatus comprising:

• a plurality of antennas of which at least one is installed on a mobile unit;
• means for obtaining at least two baseline vectors from two pairs of the multiple antennas by receiving radio signals transmitted from a plurality of position-fixing satellites with the multiple antennas, observing a single phase difference or a double phase difference, and calculating an integer ambiguity of the single phase difference or the double phase difference;
• means for calculating the cross product of the two baseline vectors;
• means for determining the attitude of the baseline vectors;
• and
• means for judging whether the integer ambiguity has been correctly determined based on whether the attitude of the baseline vectors and the cross product fall in preset ranges in which they will fall under normal conditions.

A carrier phase-based relative positioning apparatus comprising:

• a plurality of antennas installed on a body or on a moving body;
• means for determining the relative positions of the multiple antennas by receiving radio signals transmitted from a plurality of position-fixing satellites with the multiple antennas, observing a single phase difference or a double phase difference, and calculating an integer ambiguity of the single phase difference or the double phase difference;
• and
• means for judging whether the integer ambiguity has been correctly determined based on whether a parameter based on the relative positions of the antennas falls in a preset range in which the parameter will fall under normal conditions.

A carrier phase-based relative positioning apparatus comprising:

• three antennas installed on a body or on a moving body;
• means for determining the relative positions of said three antennas by receiving radio signals transmitted from a plurality of position-fixing satellites with said three antennas, observing a single phase difference or a double phase difference, and calculating an integer ambiguity of the single phase difference or the double phase difference;
• and
• means for judging whether the integer ambiguity has been correctly determined based on whether a parameter based on the relative positions of the antennas falls in a preset range in which the parameter will fall under normal conditions.

A carrier phase-based relative positioning apparatus comprising:

• two antennas installed on a mobile unit;
• means for determining the relative positions of said two antennas by receiving radio signals transmitted from a plurality of position-fixing satellites with said two antennas, observing a single difference phase or a double difference phase, and calculating an integer ambiguity of the single difference phase or the double difference phase;
• and
• means for judging whether the integer ambiguity has been correctly determined based on whether a parameter based on the relative positions of the antennas falls in a preset range in which the parameter will fall under normal conditions.