# US 8,570,214 B2 · Position calculating method and position calculating device

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- Number: US 8,570,214 B2
- Document ID: US8570214B2
- Status: Granted
- Kind: B2
- Application number: 13/115,929
- Filed: 2011-05-25
- Published: 2011-12-01
- Granted: 2013-10-29
- Earliest claimed: 2010-05-27
- Assignees: Seiko Epson Corporation
- Applicants: Tsubasa Shirai
- Inventors: Tsubasa Shirai
- Web page: https://patentgrep.com/patent/US8570214B2

## CPC

- G01S 19/22: Multipath-related issues
- 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

## Abstract

There is provided a position calculating method including: calculating a pseudorange by receiving a satellite signal from a positioning satellite; and calculating a position using a normal mixture distribution model which expresses distribution of an error included in the pseudorange with normal mixture distribution.

## Claims

### Claim 1

A position calculating method comprising:
calculating a pseudorange by receiving a satellite signal from a positioning satellite; and
calculating a position using a normal mixture distribution model which expresses distribution of an error included in the pseudorange with normal mixture distribution,
wherein the normal mixture distribution model is defined as a probability density function having the error as a variable, and
wherein the calculating of the position is to repeat calculating an error included in the pseudorange using an assumed position of the position, calculating a probability corresponding to the error using the normal mixture distribution model, and updating the assumed position using the probability.

### Claim 2 (depends on 1)

The position calculating method according to claim 1,
wherein the normal mixture distribution model is a model obtained by mixing at least a first normal distribution model and a second normal distribution model with a smaller peak value than that of the first normal distribution model.

### Claim 3 (depends on 1)

The position calculating method according to claim 1,
wherein the normal mixture distribution model is a model obtained by mixing at least a first normal distribution model and a second normal distribution model with a larger standard deviation than that of the first normal distribution model.

### Claim 4 (depends on 1)

The position calculating method according to claim 1,
wherein the normal mixture distribution model is a model obtained by mixing at least a first normal distribution model and a second normal distribution model with a larger expected value of an error than that of the first normal distribution model.

### Claim 5 (depends on 1)

The position calculating method according to claim 1,
wherein the normal mixture distribution model is a model obtained by mixing at least a first normal distribution model, which indicates distribution of an error included in the pseudorange when a direct wave of the satellite signal is received, and a second normal distribution model, which indicates distribution of an error included in the pseudorange when an indirect wave of the satellite signal is received.

### Claim 6

A position calculating device comprising:
a pseudorange calculating section which calculates a pseudorange by receiving a satellite signal from a positioning satellite; and
a position calculating section which calculates a position using a normal mixture distribution model which expresses distribution of an error included in the pseudorange with normal mixture distribution,
wherein the normal mixture distribution model is defined as a probability density function having the error as a variable, and
wherein the position calculating section calculates the position by repeating calculating an error included in the pseudorange using an assumed position of the position, calculating a probability corresponding to the error using the normal mixture distribution model, and updating the assumed position using the probability.