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1. 发明授权

US08145419B2 Mobile object position estimation apparatus and method 有权
标题翻译：移动物体位置估计装置及方法
公开(公告)号：US08145419B2
公开(公告)日：2012-03-27
申请号：US12092088
申请日：2006-11-17
申请人： Hirohisa Onome , Kazunori Kagawa , Yasuhiro Tajima , Iwao Maeda , Kiyomi Nagamiya , Akihiro Ueda
发明人： Hirohisa Onome , Kazunori Kagawa , Yasuhiro Tajima , Iwao Maeda , Kiyomi Nagamiya , Akihiro Ueda
IPC分类号： G01C21/00
CPC分类号： G01C21/28
摘要： A mobile object position estimation apparatus mounted in a mobile object includes a first estimation mechanism for estimating the mobile object position based on the outputs from an inertial navigation sensor device (acceleration sensor, and yaw rate sensor, or the like) mounted on the mobile object, a storage for storing map information including at least node information, a second estimation mechanism for estimating the mobile object position based on a predicted path of traveling of the mobile object predicted from the node information, and a synthesis mechanism for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation mechanism and the mobile object position estimated by the second estimation mechanism.
摘要翻译：安装在移动物体中的移动物体位置估计装置包括：第一估计机构，用于基于来自安装在移动物体上的惯性导航传感器装置（加速度传感器和偏航率传感器等）的输出来估计移动物体位置，用于存储至少包括节点信息的地图信息的存储器，用于基于从节点信息预测的移动对象的预测行进路径来估计移动对象位置的第二估计机构，以及用于确定最终估计移动站通过合成由第一估计机构估计的移动对象位置和由第二估计机构估计的移动对象位置的对象位置。

2. 发明申请

US20100169006A1 POSITIONING SYSTEM, POSITIONING METHOD AND CAR NAVIGATION SYSTEM 有权
标题翻译：定位系统，定位方法和车辆导航系统
公开(公告)号：US20100169006A1
公开(公告)日：2010-07-01
申请号：US12089645
申请日：2007-02-15
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima
IPC分类号： G01C21/16 , G01S19/47 , G01C21/26
CPC分类号： G01C21/28 , G01S19/49
摘要： A positioning system 10 includes a positioning unit 15 configured to perform position estimation based on radio signals from artificial satellites and an autonomous navigation unit 14 configured to perform position estimation by autonomous navigation. In the positioning system 10, the positioning unit 15 and the autonomous navigation unit 14 estimate the position of a mobile body in cooperation with each other; and when the number of the artificial satellites available is less than three, the positioning unit determines a point in an area calculated based on the radio signals which point is closest to an inertial-navigation-based position calculated by autonomous navigation, and uses the determined point as a satellite-based position estimated based on the radio signals.
摘要翻译：定位系统10包括：基于来自人造卫星的无线电信号执行位置估计的定位单元15，以及被配置为通过自主导航执行位置估计的自主导航单元14。在定位系统10中，定位单元15和自主导航单元14相互协调地估计移动体的位置; 并且当可用的人造卫星的数量小于3时，定位单元确定基于通过自主导航计算的最接近基于惯性导航的位置的无线电信号计算的区域中的点，并且使用确定的作为基于无线电信号估计的基于卫星的位置。

3. 发明申请

US20100026566A1 MOBILE-UNIT POSITIONING DEVICE 有权
标题翻译：移动单元定位设备
公开(公告)号：US20100026566A1
公开(公告)日：2010-02-04
申请号：US12444161
申请日：2008-02-19
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima , Naoto Hasegawa
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima , Naoto Hasegawa
IPC分类号： G01S5/14
CPC分类号： G01S19/42 , G01S19/48 , G01S19/52
摘要： In a mobile-unit positioning device, phases of pseudo noise codes carried on satellite signals from satellites are observed at a mobile unit to measure a position of the mobile unit. A pseudo distance between one of the satellites and the mobile unit is measured for every satellite during a stop of the mobile unit using an observed value of the phase acquired during a stop of the mobile unit. An error index value indicating an error of the measured distance is computed based on the distances measured at points in time during a stop of the mobile unit. A weighting factor is determined based on the index value computed for every satellite. A weighted positioning computation using the determined weighting factor is performed to determine a position of the mobile unit during movement using an observed value of the phase acquired during movement.
摘要翻译：在移动单元定位设备中，在移动单元处观察到来自卫星的卫星信号携带的伪噪声码的相位，以测量移动单元的位置。在移动单元的停止期间，使用在移动单元的停止期间获取的相位的观测值，测量卫星和移动单元之间的伪距离。基于在移动单元停止期间的时间点测量的距离来计算指示测量距离的误差的误差指数值。基于为每个卫星计算的指标值确定加权因子。执行使用确定的加权因子的加权定位计算，以使用在运动期间获取的相位的观测值来确定移动单元在移动期间的位置。

4. 发明授权

US07978127B2 Mobile unit positioning device 有权
标题翻译：移动单元定位装置
公开(公告)号：US07978127B2
公开(公告)日：2011-07-12
申请号：US12444161
申请日：2008-02-19
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima , Naoto Hasegawa
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima , Naoto Hasegawa
IPC分类号： G01S19/40
CPC分类号： G01S19/42 , G01S19/48 , G01S19/52
摘要： In a mobile-unit positioning device, phases of pseudo noise codes carried on satellite signals from satellites are observed at a mobile unit to measure a position of the mobile unit. A pseudo distance between one of the satellites and the mobile unit is measured for every satellite during a stop of the mobile unit using an observed value of the phase acquired during a stop of the mobile unit. An error index value indicating an error of the measured distance is computed based on the distances measured at points in time during a stop of the mobile unit. A weighting factor is determined based on the index value computed for every satellite. A weighted positioning computation using the determined weighting factor is performed to determine a position of the mobile unit during movement using an observed value of the phase acquired during movement.
摘要翻译：在移动单元定位设备中，在移动单元处观察到来自卫星的卫星信号携带的伪噪声码的相位，以测量移动单元的位置。在移动单元的停止期间，使用在移动单元的停止期间获取的相位的观测值来测量卫星和移动单元之间的伪距离。基于在移动单元停止期间的时间点测量的距离来计算指示测量距离的误差的误差指数值。基于为每个卫星计算的指标值确定加权因子。执行使用确定的加权因子的加权定位计算，以使用在运动期间获取的相位的观测值来确定移动单元在移动期间的位置。

5. 发明申请

US20080262730A1 Mobile Object Position Estimation Apparatus and Method 有权
标题翻译：移动对象位置估计装置及方法
公开(公告)号：US20080262730A1
公开(公告)日：2008-10-23
申请号：US12092088
申请日：2006-11-17
申请人： Hirohisa Onome , Kazunori Kagawa , Yasuhiro Tajima , Iwao Maeda , Kiyomi Nagamiya , Akihiro Ueda
发明人： Hirohisa Onome , Kazunori Kagawa , Yasuhiro Tajima , Iwao Maeda , Kiyomi Nagamiya , Akihiro Ueda
IPC分类号： G01C21/16
CPC分类号： G01C21/28
摘要： A mobile object position estimation apparatus mounted in a mobile object includes a first estimation mechanism for estimating the mobile object position based on the outputs from an inertial navigation sensor device (acceleration sensor, and yaw rate sensor, or the like) mounted on the mobile object, a storage for storing map information including at least node information, a second estimation mechanism for estimating the mobile object position based on a predicted path of traveling of the mobile object predicted from the node information, and a synthesis mechanism for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation mechanism and the mobile object position estimated by the second estimation mechanism.
摘要翻译：安装在移动物体中的移动物体位置估计装置包括：第一估计机构，用于基于来自安装在移动物体上的惯性导航传感器装置（加速度传感器和偏航率传感器等）的输出来估计移动物体位置，用于存储至少包括节点信息的地图信息的存储器，用于基于从节点信息预测的移动对象的预测行进路径来估计移动对象位置的第二估计机构，以及用于确定最终估计移动站通过合成由第一估计机构估计的移动对象位置和由第二估计机构估计的移动对象位置的对象位置。

6. 发明授权

US07869950B2 Positioning system, positioning method and car navigation system 有权
标题翻译：定位系统，定位方法和汽车导航系统
公开(公告)号：US07869950B2
公开(公告)日：2011-01-11
申请号：US12089645
申请日：2007-02-15
申请人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima
发明人： Akihiro Ueda , Iwao Maeda , Kiyomi Nagamiya , Yasuhiro Tajima
IPC分类号： G01C21/00
CPC分类号： G01C21/28 , G01S19/49
摘要： A positioning system 10 includes a positioning unit 15 configured to perform position estimation based on radio signals from artificial satellites and an autonomous navigation unit 14 configured to perform position estimation by autonomous navigation. In the positioning system 10, the positioning unit 15 and the autonomous navigation unit 14 estimate the position of a mobile body in cooperation with each other; and when the number of the artificial satellites available is less than three, the positioning unit determines a point in an area calculated based on the radio signals which point is closest to an inertial-navigation-based position calculated by autonomous navigation, and uses the determined point as a satellite-based position estimated based on the radio signals.
摘要翻译：定位系统10包括：基于来自人造卫星的无线电信号执行位置估计的定位单元15，以及被配置为通过自主导航执行位置估计的自主导航单元14。在定位系统10中，定位单元15和自主导航单元14相互协调地估计移动体的位置; 并且当可用的人造卫星的数量小于3时，定位单元确定基于通过自主导航计算的最接近基于惯性导航的位置的无线电信号计算的区域中的点，并且使用确定的作为基于无线电信号估计的基于卫星的位置。

7. 发明授权

US08035554B2 Device for measuring a position of a mobile station 有权
标题翻译：用于测量移动台的位置的装置
公开(公告)号：US08035554B2
公开(公告)日：2011-10-11
申请号：US12515540
申请日：2007-11-13
申请人： Yasuhiro Tajima , Naoto Hasegawa , Akihiro Ueda , Kiyomi Nagamiya , Mitsuru Nakamura , Naoto Shibata
发明人： Yasuhiro Tajima , Naoto Hasegawa , Akihiro Ueda , Kiyomi Nagamiya , Mitsuru Nakamura , Naoto Shibata
IPC分类号： G01S19/48 , H04B17/00
CPC分类号： G01S19/49 , G01S19/44 , G01S19/48
摘要： A device for measuring a position of a mobile station according to the present invention comprises: first measuring means for measuring the position of the mobile station based on observed data of signals from satellites using a one-epoch measuring method; second measuring means for measuring the position of the mobile station using previous determination result of the position of the mobile station and speed information representative of a speed of the mobile station; third measuring means for measuring the position of the mobile station using solutions of variables derived from previous determination results of the first or second measuring means; and controlling means 60 for selecting one of the respective measuring means which is to execute its measuring process; wherein if reliability of the determination result of the selected measuring means is lower than a predetermined reference value, the controlling means selects another measuring means to make it execute its measuring process.
摘要翻译：根据本发明的用于测量移动台的位置的装置包括：第一测量装置，用于使用一时刻测量方法基于来自卫星的信号的观测数据来测量移动台的位置; 第二测量装置，用于使用移动台的位置的先前确定结果和表示移动台的速度的速度信息来测量移动台的位置; 第三测量装置，用于使用从第一或第二测量装置的先前确定结果导出的变量的解决方案来测量移动台的位置; 以及控制装置60，用于选择要执行其测量处理的相应测量装置中的一个; 其中如果所选择的测量装置的确定结果的可靠性低于预定的参考值，则控制装置选择另一个测量装置来执行其测量过程。

8. 发明申请

US20100048140A1 DEVICE FOR MEASURING A POSITION OF A MOBILE STATION 有权
标题翻译：用于测量移动站位置的装置
公开(公告)号：US20100048140A1
公开(公告)日：2010-02-25
申请号：US12515540
申请日：2007-11-13
申请人： Yasuhiro Tajima , Naoto Hasegawa , Akihiro Ueda , Kiyomi Nagamiya , Mitsuru Nakamura , Naoto Shibata
发明人： Yasuhiro Tajima , Naoto Hasegawa , Akihiro Ueda , Kiyomi Nagamiya , Mitsuru Nakamura , Naoto Shibata
IPC分类号： H04B17/00
CPC分类号： G01S19/49 , G01S19/44 , G01S19/48
摘要： A device for measuring a position of a mobile station according to the present invention comprises: first measuring means for measuring the position of the mobile station based on observed data of signals from satellites using a one-epoch measuring method; second measuring means for measuring the position of the mobile station using previous determination result of the position of the mobile station and speed information representative of a speed of the mobile station; third measuring means for measuring the position of the mobile station using solutions of variables derived from previous determination results of the first or second measuring means; and controlling means 60 for selecting one of the respective measuring means which is to execute its measuring process; wherein if reliability of the determination result of the selected measuring means is lower than a predetermined reference value, the controlling means selects another measuring means to make it execute its measuring process.
摘要翻译：根据本发明的用于测量移动台的位置的装置包括：第一测量装置，用于使用一时刻测量方法基于来自卫星的信号的观测数据来测量移动台的位置; 第二测量装置，用于使用移动台的位置的先前确定结果和表示移动台的速度的速度信息来测量移动台的位置; 第三测量装置，用于使用从第一或第二测量装置的先前确定结果导出的变量的解决方案来测量移动台的位置; 以及控制装置60，用于选择要执行其测量处理的相应测量装置中的一个; 其中如果所选择的测量装置的确定结果的可靠性低于预定的参考值，则控制装置选择另一个测量装置来执行其测量过程。

9. 发明申请

US20140159886A1 DRIVING ASSIST DEVICE FOR VEHICLE 审中-公开
标题翻译：车辆驾驶辅助装置
公开(公告)号：US20140159886A1
公开(公告)日：2014-06-12
申请号：US14130753
申请日：2011-07-04
申请人： Naoto Hasegawa , Shoichi Shono , Yoshikazu Motozono , Masao Omura , Akihiro Ueda , Yasuhiro Tajima , Tomohiro Usami , Mitsuhiro Miura
发明人： Naoto Hasegawa , Shoichi Shono , Yoshikazu Motozono , Masao Omura , Akihiro Ueda , Yasuhiro Tajima , Tomohiro Usami , Mitsuhiro Miura
IPC分类号： G08G1/16
CPC分类号： G08G1/167 , B60K35/00 , B60K2370/1529 , B60K2370/16 , B60K2370/161 , B60K2370/165 , B60K2370/177 , B60K2370/785 , B60W50/14 , B60W2050/146 , B60W2530/14 , B60W2540/28
摘要： A vehicle operator assisting apparatus is configured to assist an operator of an own vehicle by displaying an image of a virtual preceding vehicle visually recognizable by the operator as if the virtual preceding vehicle was running in front of said own vehicle in a running state. The assisting apparatus comprises: a history data base storing a driving history of said operator; a virtual preceding vehicle control portion determining a running state of said virtual proceeding vehicle based on said driving history generating portion generating a relationship between a distance between said own vehicle and an actual preceding vehicle, and a running speed of said own vehicle, and storing the relationship in said history database. Said virtual preceding vehicle control portion includes a driving characteristics extracting portion determining a distance between said own vehicle and said virtual preceding vehicle based on said relationship.
摘要翻译：车辆操作者辅助装置被配置为通过显示操作者可视地识别的虚拟前方车辆的图像来帮助自己的车辆的操作者，就像虚拟前方车辆在行驶状态下在所述本车辆前方行驶一样。辅助装置包括：历史数据库，存储所述操作者的驾驶历史; 基于所述驾驶历史生成部分确定所述虚拟行进车辆的行驶状态的虚拟前方车辆控制部分，其产生所述本车与实际行驶车辆之间的距离与所述本车辆的行驶速度之间的关系，历史数据库中的关系。所述虚拟前方车辆控制部分包括基于所述关系确定所述本车和所述虚拟前车之间的距离的驾驶特征提取部。

10. 发明授权

US08423289B2 Inter-moving body interferometric positioning system, device and method thereof 有权
标题翻译：移动体干涉定位系统，装置及其方法
公开(公告)号：US08423289B2
公开(公告)日：2013-04-16
申请号：US12989319
申请日：2009-04-23
申请人： Kazunori Kagawa , Masafumi Uchihara , Yasuhiro Tajima
发明人： Kazunori Kagawa , Masafumi Uchihara , Yasuhiro Tajima
IPC分类号： G01S5/14 , G01C21/00
CPC分类号： G01S5/0072 , G01S19/44 , G01S19/51
摘要： An inter-moving body interferometric positioning system for carrying out positioning in coordination with three or more moving bodies that can mutually communicate, including: a reference vehicle decision unit for deciding on a single moving body to function as a reference vehicle from among three or more moving bodies, and a positioning unit for interferometrically determining respective relative positions of other moving bodies relative to the reference moving body that is to function as a reference vehicle decided on by the reference moving body decision unit using satellite wave monitoring data monitored in each of the three or more moving bodies. This inter-moving body interferometric positioning system specifies relative positions among the other moving bodies using positioning results of the positioning unit.
摘要翻译：一种移动体干涉定位系统，用于与可相互通信的三个或更多个移动体协调地执行定位，包括：参考车辆决定单元，用于从三个或更多个中选择用作参考车辆的单个移动体移动体和定位单元，用于干涉地确定其他移动体相对于参考移动体的各自的相对位置，该基准运动体将用作参考运动物体决定单元所决定的参考车辆，其中，所述参考移动体使用在每个三个或更多的移动体。该移动体间干涉定位系统使用定位单元的定位结果来指定其他移动体中的相对位置。

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