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    • 9. 发明授权
    • Mobile object positioning system
    • 移动对象定位系统
    • US5598166A
    • 1997-01-28
    • US626722
    • 1996-04-01
    • Seiji IshikawaYoshihisa SuwaTakeshi ItoTomio Yasuda
    • Seiji IshikawaYoshihisa SuwaTakeshi ItoTomio Yasuda
    • G01C21/00G01S1/00G01S19/14G01S19/49G08G1/0969H04B7/185G01S5/02
    • G01S19/49
    • A mobile object positioning system includes a GPS signal receiver for receiving positioning radio signals from a plurality of satellites, calculating a present location of a mobile object in accordance with the positioning radio signal and outputting present location data at each of a plurality of calculating times. An electronic controller is provided for updating the present location data at each calculating time, storing the present location data, estimating an error of the present location data in accordance with the positioning radio signals and outputting error data at each estimating time. A vehicle velocity sensor is disposed on the mobile object for detecting the velocity of the moving mobile object and outputting a mobile velocity signal. The electronic controller determines a stationary condition of the mobile object in accordance with the mobile velocity signal and prohibits updating the present location data when a stationary condition of the mobile object is determined and a value of the error data at a present estimating time is larger than that at a last previous estimating time.
    • 移动物体定位系统包括:GPS信号接收器,用于从多个卫星接收定位无线电信号,根据定位无线电信号计算移动物体的当前位置,并在多个计算时间中的每一个处输出当前位置数据。 提供电子控制器,用于在每个计算时间更新当前位置数据,存储当前位置数据,根据定位无线电信号估计当前位置数据的错误,并在每个估计时间输出错误数据。 车辆速度传感器设置在移动物体上,用于检测移动移动物体的速度并输出移动速度信号。 电子控制器根据移动速度信号确定移动对象的静止状态,并且当确定移动对象的静止状态并且当前估计时间的误差数据的值大于当前位置数据时,禁止更新当前位置数据 在最后的估计时间。
    • 10. 发明授权
    • Positioning system utilizing GPS satellites
    • GPS卫星定位系统
    • US5931890A
    • 1999-08-03
    • US808955
    • 1997-02-19
    • Yoshihisa SuwaSeiji IshikawaTomohiro YamamotoTakeshi ItoTomio Yasuda
    • Yoshihisa SuwaSeiji IshikawaTomohiro YamamotoTakeshi ItoTomio Yasuda
    • G01C21/00G01S1/00G01S19/22G01S19/28G01S19/49G06F165/00
    • G01S19/42G01S19/22G01S19/28
    • A positioning system is disclosed in which a rate of change .DELTA..DELTA.f in a Doppler shift .DELTA.f of the radio wave transmitted from a GPS satellite is detected in order to determine whether or not an extraordinary radio wave as caused by a multi-path or the like is being received, and a GPS satellite from which an extraordinary radio wave is received is excluded from a group of GPS satellites which are utilized in a positioning calculation. A difference .DELTA.f between a signal frequency f0 transmitted from a GPS satellite and a signal frequency fR receiver is calculated, and a rate of change .DELTA..DELTA.f in the difference .DELTA.f is also calculated. The position of a receiver is calculated on the basis of information transmitted from a plurality of GPS satellites for which the rate of change .DELTA..DELTA.f is equal to or less than a first threshold value, or .DELTA..DELTA.f.ltoreq.30 Hz/s, and the azimuth of a traveling direction of the receiver is calculated on the basis of information transmitted from a plurality of GPS satellites for which the rate of change .DELTA..DELTA.f is equal to or less than a second smaller threshold value or .DELTA..DELTA.f.ltoreq.15 Hz/s.
    • 公开了一种定位系统,其中检测到从GPS卫星发射的无线电波的多普勒频移DELTA f中的变化率DELTA DELTA f,以便确定由多路径引起的非凡无线电波 正在接收,并且从定位计算中使用的一组GPS卫星中排除从其接收非正常无线电波的GPS卫星。 计算从GPS卫星发送的信号频率f0和信号频率fR接收机之间的差ΔTA,并且还计算差ΔTATA中的变化率DELTA DELTA f。 基于从变化率DELTA DELTA f等于或小于第一阈值或DELTA DELTA f 30Hz / s的多个GPS卫星发送的信息来计算接收机的位置 并且基于从其变化率DELTA DELTA f等于或小于第二较小阈值或DELTA DELTA f'的多个GPS卫星发送的信息来计算接收机的行进方向的方位角, / = 15Hz / s。