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1. 发明申请

WO2007143806A2 VEHICULAR NAVIGATION AND POSITIONING SYSTEM 审中-公开
标题翻译：车辆导航和定位系统
公开(公告)号：WO2007143806A2
公开(公告)日：2007-12-21
申请号：PCT/CA2006/001000
申请日：2006-06-15
申请人： UTI LIMITED PARTNERSHIP , TOYOTA JIDOSHA KABUSHIKI KAISHA , GAO, Jianchen , CANNON, Elizabeth , PETOVELLO, Mark , NAGAMIYA, Kiyomi , MAEDA, Iwao , KAGAWA, Kazunori
发明人： GAO, Jianchen , CANNON, Elizabeth , PETOVELLO, Mark , NAGAMIYA, Kiyomi , MAEDA, Iwao , KAGAWA, Kazunori
IPC分类号： G01S19/39 , B60W40/10 , G01S5/14 , G01S19/38 , G01S19/47
CPC分类号： G01S5/0027 , B60W2050/0013 , B60W2050/0033 , G01S19/38
摘要： A vehicular navigation and positioning method and system includes a GNSS receiver, an inertial navigation system and on-board vehicular sensors. Available data is integrated by a Kalman filter and vehicle position, velocity and attitude is updated as a result.
摘要翻译：车辆导航定位方法和系统包括GNSS接收机，惯性导航系统和车载车辆传感器。可用数据由卡尔曼滤波器和车辆位置集成，因此更新速度和姿态。

2. 发明申请

WO2007057771A2 MOBILE OBJECT POSITION ESTIMATION APPARATUS AND METHOD 审中-公开
标题翻译：移动对象位置估计装置和方法
公开(公告)号：WO2007057771A2
公开(公告)日：2007-05-24
申请号：PCT/IB2006/003309
申请日：2006-11-17
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , ONOME, Hirohisa , KAGAWA, Kazunori , TAJIMA, Yasuhiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , UEDA, Akihiro
发明人： ONOME, Hirohisa , KAGAWA, Kazunori , TAJIMA, Yasuhiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , UEDA, Akihiro
CPC分类号： G01C21/28
摘要： A mobile object position estimation apparatus (200) mounted in a mobile object has a first estimation means for estimating the mobile object position based on the outputs from an inertial navigation sensor devices (acceleration sensors, and yaw rate sensors or the like) (203) mounted on the mobile object, a storage means (204) for storing map information including at least node information, a second estimation means 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 means for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation means and the mobile object position estimated by the second estimation means.
摘要翻译：安装在移动物体中的移动物体位置估计装置（200）具有第一估计装置，用于基于来自惯性导航传感器装置（加速度传感器和横摆率传感器等）的输出来估计移动物体位置（203）安装在移动物体上的存储装置（204），用于存储至少包括节点信息的地图信息;第二估计装置，用于基于从节点信息预测的移动对象的预测行进路径估计移动对象位置;以及合成装置，用于通过合成由第一估计装置估计的移动对象位置和由第二估计装置估计的移动对象位置来确定最终估计移动对象位置。

3. 发明申请

WO2008108194A2 MOBILE-UNIT POSITIONING DEVICE 审中-公开
标题翻译：移动单元定位设备
公开(公告)号：WO2008108194A2
公开(公告)日：2008-09-12
申请号：PCT/JP2008/053134
申请日：2008-02-19
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , UEDA, Akihiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , TAJIMA, Yasuhiro , HASEGAWA, Naoto
发明人： UEDA, Akihiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , TAJIMA, Yasuhiro , HASEGAWA, Naoto
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察值来测量卫星和移动单元之间的伪距离。基于在移动单元的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

EP1949032B1 MOBILE OBJECT POSITION ESTIMATION APPARATUS AND METHOD 有权转让
标题翻译：移动对象位置估计设备和方法
公开(公告)号：EP1949032B1
公开(公告)日：2014-05-07
申请号：EP06820949.3
申请日：2006-11-17
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： ONOME, Hirohisa , KAGAWA, Kazunori , TAJIMA, Yasuhiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , UEDA, Akihiro
IPC分类号： G01C21/28
CPC分类号： G01C21/28

5. 发明公开

EP1949032A2 MOBILE OBJECT POSITION ESTIMATION APPARATUS AND METHOD 有权转让
标题翻译：移动对象位置估计设备和方法
公开(公告)号：EP1949032A2
公开(公告)日：2008-07-30
申请号：EP06820949.3
申请日：2006-11-17
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： ONOME, Hirohisa , KAGAWA, Kazunori , TAJIMA, Yasuhiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , UEDA, Akihiro
IPC分类号： G01C21/30
CPC分类号： G01C21/28
摘要： A mobile object position estimation apparatus (200) mounted in a mobile object has a first estimation means for estimating the mobile object position based on the outputs from an inertial navigation sensor devices (acceleration sensors, and yaw rate sensors or the like) (203) mounted on the mobile object, a storage means (204) for storing map information including at least node information, a second estimation means 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 means for determining the final estimated mobile object position by synthesizing the mobile object position estimated by the first estimation means and the mobile object position estimated by the second estimation means.

6. 发明公开

EP2034270A1 POSTURE ANGLE DETECTING DEVICE AND POSTURE ANGLE DETECTING METHOD 有权
标题翻译： LAGEWINKELERFASSUNGSVORRICHTUNG UND LAGEWINKELERFASSUNGSVERFAHREN
公开(公告)号：EP2034270A1
公开(公告)日：2009-03-11
申请号：EP07767513.0
申请日：2007-06-25
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： UEDA, Akihiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , SHIBATA, Naoto
IPC分类号： G01C9/08 , B60R16/02 , B60W30/00 , B60W40/10 , G01C19/00
CPC分类号： G01C9/08 , B60W40/105 , B60W40/107 , B60W40/109 , B60W40/11 , B60W40/112 , B60W40/114 , B60W40/12 , G01P15/18
摘要： To provide an attitude-angle detecting apparatus, which detects an attitude angle of a mobile object during movement with good accuracy by correcting an output value from an acceleration sensor, and to provide a method for the same.
It is characterized in that it comprises an acceleration sensor 2 for measuring an acceleration being applied to a mobile object 7, a yaw-rate sensor 3 for measuring a yaw rate of the mobile object 7, a speed sensor 4 for measuring a speed of the mobile object 7, a mobile-component acceleration calculating means 5 for calculating an actual acceleration from the speed, calculating a centrifugal force from the yaw rate and the speed and calculating a mobile-component acceleration, a resultant force of the actual speed and the centrifugal force, and an attitude-angle calculating means 6 for calculating an attitude angle from a gravitational acceleration, which is obtainable by correcting the acceleration with the mobile-component acceleration.
摘要翻译：为了提供一种姿态角检测装置，其通过从加速度传感器校正输出值，以高精度检测移动体的姿态角度，并提供其方法。其特征在于，它包括用于测量施加到移动体7的加速度的加速度传感器2，用于测量移动体7的横摆角速度的偏航率传感器3，用于测量移动体7的速度的速度传感器4 移动体7，用于从速度计算实际加速度的运动部件加速度计算装置5，从偏航率和速度计算离心力并计算移动部件加速度，实际速度和离心力的合力以及用于根据重力加速度计算姿态角度的姿态角计算装置6，其可通过利用移动部件加速度校正加速度而获得。

7. 发明授权

EP1988408B1 POSITIONING SYSTEM, POSITIONING METHOD AND CAR NAVIGATION SYSTEM 失效转让
标题翻译：定位系统，定位方法和车辆导航系统
公开(公告)号：EP1988408B1
公开(公告)日：2017-06-21
申请号：EP07714276.8
申请日：2007-02-15
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： UEDA, Akihiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , TAJIMA, Yasuhiro
IPC分类号： G01S5/14 , G01C21/00 , G01C21/28 , G01S19/49
CPC分类号： G01C21/28 , G01S19/49

8. 发明公开

EP2067054A2 MOBILE-UNIT POSITIONING DEVICE 有权转让
标题翻译：设备定位的移动单元
公开(公告)号：EP2067054A2
公开(公告)日：2009-06-10
申请号：EP08711897.2
申请日：2008-02-19
申请人： Toyota Jidosha Kabushiki Kaisha
发明人： UEDA, Akihiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , TAJIMA, Yasuhiro , HASEGAWA, Naoto
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.

9. 发明授权

EP2067054B1 MOBILE-UNIT POSITIONING DEVICE 有权转让
公开(公告)号：EP2067054B1
公开(公告)日：2019-11-06
申请号：EP08711897.2
申请日：2008-02-19
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： UEDA, Akihiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , TAJIMA, Yasuhiro , HASEGAWA, Naoto
IPC分类号： G01S5/14

10. 发明授权

EP2034270B1 ATTITUDE ANGLE DETECTING DEVICE AND ATTITUDE ANGLE DETECTING METHOD 有权
标题翻译：定位角度检测装置及定位角度检测方法
公开(公告)号：EP2034270B1
公开(公告)日：2014-03-19
申请号：EP07767513.0
申请日：2007-06-25
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： UEDA, Akihiro , MAEDA, Iwao , NAGAMIYA, Kiyomi , SHIBATA, Naoto
IPC分类号： G01C9/08 , B60R16/02 , B60W30/00 , B60W40/10 , G01P15/18 , G01C19/00 , B60W40/12 , B60W40/109 , B60W40/107 , B60W40/112 , B60W40/114 , B60W40/105 , B60W40/11
CPC分类号： G01C9/08 , B60W40/105 , B60W40/107 , B60W40/109 , B60W40/11 , B60W40/112 , B60W40/114 , B60W40/12 , G01P15/18

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