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1. 发明专利

JP2013108865A Inertial navigation operation method and inertia navigation operation device 有权
标题翻译：惯性导航操作方法和惯性导航操作装置
公开(公告)号：JP2013108865A
公开(公告)日：2013-06-06
申请号：JP2011254702
申请日：2011-11-22
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： CHO IMEI , UCHIDA CHIKASHI
IPC分类号： G01C21/12
摘要： PROBLEM TO BE SOLVED: To provide a new method of inertial navigation operation which considers moving situations of a user.SOLUTION: Moving situations of a user are determined by a moving situation determination part 20. By a parameter value setting part 40, value of a parameter related to prescribed error estimation processing for estimating errors included in operation value related to the inertial navigation operation performed by an INS 10 is set based on the determination result of the moving situations. An error estimation processing part 50 performs error estimation processing by using set parameter value, and the INS 10 corrects the operation value by using the error estimated by the error estimation processing, and performs the inertial navigation operation.
摘要翻译：要解决的问题：提供一种考虑用户移动情况的惯性导航操作的新方法。解决方案：用户的移动情况由移动状况确定部分20确定。通过参数值设置部分40，与用于估计包括在与惯性导航相关的操作值中的误差的规定误差估计处理的参数值基于移动情况的判断结果来设定由INS 10进行的动作。误差估计处理部分50通过使用设定参数值进行误差估计处理，并且INS 10通过使用由误差估计处理估计出的误差来校正操作值，并执行惯性导航操作。版权所有（C）2013，JPO＆INPIT

2. 发明专利

JP2012173190A Positioning system and positioning method 审中-公开
标题翻译：定位系统和定位方法
公开(公告)号：JP2012173190A
公开(公告)日：2012-09-10
申请号：JP2011036806
申请日：2011-02-23
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： CHO IMEI
IPC分类号： G01C21/12 , G01C21/00 , G01C21/28 , G01S19/47
摘要： PROBLEM TO BE SOLVED: To provide a positioning method with high precision such that inertia sensor data and GPS positioning data are merged together.SOLUTION: The positioning method of positioning a moving body by merging the inertia sensor data and GPS positioning data together includes the processes: performing time update of an extended Kalman filter using a multiplication type quaternion error model based upon the inertia sensor data; performing observation update of the extended Kalman filter based upon the GPS positioning data, and estimating a position error, a speed error, and an azimuth error, and a gyro bias error and an acceleration bias error; and correcting errors in position, speed, and attitude based upon the estimated position error, speed error, azimuth error, gyro bias error, and acceleration bias error.
摘要翻译：要解决的问题：提供高精度的定位方法，使得惯性传感器数据和GPS定位数据被合并在一起。解决方案：通过将惯性传感器数据和GPS定位数据合并来定位移动体的定位方法包括以下处理：使用基于惯性传感器数据的乘法类型四元数误差模型来执行扩展卡尔曼滤波器的时间更新; 基于GPS定位数据执行扩展卡尔曼滤波器的观察更新，以及估计位置误差，速度误差和方位角误差以及陀螺仪偏差误差和加速度偏差误差; 并基于估计的位置误差，速度误差，方位角误差，陀螺仪偏差误差和加速度偏差误差来校正位置，速度和姿态误差。版权所有（C）2012，JPO＆INPIT

3. 发明专利

JP2011174912A Method and device for signal acquisition 审中-公开
标题翻译：用于信号获取的方法和装置
公开(公告)号：JP2011174912A
公开(公告)日：2011-09-08
申请号：JP2010235737
申请日：2010-10-20
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： MIZUOCHI SHUNICHI , CHO IMEI
IPC分类号： G01S19/24 , G01S19/27
摘要： PROBLEM TO BE SOLVED: To propose a new method for enabling correlation processing over a correlation accumulation time longer than a bit length of navigation message data.
SOLUTION: A correlation operation is performed for a received signal obtained by receiving a GPS satellite signal sent from a GPS satellite. Then, a frequency analysis using Fourier transform is performed for the results of the correlation operation over a prescribed accumulation time equal to or longer than the bit length (20 ms) of the navigation message data carried by the GPS satellite signal. A power value at a specific frequency (25 Hz) equivalent to 40 ms being a periodic time twice as long as the bit length of the navigation message data is added to the power value at frequency zero, and after the power value at the specific frequency is made "0", a correlation value is reconstructed by inverse Fourier transform. Then, the reconstructed correlation value is accumulated and the GPS satellite signal is acquired on the basis of the accumulated correlation value.
COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提出一种能够在比导航消息数据的位长度更长的相关累加时间进行相关处理的新方法。解决方案：对通过接收从GPS卫星发送的GPS卫星信号而获得的接收信号执行相关操作。然后，对于由GPS卫星信号携带的导航消息数据的位长（20ms）以上的规定的累积时间，对相关运算结果进行傅里叶变换的频率分析。相当于40ms的特定频率（25Hz）的功率值是作为导航消息数据的位长度的两倍的周期时间加到频率为零的功率值，并且在特定频率的功率值之后被制成“0”，通过反傅里叶变换重建相关值。然后，累积相关重构值，根据积累的相关值取得GPS卫星信号。版权所有（C）2011，JPO＆INPIT

4. 发明专利

JP2011174725A Method and device for signal acquisition 有权
标题翻译：用于信号获取的方法和装置
公开(公告)号：JP2011174725A
公开(公告)日：2011-09-08
申请号：JP2010037169
申请日：2010-02-23
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： MIZUOCHI SHUNICHI , CHO IMEI
IPC分类号： G01S19/24
CPC分类号： G01S19/30
摘要： PROBLEM TO BE SOLVED: To propose a new method for enabling correlation processing over a correlation accumulation time longer than a bit length of navigation message data. SOLUTION: A correlation operation is performed for a received signal obtained by receiving a GPS satellite signal sent from a GPS satellite. Then, a frequency analysis using Fourier transform is performed for the results of the correlation operation over a correlation accumulation time equal to or longer than the bit length (20 ms) of the navigation message data carried by the GPS satellite signal. A power value exceeding a prescribed threshold "θ" among those obtained by the frequency analysis is extracted and added to the power value at frequency zero, while the extracted power value is made "0". After a correlation value is reconstructed by inverse Fourier transform, the reconstructed correlation value is accumulated and the GPS satellite signal is acquired on the basis of the accumulated correlation value. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提出一种能够在比导航消息数据的位长度更长的相关累加时间进行相关处理的新方法。解决方案：对通过接收从GPS卫星发送的GPS卫星信号而获得的接收信号执行相关操作。然后，对于由GPS卫星信号携带的导航消息数据的位长（20ms）以上的相关累积时间，对相关运算结果进行傅里叶变换的频率分析。提取通过频率分析获得的超过规定阈值“θ”的功率值，并将提取的功率值设为“0”，并将其相加于频率为零的功率值。在通过逆傅立叶变换重建相关值之后，累积相关值，并根据积累的相关值获取GPS卫星信号。版权所有（C）2011，JPO＆INPIT

5. 发明专利

JP2009216484A Positioning method, program, and positioning device 有权
标题翻译：定位方法，程序和定位装置
公开(公告)号：JP2009216484A
公开(公告)日：2009-09-24
申请号：JP2008059088
申请日：2008-03-10
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： CHO IMEI , NOMURA KAZUO
IPC分类号： G01C21/00 , G01C21/28 , G01S5/14 , G01S19/49 , G08G1/0969
摘要： PROBLEM TO BE SOLVED: To reduce power consumption in a positioning device for performing positioning by a GPS and that by inertial navigation.
SOLUTION: A car navigation apparatus 1 determines whether an index value indicating the reception situation of GPS satellite signals satisfies first predetermined low-level conditions, turns on a sensor for inertial navigation when it is determined that the first predetermined low-level conditions are satisfied, and turns off the sensor when it is determined that the first predetermined low-level conditions are not satisfied. When it is determined that the first low-level conditions are satisfied, it is determined whether the index value satisfies the second low-level conditions that are lower than the first low-level conditions. When it is determined that the second low-level conditions are satisfied, an inertial navigation operation processing is performed and an inertial navigation operation position is determined to be an output position. When it is determined that the second low-level conditions are not satisfied, a GPS positioning position positioned by a GPS reception section 20 is determined to be an output position.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了减少用于通过GPS进行定位的定位装置中的功率消耗，以及通过惯性导航来降低功率消耗。解决方案：汽车导航装置1确定指示GPS卫星信号的接收情况的索引值是否满足第一预定低电平条件，当确定第一预定低电平条件时，导通用于惯性导航的传感器并且当确定不满足第一预定低电平条件时，关闭传感器。当确定满足第一低电平条件时，确定索引值是否满足低于第一低电平条件的第二低电平条件。当确定满足第二低电平条件时，执行惯性导航操作处理，并且将惯性导航操作位置确定为输出位置。当确定不满足第二低电平条件时，由GPS接收部分20定位的GPS定位位置被确定为输出位置。版权所有（C）2009，JPO＆INPIT

6. 发明专利

JP2008241291A Position detecting device and position detecting method 有权
标题翻译：位置检测装置和位置检测方法
公开(公告)号：JP2008241291A
公开(公告)日：2008-10-09
申请号：JP2007078415
申请日：2007-03-26
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： CHO IMEI
IPC分类号： G01C21/00 , G01S7/523 , G01S15/06 , G01S19/49 , G08G1/005
摘要： PROBLEM TO BE SOLVED: To provide a position detecting device capable of determining whether or not there exists an obstacle intercepting a position information signal transmitted from a position information satellite.
SOLUTION: This position detecting device has a first present position arithmetic operation means 3 arithmetically operating a present position by receiving the position information signal transmitted from the position information satellite, a second present position arithmetic operation means 4 arithmetically operating the present position by detecting a moving distance and a moving azimuth, obstacle detecting means 8 and 9 detecting the existence of the obstacle intercepting the position information signal and detecting the obstacle by a reflected wave, and a selecting means selecting the first present position arithmetic means when the obstacle is not detected by the obstacle detecting means and selecting the second present position arithmetic operation means when the obstacle is detected.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够确定是否存在拦截从位置信息卫星发送的位置信息信号的障碍物的位置检测装置。解决方案：该位置检测装置具有第一当前位置算术运算装置3，通过接收从位置信息卫星发送的位置信息信号来运算当前位置，第二当前位置算术运算装置4通过以下方式算术运算当前位置：检测移动距离和移动方位，障碍物检测装置8和9检测障碍物是否存在阻挡位置信息信号并用反射波检测障碍物;以及选择装置，当障碍物为未被障碍物检测装置检测到，并且当检测到障碍物时选择第二当前位置算术运算装置。版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2007248271A Positioning device and positioning method 有权
标题翻译：定位装置和定位方法
公开(公告)号：JP2007248271A
公开(公告)日：2007-09-27
申请号：JP2006072299
申请日：2006-03-16
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： CHO IMEI
IPC分类号： G01C21/00 , G01S19/28 , G01S19/49 , G08G1/0969
摘要： PROBLEM TO BE SOLVED: To precisely estimate measurement errors in autonomous navigation even when an absolute position and an absolute velocity are not acquired by radio navigation or when positioning accuracy by the radio navigation is low.
SOLUTION: It is determined whether or not the absolute positioning information acquired by the radio navigation is at high reliability on the basis of the number of satellites, from which the radio waves are received, arrangements, and so forth (step S2). In the case of high reliability, the absolute positioning information by the radio navigation is used to estimate the measurement errors of the positioning result by the autonomous navigation (step S4). When the absolute positioning information by the radio navigation is not at high reliability, a high-reliability satellite having reception power or an elevation angle larger than a threshold is selected from among the captured satellites (step S5). A pseudo distance to the high-reliability satellite and a Doppler frequency are calculated and utilized to estimate the measurement errors of the positioning result by the autonomous navigation (step S6). The positioning result by the autonomous navigation is corrected using the estimated measurement errors, and the measured position of a positioning apparatus 10 body is acquired.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：即使当绝对位置和绝对速度不是通过无线电导航获取或者通过无线电导航的定位精度低时，精确地估计自主导航中的测量误差。解决方案：基于由无线电波接收的卫星数量，布置等来确定由无线电导航获取的绝对定位信息是否处于高可靠性（步骤S2）。在高可靠性的情况下，通过无线电导航的绝对定位信息用于通过自主导航来估计定位结果的测量误差（步骤S4）。当通过无线电导航的绝对定位信息不具有高可靠性时，从捕获的卫星中选择具有大于阈值的接收功率或仰角的高可靠性卫星（步骤S5）。计算出与高可靠性卫星和多普勒频率的伪距离并利用自主导航来估计定位结果的测量误差（步骤S6）。使用估计的测量误差来校正自主导航的定位结果，并且获取定位装置10主体的测量位置。版权所有（C）2007，JPO＆INPIT

8. 发明专利

JP2006292653A Positioning device, positioning method, and positioning program 审中-公开
标题翻译：定位装置，定位方法和定位程序
公开(公告)号：JP2006292653A
公开(公告)日：2006-10-26
申请号：JP2005116567
申请日：2005-04-14
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： CHO IMEI
IPC分类号： G01C21/00 , G01S19/41 , G08G1/0969
摘要： PROBLEM TO BE SOLVED: To enhance positioning precision even under the environment where positioning positions are dispersed.
SOLUTION: This device/method is provided with a weighted regression estimation means 7 for estimating the present position, based on weighted regression estimation using the plurality of positioning positions, and a weight calculation means 6 for calculating a weight in the weighted regression estimation, based on a plurality of positioning results, in a filtering processing means 5, and calculates the present position, based on the weighted regression estimation using the plurality of positioning positions, while updating the weight in the weighted regression estimation, based on the plurality of positioning results.
COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：即使在分散定位位置的环境下也能提高定位精度。解决方案：该装置/方法具有加权回归估计装置7，用于基于使用多个定位位置的加权回归估计来估计当前位置，以及权重计算装置6，用于计算加权回归中的权重基于多个定位结果，在滤波处理装置5中，基于多个定位位置的加权回归估计，基于多个定位位置来更新加权回归估计中的权重，来计算当前位置的定位结果。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2005221374A Gps positioning system 审中-公开
标题翻译： GPS定位系统
公开(公告)号：JP2005221374A
公开(公告)日：2005-08-18
申请号：JP2004029435
申请日：2004-02-05
申请人： Seiko Epson Corp , セイコーエプソン株式会社
发明人： CHO IMEI
IPC分类号： G01S19/42 , G01S5/14
摘要： PROBLEM TO BE SOLVED: To solve such a problem that if modelling errors of measurement data is not carried out precisely when utilizing the Kalman filter, a position of a user can not be estimated precisely, and to provide a GPS positioning system which utilizes the Kalman filter, reduces influences of data including a large error on a point to be positioned and improves positioning precision. SOLUTION: The GPS positioning system is equipped with a pseudorange difference operation means outputting a pseudorange difference representing a difference between an observed value of pseudorange from a satellite which is determined from a transmission time of satellite data and from a reception time of a receiver, and a predicted value of pseudorange from the satellite which is determined from a satellite coordinate value and the point to be positioned; and the Kalman filter estimating the latest state vector estimation value from the pseudorange difference and its previous state vector estimation value, adding the previous point to be positioned to the state vector estimation value and outputting the latest point to be positioned. Therefore, the modelling errors of the measurement data is made weighted, and even in the case a measurement including a large error is used, its contribution to the estimation of the state vector and to error covariance can be reduced. As a result, a displacement of the position can be suppressed, and the positioning precision can be improved. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题为了解决如果在利用卡尔曼滤波器时不能精确地进行测量数据的建模误差的问题，则不能精确地估计用户的位置，并且提供一种GPS定位系统，其中，利用卡尔曼滤波器，减少包含大误差的数据在定位点上的影响，提高定位精度。解决方案：GPS定位系统配备有伪距差分运算装置，输出伪距差，该伪距差表示从卫星的传输时间确定的卫星的伪距的观测值与从卫星数据的发送时间确定的伪距的差接收机，以及从卫星的伪距的预测值，其由卫星坐标值和要定位的点确定; 并且卡尔曼滤波器根据伪距差和其先前状态向量估计值估计最新状态矢量估计值，将要定位的先前点与状态矢量估计值相加并输出要定位的最新点。因此，测量数据的建模误差被加权，并且即使在使用包括大误差的测量的情况下，其对状态向量的估计和误差协方差的贡献也可以减少。结果，可以抑制位置的位移，并且可以提高定位精度。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2015017858A 参照値生成装置及び参照値生成方法审中-公开
标题翻译：参考值生成装置和参考值生成方法
公开(公告)号：JP2015017858A
公开(公告)日：2015-01-29
申请号：JP2013144261
申请日：2013-07-10
申请人：セイコーエプソン株式会社 , Seiko Epson Corp
发明人： CHO IMEI
IPC分类号： G01C21/16 , G01C22/00
摘要：【課題】適切に参照値を生成できる参照値生成装置及び参照値生成方法を提供する。【解決手段】参照値生成装置は、姿勢情報を算出する方位姿勢角算出部と、歩行を検出する歩行検出部と、歩行の1歩につき複数の姿勢情報を、連続する少なくとも3歩分記憶する第1記憶部と、少なくとも3歩分の姿勢情報のうち3歩目以降のある1歩分の姿勢情報と、ある1歩分の姿勢情報よりも2歩前の1歩分の姿勢情報との相関係数を算出する相関係数算出部と、相関係数が閾値以上であるか否かを判定する相関係数判定部と、相関係数が閾値以上であると判定された1歩分の姿勢情報に含まれる代表値を、歩行の複数歩分記憶する第2記憶部と、ある1歩について相関係数が閾値以上であると判定された場合に、ある1歩よりも過去の複数歩分の代表値を用いて、ある1歩分の姿勢情報を補正することに用いる参照値を生成する参照値生成部と、を含む。【選択図】図2
摘要翻译：要解决的问题：提供能够适当地生成参考值的参考值生成装置和参考值生成方法。解决方案：基准值生成装置包括：用于计算姿势信息的方向姿势角计算部; 步行检测部，用于检测步行; 第一存储部分，用于至少连续三个步骤存储用于步行步骤的多个姿势信息; 相关系数计算部分，用于计算用于至少三个步骤的姿势信息中的第三和后续步骤中的一个的姿势信息的相关系数，用于步骤之前的步骤之前的步骤的姿势信息两步; 相关系数确定部，用于确定相关系数是否为阈值以上; 第二存储部分，用于在多个步行步骤中存储包括在相关系数被确定为阈值以上的步骤的姿势信息中的代表值; 以及参考值生成部，其在步骤的相关系数为阈值以上时，使用步骤之前的多个步骤的代表值来生成用于步骤的姿势信息的校正的基准值。

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