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1. 发明授权

US07586440B2 Independent positioning device and independent positioning method 有权
标题翻译：独立定位装置和独立定位方法
公开(公告)号：US07586440B2
公开(公告)日：2009-09-08
申请号：US11660793
申请日：2005-08-25
申请人： Sueo Sugimoto , Yukihiro Kubo , Kazunori Kagawa , Yasuhiro Tajima , Mitsuru Nakamura
发明人： Sueo Sugimoto , Yukihiro Kubo , Kazunori Kagawa , Yasuhiro Tajima , Mitsuru Nakamura
IPC分类号： G01S1/02 , G01S5/14
CPC分类号： G01S19/40 , G01S19/44
摘要： A linear regression equation is comprised of the objective variables and the explanatory variables. The objective variables are comprised of the L1 carrier phases, the L2 carrier phases, the C/A code pseudorange, the P(Y) code pseudorange, the clock error data, the delay data of the ionosphere, and the delay data of the troposphere that related with every satellite respectively. The explanatory variables are comprised of at least the integer ambiguity and a receiver's position.The receiver's position has been linear-approximated by using the estimation results of the passed receiver's positions. Applying a least square method to the regression equation, the integer ambiguity and the receiver's position is estimated.
摘要翻译：线性回归方程由客观变量和解释变量构成。目标变量包括L1载波相位，L2载波相位，C / A码伪距，P（Y）码伪距，时钟误差数据，电离层的延迟数据和对流层的延迟数据分别与每颗卫星相关。解释变量至少包含整数模糊度和接收者的位置。接收机的位置已通过使用通过的接收机位置的估计结果进行线性近似。对回归方程应用最小二乘法，估计整数模糊度和接收者的位置。

2. 发明申请

US20080258966A1 Independent Positioning Device and Independent Positioning Method 有权
标题翻译：独立定位装置和独立定位方法
公开(公告)号：US20080258966A1
公开(公告)日：2008-10-23
申请号：US11660793
申请日：2005-08-25
申请人： Sueo Sugimoto , Yukihiro Kubo , Kazunori Kagawa , Yasuhiro Tajima , Mitsuru Nakamura
发明人： Sueo Sugimoto , Yukihiro Kubo , Kazunori Kagawa , Yasuhiro Tajima , Mitsuru Nakamura
IPC分类号： G01S5/14
CPC分类号： G01S19/40 , G01S19/44
摘要： A linear regression equation is comprised of the objective variables and the explanatory variables. The objective variables are comprised of the L1 carrier phases, the L2 carrier phases, the C/A code pseudorange, the P(Y) code pseudorange, the clock error data, the delay data of the ionosphere, and the delay data of the troposphere that related with every satellite respectively. The explanatory variables are comprised of at least the integer ambiguity and a receiver's position.The receiver's position has been linear-approximated by using the estimation results of the passed receiver's positions. Applying a least square method to the regression equation, the integer ambiguity and the receiver's position is estimated.
摘要翻译：线性回归方程由客观变量和解释变量构成。目标变量包括L1载波相位，L2载波相位，C / A码伪距，P（Y）码伪距，时钟误差数据，电离层的延迟数据和对流层的延迟数据分别与每颗卫星相关。解释变量至少包含整数模糊度和接收者的位置。接收机的位置已通过使用通过的接收机位置的估计结果进行线性近似。对回归方程应用最小二乘法，估计整数模糊度和接收者的位置。

3. 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。

4. 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。

5. 发明申请

US20110037647A1 RELATIVE POSITION DETECTING APPARATUS, AND RELATIVE POSITION DETECTING SYSTEM 失效
标题翻译：相对位置检测装置和相对位置检测系统
公开(公告)号：US20110037647A1
公开(公告)日：2011-02-17
申请号：US12989007
申请日：2009-04-22
申请人： Yasuhiro Tajima , Kazunori Kagawa , Masafumi Uchihara
发明人： Yasuhiro Tajima , Kazunori Kagawa , Masafumi Uchihara
IPC分类号： G01S19/43 , G01S19/51
CPC分类号： G01S19/44 , G01S5/0072 , G01S19/20 , G01S19/51
摘要： In a case in which three or more movable objects, each of those detecting the relative position with respect to another movable object, are able to communicate with each other: a reference movable object obtains observation data and transmits the observation data to non-reference movable objects; one non-reference movable object calculates the relative position with respect to the reference movable object by performing interferometric positioning using the observation data obtained by the observation data obtaining means and data including observation data received from the reference movable object, and also transmits data including an integer bias calculated as interferometric positioning results to another non-reference movable object and receives reliability determination results regarding the interferometric positioning; and the another non-reference movable object receives data including the integer bias from the one non-reference movable object and determines the reliability of the interferometric positioning.
摘要翻译：在三个以上的可移动物体中，检测相对于另一个可移动物体的相对位置的可移动物体能够彼此通信的情况下，即：基准可移动物体获取观测数据，并将观测数据发送到非参照可动物体一个非参考可移动物体通过使用由观察数据获取装置获得的观察数据和包括从参考可移动物体接收的观测数据的数据进行干涉定位来计算相对于参考可移动物体的相对位置，并且还发送包括将作为干涉测量定位计算的整数偏差结果输出到另一非参考可移动物体，并接收关于干涉定位的可靠性确定结果; 并且另一个非参考可移动对象从一个非参考可移动对象接收包括整数偏差的数据，并确定干涉定位的可靠性。

6. 发明申请

US20110054790A1 INTER-MOVING BODY INTERFEROMETRIC POSITIONING SYSTEM, DEVICE AND METHOD THEREOF 有权
标题翻译：互动身体干涉定位系统，装置及其方法
公开(公告)号：US20110054790A1
公开(公告)日：2011-03-03
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 , G01S19/43 , G01S19/51
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。

7. 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。

8. 发明授权

US08510027B2 Method for judging vehicle traveling position and vehicle traveling position judgment device 有权
标题翻译：车辆行驶位置判定方法和车辆行驶位置判断装置
公开(公告)号：US08510027B2
公开(公告)日：2013-08-13
申请号：US13262838
申请日：2009-06-11
申请人： Yasuhiro Tajima , Kazunori Kagawa
发明人： Yasuhiro Tajima , Kazunori Kagawa
IPC分类号： G05D1/02
CPC分类号： G08G1/161 , G08G1/164 , G08G1/167
摘要： A vehicle traveling position judging method of the present invention is a vehicle traveling position judging method for judging the traveling position of a preceding vehicle, and includes: a relative position information acquisition step of acquiring the relative position information of the preceding vehicle and a host vehicle at a predetermined point in time; a host vehicle traveling trajectory information acquisition step of acquiring traveling trajectory information of the host vehicle after the predetermined point in time; and a preceding vehicle position judging step of judging a traveling position of the preceding vehicle on the basis of the relative position information and the traveling trajectory information of the host vehicle.
摘要翻译：本发明的车辆行驶位置判定方法是用于判断前方车辆的行驶位置的车辆行驶位置判定方法，包括：相对位置信息获取步骤，获取前方车辆和主车辆的相对位置信息在预定的时间点; 主车辆行驶轨迹信息获取步骤，在预定时间点之后获取主车辆的行驶轨迹信息; 以及前一车辆位置判断步骤，根据本车辆的相对位置信息和行驶轨迹信息判断前方车辆的行驶位置。

9. 发明申请

US20110037646A1 INTER-MOBILE BODY CARRIER PHASE POSITIONING DEVICE AND METHOD 有权
标题翻译：移动体身体相位定位装置和方法
公开(公告)号：US20110037646A1
公开(公告)日：2011-02-17
申请号：US12922821
申请日：2009-05-06
申请人： Yasuhiro Tajima , Kazunori Kagawa , Masafumi Uchihara
发明人： Yasuhiro Tajima , Kazunori Kagawa , Masafumi Uchihara
IPC分类号： G01S19/43
CPC分类号： G01S19/44
摘要： The inter-mobile body carrier phase positioning device according to the invention includes: a first observation data acquisition means that acquires observation data concerning a phase accumulation value observed in a first mobile body; a second observation data acquisition means that acquires observation data concerning a phase accumulation value observed in a second mobile body; a satellite pair determination means that determines pairs of satellites used for carrier phase positioning; and a carrier phase positioning means that takes, between each of the pairs of the satellites determined by the satellite pair determination means, a single or double difference between the observation data acquired by the first observation data acquisition means and the observation data ac quired by the second observation data acquisition means, and determines relative positional relation between the first mobile body and the second mobile body by carrier phase positioning using the single or double difference of the observation data.
摘要翻译：根据本发明的移动体间载波相位定位装置包括：第一观测数据获取装置，其获取关于在第一移动体中观察到的相位累积值的观测数据; 第二观测数据取得单元取得与第二移动体中观察到的相位累积值有关的观测数据; 确定用于载波相位定位的卫星对的卫星对确定装置; 以及载波相位定位装置，其在由所述卫星对确定装置确定的每对卫星之间取得由所述第一观测数据获取装置获取的观测数据与由所述第一观测数据获取装置获取的观测数据之间的一个或两个差值第二观测数据获取装置，并且通过使用观测数据的一个或两个差异的载波相位定位来确定第一移动体与第二移动体之间的相对位置关系。

10. 发明授权

US08593340B2 Inter-mobile body carrier phase positioning device and method 有权
标题翻译：移动体载体相位定位装置及方法
公开(公告)号：US08593340B2
公开(公告)日：2013-11-26
申请号：US12922821
申请日：2009-05-06
申请人： Yasuhiro Tajima , Kazunori Kagawa , Masafumi Uchihara
发明人： Yasuhiro Tajima , Kazunori Kagawa , Masafumi Uchihara
IPC分类号： G01S19/43
CPC分类号： G01S19/44
摘要： The inter-mobile body carrier phase positioning device according to the invention includes: a first observation data acquisition means that acquires observation data concerning a phase accumulation value observed in a first mobile body; a second observation data acquisition means that acquires observation data concerning a phase accumulation value observed in a second mobile body; a satellite pair determination means that determines pairs of satellites used for carrier phase positioning; and a carrier phase positioning means that takes, between each of the pairs of the satellites determined by the satellite pair determination means, a single or double difference between the observation data acquired by the first observation data acquisition means and the observation data acquired by the second observation data acquisition means, and determines relative positional relation between the first mobile body and the second mobile body by carrier phase positioning using the single or double difference of the observation data.
摘要翻译：根据本发明的移动体间载波相位定位装置包括：第一观测数据获取装置，其获取关于在第一移动体中观察到的相位累积值的观测数据; 第二观测数据取得单元取得与第二移动体中观察到的相位累积值有关的观测数据; 确定用于载波相位定位的卫星对的卫星对确定装置; 以及载波相位定位装置，其在由所述卫星对确定装置确定的每对卫星之间取得由所述第一观测数据获取装置获取的观测数据与由所述第二观测数据获取装置获取的观测数据之间的单一或两倍观测数据获取装置，并且通过使用观测数据的单一或双重差异的载波相位定位来确定第一移动体与第二移动体之间的相对位置关系。

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