Satellite navigation/dead-reckoning navigation integrated positioning device

Abstract

Disclosed is a satellite navigation/dead-reckoning navigation integrated positioning device with improved accuracy of navigation data including position, velocity, and the like, which can be constituted at low cost. A tracking processing module ( 31 ) performs, based on a GPS positioning signal, acquisition processing and tracking processing thereof and demodulation processing of a navigation message. A GPS positioning calculation module ( 32 ) calculates position, velocity, and the like based on a pseudo-range observation, a Doppler frequency observation, and ephemeris data and gives the calculated position, velocity, and the like to an output judgment module ( 43 ) and the tracking processing module ( 31 ). Based on external support information including output of an inertial sensor, map information or information about the difference between a map position and a measured position, and the like in addition to the pseudo-range observation and the Doppler frequency observation, an integrated positioning calculation module ( 42 ) estimates the position, velocity, and the like, and gives the estimated position, velocity, and the like to the output judgment module ( 43 ). The output judgment module ( 43 ) compares the outputs of the GPS positioning calculation module ( 32 ) and the outputs of the integrated positioning calculation module ( 42 ) to judge the reliability of output data from the integrated positioning calculation module ( 42 ) and the abnormality of external support data.

1 . A satellite navigation/dead-reckoning navigation integrated positioning device, comprising:
 a tracking processing module for receiving positioning signals of navigation satellites to track the positioning signals and finding a pseudo range and Doppler frequency information;   a satellite navigation positioning calculation module for executing a positioning calculation based on the pseudo range and the Doppler frequency information to find a position and a velocity of a moving body;   an integrated positioning calculation module for finding, based on the pseudo range and the Doppler frequency information found by the tracking processing module and external support data obtained from an external device, a position and a velocity of the moving body; and   an abnormality determination module for comparing a result of the positioning calculation by the satellite navigation positioning calculation module with a result of the positioning calculation by the integrated positioning calculation module to determine abnormality of the external support data.   
     
     
         2 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 1 , wherein the external support data includes data by an inertial sensor, and the abnormality determination module compares the result of the positioning calculation by the satellite navigation positioning calculation module with the data by the inertial sensor to determine abnormality of the inertial sensor. 
     
     
         3 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 1 , wherein the external support data includes map data input information, and the abnormality determination module compares the result of the positioning calculation by the satellite navigation positioning calculation module with the map data to determine abnormality of the map data input information. 
     
     
         4 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 1 , wherein the abnormality determination module compares the result found by the satellite navigation positioning calculation module with the result found by the integrated positioning calculation module to determine abnormality of the result of the calculation of the integrated positioning calculation module. 
     
     
         5 . The satellite navigation/dead-reckoning navigation integrated positioning device of any one of  claims 1  to  4 , comprising a module for outputting the calculation result by the satellite navigation positioning calculation module to a user if the abnormality determination module determines an abnormality. 
     
     
         6 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 1 , wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values. 
     
     
         7 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 1 , wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module. 
     
     
         8 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 2 , wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values. 
     
     
         9 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claims 3 , wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values. 
     
     
         10 . The satellite navigation/dead-reckoning navigation integrated positioning device of any one of  claim 4 , wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values. 
     
     
         11 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claims 5 , wherein the integrated positioning calculation module, when resuming the positioning calculation from a state where the positioning calculation is stopped due to the abnormality of the external support data, resumes the integrated positioning calculation using the position and the velocity found by the satellite navigation positioning calculation module as initial values. 
     
     
         12 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 2 , wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module. 
     
     
         13 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 3 , wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module. 
     
     
         14 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 4 , wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module. 
     
     
         15 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 5 , wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module. 
     
     
         16 . The satellite navigation/dead-reckoning navigation integrated positioning device of  claim 6 , wherein the integrated positioning calculation module executes the positioning calculation based on the pseudo range and the Doppler frequency information by a single difference between the satellites found by the tracking processing module.