Positioning method, GNSS receiving apparatus, and mobile terminal

摘要

A highly accurate positioning operation is achieved regardless of an existence of multipath. An observed pseudorange ρm(k) is acquired based on reception signals of positional signals (S101). A current determination estimated pseudorange ρmp(k) is calculated based on a previous estimation result (S102). A determination difference value Deltaρm(k) is calculated based on the observed pseudorange ρm(k) and the estimated pseudorange ρmp(k) (S103). A determination threshold σDeltaρ is calculated based on a C/No of the reception signal and PDOP (S104). If the determination difference value Deltaρm(k) is below the threshold σDeltaρ, an error variance σρm(k) is calculated using an approximate equation of the C/No (S105(NO)→S106), and if the determination difference value Deltaρm(k) is above the threshold σDeltaρ, the error variance σρm(k) is calculated based on the threshold σDeltaρ (S105(YES)→S107).

主权项

1. A method of positioning by calculating a position or a speed of a GNSS receiving apparatus by using a track filter based on reception signals of GNSS positioning signals, comprising:
detecting multipath based on a position accuracy degradation serving as an index of a positioning accuracy based on locations of GNSS satellites and a C/No; setting an error covariance matrix of observed errors serving as a parameter of designing the track filter, based on whether the multipath is detected; and calculating the position or the speed by using the track filter set in the setting the error covariance matrix.