| 摘要 |
PROBLEM TO BE SOLVED: To execute stable positioning operation by setting suitable error variance without being influenced by a change in a receiving environment.SOLUTION: An observed pseudo range is calculated from a tracking result of a receiving signal (S101) and an estimated pseudo range is calculated (S102). A difference value between the observed pseudo range and the estimated pseudo range is calculated (S103) and a square root TSSE of a χvalue concerned with the pseudo range is calculated (S104). PDOP for an observable positioning satellite is calculated (S105). When both of the χvalue and the PDOP are small, error variance is set based on C/No of the receiving signal (S106:Yes→S107). When the χvalue or the PDOP is large, the difference value is determined directly as an error, and while determining that the difference value coincides with a standard deviation of the error, the error variance is set from the relation (S106:No→S108). |
