| 摘要 |
<P>PROBLEM TO BE SOLVED: To accurately obtain a positioning solution even when a single frequency GPS receiver is employed. <P>SOLUTION: An M epoch data storage unit 22 stores GPS information received for each epoch by a GPS receiver 12 and INS information obtained by an INS device 14. An equation derivation unit 24 defines GPS information and INS information for M (three and more) epochs as observation values, and derives an observation equation which is for obtaining a float solution for an N number of waves of carrier waves of the GPS information between respective plurality of GPS satellites and an own vehicle, for each of the GPS satellites and in which a range of the float solution of the N number of waves is restrained by a travelling locus of the own vehicle estimated based on the INS information for the M epochs. A float solution calculation unit 26 solves the observation equation and calculates float solutions of the N number of waves for each of the GPS satellites and positions of the own vehicle. A fix solution calculation unit 30 calculates a fix solution having a highest compatibility on the basis of respective float solutions of the N number of waves for each of the GPS satellites and the positions of the own vehicle, and outputs the fix solution as a positioning result. <P>COPYRIGHT: (C)2013,JPO&INPIT |
