| 摘要 |
PROBLEM TO BE SOLVED: To provide a new setting method of an observation error capable of improving the accuracy of position calculation. SOLUTION: A reception frequency and a code phase of a GPS satellite signal received from a GPS satellite are treated as measurements, and a position calculation processing based on a theory of a Kalman filter is performed, by using the measurement as an observation value, to thereby calculate a position. In the position calculation processing, the newest observation prediction difference value (first measurement parameter value), shown by a difference between the newest measurement observation value and the newest measurement prediction value, is calculated, and an observation error matrix "R", which is used for correction processing of the Kalman filter is set, by using the calculated newest observation predicted difference value. COPYRIGHT: (C)2011,JPO&INPIT
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