INTEGRATED SATELLITE NAVIGATION AND DEAD-RECKONING NAVIGATION POSITIONING DEVICE

摘要

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, base 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.