| 摘要 |
PROBLEM TO BE SOLVED: To provide a GPS compound navigation system capable of evading the continuous abnormality due to the estimated error of the GPS pseudo distance or observation amount and the observation amount of the Doppler frequency, as well as correctly determine the abnormality of the output of the GPS receiver, when the abnormality of the output of the GPS receiver is detected based on the difference between the GPS pseudo distance or observation amount and the observation amount of the Doppler frequency, in the GPS compound navigation system. SOLUTION: In the GPS compound navigation system, when the abnormality of the output of the GPS receiver is detected, the number of periods of abnormality is counted, if the counted number is≤the prescribed threshold value, the output of the GPS receiver is dealt with abnormal, and after the counted number exceeds the threshold value, the output of the GPS receiver is dealt with normal. Thereby, the abnormality of the output of the GPS receiver can be correctly determined. COPYRIGHT: (C)2009,JPO&INPIT |
