| 摘要 |
PROBLEM TO BE SOLVED: To converge variations in pseudorange in an early stage. SOLUTION: This positioning device 1 for a mobile includes an inertial navigation positioning section 60, a GPS receiver 20 for measuring a pseudorange between a satellite and the mobile, a pseudorange presumption section 80, and a variance calculation section 30 for calculating the varianceρ<SB>presumption</SB>of pseudorangesρ<SB>presumption</SB>presumed by the presumption section 80, on the basis of the variance of positions of the satellite by information on satellite orbits, the variance of the positions of the mobile derived by the positioning section 60, and the variance of errors of the clock of the GPS receiver 20. Favorably, the device 1 further includes a pseudorange combining section 40 for combining the pseudorangeρmeasured by the GPS receiver 20, and the pseudorangeρ<SB>presumption</SB>presumed by the presumption section 80 to calculate a combined pseudorangeρ<SB>com</SB>, and a positioning calculation section 50 for performing positioning of the mobile position by using this combined pseudorangeρ<SB>com</SB>. The combining section 40 calculates the combined pseudorangeρ<SB>com</SB>by using the varianceρ<SB>presumption</SB>calculated by the calculation section 30. COPYRIGHT: (C)2009,JPO&INPIT |
