| 摘要 |
PROBLEM TO BE SOLVED: To filter a pseudo-distance by estimating a pseudo-distance variation by another means without using a measurement result of a carrier wave phase of a satellite signal in a stopped state of a mobile body. SOLUTION: Mobile body position positioning devices 1, 2, 3 are equipped with pseudo-distance calculation means 20A, 20B for calculating the pseudo-distanceρ' between a satellite 10 and a vehicle 90, a stop determination means 70 for determining whether the mobile body is stopped or not, a satellite position calculation means 60 for calculating the satellite position, pseudo-distance variation estimation means 50A, 50B, 50C for estimating the pseudo-distance variation▵ρ, and a positioning means 40 for positioning the position of the mobile body based on the pseudo-distance and the pseudo-distance variation. When determined stop of the mobile body by the stop determination means, the pseudo-distance variation estimation means estimates the pseudo-distance variation by using a change history of the satellite position calculated by the satellite position calculation means. COPYRIGHT: (C)2008,JPO&INPIT
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