| 摘要 |
PROBLEM TO BE SOLVED: To enhance positioning accuracy, reception sensitivity, and extrapolation accuracy at positioning interruption, as to a satellite navigation system. SOLUTION: As to this computation unit 300, an observation amount correction part 330 outputs, as observed values, the distance from a satellite to a receiver and the rate of change in distance based on a pseudo distance output by a GPS receiver and on Doppler quantity. A relative motion calculation part 340 outputs, as calculated values, a distance and the rate of change in distance, based on the position/speed of a movable body which are the results of last positioning computation. A residual calculation part 350 outputs, as residuals, differences between the observed values and the calculated values. A positioning computation part 370 performs positioning computation by Kalman filter processing, based on the residuals and on a clock error. In this filter processing, the clock error is taken as a third-order system comprising clock bias, clock drift, and clock bias acceleration. Further, a clock reset detection/compensation part 360 processes the clock error as a third-order system in performing compensation processing on clock errors accompanying clock resetting of the receiver. COPYRIGHT: (C)2006,JPO&NCIPI
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