| 摘要 |
PROBLEM TO BE SOLVED: To provide a global positioning system for accurately detecting a satellite, where multipath, or the like occurred. SOLUTION: A receiver position is calculated by master positioning arithmetic processing, based on all received GPS satellites, a receiver position is calculated by sub positioning arithmetic processing for three GPS satellites successively excluding a GPS satellite from respective GPS satellites one by one, a recursive residual APR is calculated, based on pseudo distance and approximation distance, based on all GPS satellites, the maximum difference of the processing result in the sub positioning arithmetic processing is calculated, and the presence or absence of the multipath is determined, based on the recursive residual APR and the maximum difference. When the multipath is occurring, at least two weighing operations are made to each GPS satellite successively assuming that each receiver position calculated by the sub positioning arithmetic operation is a true value, a position error is calculated, based on the operation result, and a satellite is determined to have generated a multipath when the position error increases proportionally to the increase of weight to the weight of only the GPS satellite excluded by the operation of the receiver position assumed to be a true value. COPYRIGHT: (C)2005,JPO&NCIPI
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