| 摘要 |
PROBLEM TO BE SOLVED: To provide a GPS receiver capable of adaptably estimating an error in a GPS system, even if reliability of a GPS system is improved or deteriorated, and accurately reflecting that in a 2DRMS. SOLUTION: The GPS receiver using a Kalman filter for calculating a positioning solution uses an estimated errorσH- Kalman in a horizontal (latitude, longitude) direction calculated from diagonal elements of an error covariance matrix obtained in a calculating process for an estimated value for the Kalman filter for calculating the 2DRMS in accordance with a definition, 2DRMS =2×(σH- Kalman)<2> +(HDOP×σUERE)<2> }<1/2> and outputting it together with the GPS positioning solution. Herein,σUERE calculates the URA as a 1σvalue for an error based on URA Index contained in a GPS message andσUserSeg as a 1σvalue for an error in a user segment out of GPS system segments in accordance with the following definition:σUERE=(URA<2> +σUserSeg<2> )<1/2> .
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