Positioning device and positioning method

• Main Authors: Kinoshita, Ryusuke, Fujimoto, Kohei, Fujii, Masatoshi, Ishigami, Tadatomi, Irie, Takashi, Kido, Masashi
• Format: Patent
• Language: English
• Published: 13.09.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

In a locator device, a dead reckoning part calculates a position of a subject vehicle by dead reckoning. A pseudorange smoothing part smooths a pseudorange between a GNSS satellite and a position of the subject vehicle using a carrier wave phase of the GNSS satellite. A GNSS receiver positioning error evaluation part evaluates reliability of the position of the subject vehicle calculated by the multi-GNSS receiver. A GNSS positioning part (Kalman Filter (KF) method) calculates a position of the subject vehicle from a smoothed value of the pseudorange, a positioning augmentation signal, and an orbit of the GNSS satellite. A complex positioning part (KF method) calculates an error in the dead reckoning from the position of the subject vehicle calculated by the GNSS positioning part (KF method), and corrects the position of the subject vehicle calculated by the dead reckoning part based on the error in the dead reckoning.