Positioning device, method of controlling positioning device

Abstract

A positioning device, which locates a position based on satellite signals which are signals from positioning satellites, includes a position holding section which holds a reference position P, a stationary condition determination section which determines whether or not the reference position P satisfies stationary conditions B, an average position calculation section which averages the reference position P satisfying the stationary conditions B and a present located position Pg calculated by positioning to calculate an average position Pav, a position output section which outputs the average position Pav, and a position storage section which stores the average position Pav in the position holding section as the reference position P.

Description

technical field [0001] The present invention relates to a positioning device using a signal from a positioning satellite, a control method of the positioning device, a program, and a recording medium. Background technique [0002] Currently, a positioning system for locating the current position of a GPS receiver using GPS (Global Positioning System: Global Positioning System), which is an example of SPS (Satellite Positioning System: Satellite Positioning System), is widely used. [0003] The GPS receiver receives signals from such as more than or equal to 3 GPS satellites, and uses the difference between the time when the signal is sent from each GPS satellite and the time when the signal arrives at the GPS receiver (hereinafter referred to as the delay time), to obtain each GPS satellite and The distance between GPS receivers (hereinafter referred to as pseudorange). Furthermore, positioning calculation of the current position can be performed using the satellite orbit i...

AI Technical Summary

Problems solved by technology

As a result, there is a problem that the accuracy of the position after the averaging process deteriorates, and the output position deviates from the true position.

[0008] Furthermore, in the above-mentioned technology, when the GPS receiver is stationary, the longer the elapsed time from the last positioning, the more the predicted position will accumulate deviation from the previous position, and as a result, the output position will deviate from the true position.

[0009] Moreover, because the last positioning position deviates from the real position, in the case of lack of reliability, there is a problem that the predicted position also lacks reliability, and the average position also lacks reliability.

[0010] In addition, even if a pedestrian holding a GPS receiver moves at a slight speed, because the speed represented by the velocity vector is different, although the actual current position is near the last positioning position, there is still a large deviation from the current positioning position. Problem with secondary location

Images