Terminal apparatus, control method of terminal apparatus

Abstract

A terminal apparatus for positioning based on satellite signals from positioning satellites includes: satellite signal receiving means for receiving the satellite signals; positioning position information generating means for generating positioning position information which indicates a position of the terminal apparatus based on the satellite signals; moving vector information generating means for generating moving vector information which indicates moving vectors constituted by a moving direction and a moving distance of the terminal apparatus at predetermined time intervals by controlling movement history measuring means constituted by a rotational speed sensor, an acceleration sensor and a magnetic sensor; estimated position information generating means for generating estimated position information which indicates an estimated position of the terminal apparatus at the current time based on the positioning position information and the moving vector information; and estimated position information outputting means for outputting the estimated position information.

Description

technical field [0001] The present invention relates to a terminal device using a signal from a positioning satellite, and a method for controlling the terminal device. Background technique [0002] Currently, a positioning system for locating the current position of a GPS receiver using a satellite navigation system such as GPS (Global Positioning System: Global Positioning System) is being gradually applied to real life (for example, Patent Document 1). [0003] The GPS receiver receives signals from, for example, a plurality of GPS satellites (hereinafter referred to as satellite signals), and obtains the distance (hereinafter referred to as pseudorange) between each GPS satellite and the GPS receiver based on the phase of the received signals. Furthermore, the current position can be positioned and calculated using the satellite orbit information of each GPS satellite carried on the satellite signal received from each GPS satellite and the above-mentioned pseudo-range. ...

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Problems solved by technology

[0009] However, in the above existing examples, there is often such a problem: the accuracy of the velocity vector V is deteriorated due to the different receiving states of the satellite signals, and the accuracy of the output position P(n) is deteriorated

[0010] Moreover, in the above existing examples, it is assumed that the movement state of the GPS receiver is shown by the velocity vector V for a certain period of time, but the GPS receiver does not necessarily maintain the movement state shown by the velocity vector V

In particular, as the elapsed time dt becomes longer, there is a high possibility that the temporarily generated velocity vector V cannot accurately represent the movement state of the GPS receiver, so there is a possibility that the accuracy of the output position P(n+1) and the like may deteriorate. the problem of the situation

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