Positioning device, positioning method, and positioning program

Abstract

To provide a positioning device or the like capable of more reliably detecting a positioning error.SOLUTION: A locater ECU100 as a positioning device includes a tentative position estimation part 110 for acquiring a tentative position of a moving body based on satellite data. The locater ECU100 includes a road surface altitude estimation part 120 for acquiring a road surface altitude as an altitude of a road surface in an approximate location on the basis of the approximate location of a moving object based on information differing from satellite data, and map information. The locater ECU100 includes an antenna height estimation part 130 for estimating a height of an antenna as height from a road surface to a reception antenna. The locater ECU100 includes a determination part 140 for performing correct answer determination of a tentative position when a difference between the sum of a road surface altitude and height of an antenna and a height based on a tentative position is within a tolerance range, and for performing error determination of a tentative position when the difference is larger than the tolerance range.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The disclosure in this specification relates to a technique for detecting positioning errors.

Background Art

[0002] Patent Document 1 discloses a technique for determining the false detection of a positioning solution calculated based on a positioning signal from a positioning satellite. In this technique, false detection of the positioning solution is determined based on the presence or absence of the continuity of time-series data of changes in altitude, azimuth, or latitude and longitude.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technique of Patent Document 1, when there is little time-series data, such as immediately after the receiver is started, false detection may not be determined. Therefore, the technique of Patent Document 1 may lack certainty in detecting positioning errors.

[0005] The disclosed object is to provide a positioning device, a positioning method, and a positioning program that can more reliably detect positioning errors.

Means for Solving the Problems

[0006] The plurality of aspects disclosed in this specification employ different technical means to achieve their respective objects. Also, the claims and the reference numerals in parentheses described in this section are an example showing the correspondence relationship with the specific means described in the embodiments described later as one aspect, and do not limit the technical scope.

[0007] One of the disclosed positioning devices is a positioning device that estimates the position of a moving body (A) equipped with a receiving antenna (11) that receives satellite data from positioning satellites, a provisional position acquisition unit (110) that acquires a provisional position of the moving body based on satellite data, a road surface elevation acquisition unit (120) that acquires a road surface elevation, which is the elevation of the road surface at the approximate position, based on the approximate position of the moving body based on information different from the satellite data and map information, an antenna height estimation unit (130) that estimates the antenna height, which is the height from the road surface to the receiving antenna, a determination unit (140) that determines that the provisional position is correct when the difference between the sum of the road surface elevation and the antenna height and the height based on the provisional position falls within the allowable difference range, and determines that the provisional position is incorrect when the difference is greater than the allowable difference range, When an error determination is made, a verification unit (150) that re-verifies a provisional position based on information different from the difference; and includes 、 When a correct determination is made, the verification unit corrects the antenna height and sets a correction amount for correcting the antenna height based on the difference and a coefficient that reduces the contribution degree of the difference to the correction amount.

[0008] One of the disclosed positioning methods is a positioning method executed by a processor (102) to estimate the position of a moving body (A) equipped with a receiving antenna (11) that receives satellite data from positioning satellites, a provisional position acquisition step (S110) of acquiring a provisional position of the moving body based on satellite data, a road surface elevation acquisition step (S120) of acquiring a road surface elevation, which is the elevation of the road surface at the approximate position, based on the approximate position of the moving body based on information different from the satellite data and map information, an antenna height estimation step (S130) of estimating the antenna height, which is the height from the road surface to the receiving antenna, a determination step (S140, S150, S160) of determining that the provisional position is correct when the difference between the sum of the road surface elevation and the antenna height and the height based on the provisional position falls within the allowable difference range, and determining that the provisional position is incorrect when the difference is greater than the allowable difference range, When an error determination is made, a verification process (S141, S142, S143) that re-verifies a provisional position based on information different from the difference; and includes See In the verification process, when a correct determination is made, the antenna height is corrected, and a correction amount for correcting the antenna height is set based on the difference and a coefficient that reduces the contribution degree of the difference to the correction amount. 。

[0009] One of the disclosed positioning programs is a positioning program including a plurality of instructions to be executed by a processor (102) in order to estimate the position of a moving body (A) equipped with a receiving antenna (11) for receiving satellite data from positioning satellites, The instructions include: a tentative position acquisition step (S110) of acquiring a tentative position of the moving body based on satellite data; a road surface elevation acquisition step (S120) of acquiring a road surface elevation, which is the elevation of the road surface at the estimated position, based on the estimated position of the moving body and the map information, where the estimated position is based on information different from the satellite data; an antenna height estimation step (S130) of estimating an antenna height, which is the height from the road surface to the receiving antenna; a determination step (S140, S150, S160) of making a correct determination of the tentative position when the difference between the sum of the road surface elevation and the antenna height and the height based on the tentative position falls within an allowable difference range, and making an error determination of the tentative position when the difference is greater than the allowable difference range; When an error determination is made, a verification process (S141, S142, S143) that causes a provisional position to be re-verified based on information different from the difference; including See In the verification process, when a correct determination is made, the antenna height is caused to be corrected, and a correction amount for correcting the antenna height is set based on the difference and a coefficient that reduces the contribution degree of the difference to the correction amount. 。

[0010] According to these disclosures, by comparing the sum of the road surface elevation and the antenna height with the height coordinate of the tentative position, it is possible to execute a correct / error determination of the tentative position. Therefore, without relying on the continuity of time-series data, a correct / error determination of the measured tentative position can be executed. Accordingly, a positioning device, a positioning method, and a positioning program capable of more reliably detecting positioning errors can be provided.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0012] (First Embodiment) As shown in FIG. 1, a positioning device according to an embodiment of the present disclosure is provided by a locator ECU 100. The locator ECU 100 is an electronic control unit mounted on a vehicle A which is a moving body.

[0013] The locator ECU 100 can communicate with other in-vehicle components via an in-vehicle network including at least one of, for example, a LAN (Local Area Network), a wire harness, and an internal bus. The in-vehicle components here include at least a GNSS receiver 10, an in-vehicle communicator 20, a map database (hereinafter, "map DB") 30, an external sensor 40, and a stroke sensor 50.

[0014] The GNSS receiver 10 includes a receiving antenna 11 that receives positioning signals (satellite data) transmitted from positioning satellites that constitute the GNSS (Global Navigation Satellite System), and a control circuit (not shown). The receiving antenna 11 is installed inside the dashboard of the vehicle A, on the front glass, the roof, or the like. The control circuit of the GNSS receiver 10 generates observation information based on the satellite data received by the receiving antenna 11. As an example, the observation information includes pseudo range, carrier phase, Doppler frequency, carrier-to-noise ratio, and the presence or absence of cycle slips. The GNSS receiver 10 sequentially provides the observation information to the locator ECU 100.

[0015] The in-vehicle communicator 20 is a communication module mounted on the vehicle A. The in-vehicle communicator 20 has at least the function of V2N (Vehicle to cellular Network) communication conforming to communication standards such as LTE (Long Term Evolution) and 5G, and can receive correction information used in RTK positioning from a reference station around the vehicle A. The in-vehicle communicator 20 sequentially provides the acquired correction information to the locator ECU 100.

[0016] The map DB 30 is a non-volatile memory that stores map data such as link data, node data, road shapes, and structures. The map data may be a three-dimensional map composed of a point cloud of feature points of road shapes and structures. Note that the three-dimensional map may be generated based on captured images by REM (registered trademark). Further, the map data may include traffic control information, road construction information, weather information, signal information, and the like. The map data stored in the map DB 30 may be updated regularly or as needed based on the latest information distributed from a server installed outside the vehicle A.

[0017] The external sensor 40 is an autonomous sensor that monitors the external environment of the vehicle A. The external sensor 40 can detect external information used in the estimation of the approximate position described later. As an example, the external sensor 40 may include at least one of a LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) that detects a point cloud of feature points of a ground object as external information, and a peripheral monitoring camera that detects an imaging image of a predetermined range including the front of the vehicle A as external information.

[0018] The stroke sensor 50 is a sensor that detects the stroke amount in the height direction of the suspension of the vehicle A. The stroke sensor 50 sequentially provides the detected stroke amount to the locator ECU 100.

[0019] The locator ECU 100 is a computer configured to include at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory physical storage medium such as a semiconductor memory, a magnetic medium, and an optical medium that non-temporarily stores or stores programs and data readable by a computer. The memory 101 stores various programs executed by the processor 102, such as the positioning program described later.

[0020] The processor 102 includes, as a core, at least one of, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a RISC (Reduced Instruction Set Computer)-CPU. The processor 102 executes a plurality of instructions included in the positioning program stored in the memory 101. Thereby, the locator ECU 100 constructs a plurality of functional units for estimating the current position of the vehicle A. In this way, in the locator ECU 100, the positioning program stored in the memory 101 causes the processor 102 to execute a plurality of instructions, thereby constructing a plurality of functional units. Specifically, as shown in FIG. 2, functional units such as a provisional position estimation unit 110, a road surface elevation estimation unit 120, an antenna height estimation unit 130, and a determination unit 140 are constructed in the locator ECU 100.

[0021] The provisional position estimation unit 110 acquires new satellite data received by the GNSS receiver 10. The provisional position estimation unit 110 estimates the current position of the GNSS receiver 10 as a provisional position by RTK positioning based on the satellite data and correction information from a reference station acquired from the in-vehicle communicator 20. The provisional position estimation unit 110 is an example of a "provisional position acquisition unit".

[0022] The road surface elevation estimation unit 120 estimates the road surface elevation at the current position of the vehicle A. The road surface elevation estimation unit 120 estimates the road surface elevation based on the current position of the vehicle A estimated by a method different from the satellite positioning in the provisional position estimation unit 110, that is, RTK positioning. Hereinafter, the current position estimated by a method different from the provisional position estimation unit 110 is referred to as an approximate position for distinction.

[0023] As an example of the estimated position approximation method, the road surface elevation estimation unit 120 estimates the approximate position by matching the map data (map information) in the map DB 30 with the external information from the external sensor 40. Specifically, the road surface elevation estimation unit 120 may estimate the approximate position by matching the point cloud map with the point cloud data detected by the LiDAR. Alternatively, the road surface elevation estimation unit 120 may estimate the approximate position by matching the feature points of the ground objects in the map data with the feature points of the ground objects in the captured image by the surrounding monitoring camera. The road surface elevation estimation unit 120 uses the elevation at the approximate position on the map data as the road surface elevation. The road surface elevation estimation unit 120 is an example of the "road surface elevation acquisition unit".

[0024] The antenna height estimation unit 130 estimates the antenna height of the GNSS receiver 10. Assume that the antenna height here is the height from the road surface to the installation position of the receiving antenna 11. The antenna height estimation unit 130 calculates the antenna height based on the height from the upper end of the suspension (the vehicle body bottom surface in this embodiment) to the receiving antenna 11, the stroke height of the suspension in the vehicle A, and the tire radius. The height from the upper end of the suspension to the receiving antenna 11 is stored in a storage medium such as the memory 101 in advance. The antenna height estimation unit 130 may acquire the stroke height from the stroke sensor 50. Also, the antenna height estimation unit 130 may acquire the tire radius stored in advance in the memory 101 or the like.

[0025] As an example, the antenna height estimation unit 130 calculates the sum of each parameter as the antenna height as shown in the following mathematical formula (1). In the mathematical formula (1), \(h_a\) is the antenna height, \(h_{ba}\) is the height from the upper end of the suspension to the receiving antenna, \(h_s\) is the stroke height, and \(h_t\) is the tire radius.

[0026] (Equation 1) \(h_a = h_{ba}+h_s + h_t\) ···(1) The determination unit 140 performs a correctness determination of the provisional position based on the road surface elevation and the antenna height. For example, when the absolute value of the difference (difference index) between the sum of the road surface elevation and the antenna height and the height at the provisional position (provisional height) is within the allowable difference range, the determination unit 140 determines that the provisional position is correct (correct answer determination). Specifically, the difference index diff is calculated based on the following formula. In the following formula, h_m represents the road surface elevation, h_a represents the antenna height, h_r represents the provisional height, and abs means taking the absolute value of the expression inside the parentheses.

[0027] (Equation 2) diff = abs((h_m + h_a) - h_r) ···(2) On the other hand, when the difference index is not within the allowable difference range, the determination unit 140 determines that the provisional position is incorrect (error determination). Here, the allowable difference range is a numerical range that can be tolerated with the provisional position regarded as the correct position of vehicle A, and is a numerical range in which the difference index is less than or equal to the threshold value. When the correct answer determination is made, the determination unit 140 may confirm the provisional position as the positioning position of vehicle A and transmit it to the in-vehicle device 90 that requires the position information. Note that the position information may be transmitted not to the in-vehicle device 90 but to an external server or the like of vehicle A. When the error determination is made, the provisional position estimation unit 110 may re-perform the positioning of the provisional position. Alternatively, when the error determination is made, it may be notified to the in-vehicle device 90 that the provisional position cannot be confirmed by the positioning.

[0028] Next, the flow of the positioning method executed by the locator ECU 100 through the cooperation of the functional blocks will be described below with reference to FIG. 2. In the flow described later, "S" means a plurality of steps of the flow executed by a plurality of instructions included in the program.

[0029] First, in S100, the provisional position estimation unit 110 acquires the latest satellite data received by the GNSS receiver 10. Next, in S110, the provisional position estimation unit 110 estimates the provisional position by RTK based on the satellite data.

[0030] After the process of S110, at S120, the road surface elevation estimation unit 120 estimates the road surface elevation. Next, at S130, the antenna height estimation unit 130 estimates the antenna height. In the subsequent S140, the determination unit 140 determines whether an error in the provisional position is detected based on the map elevation and the antenna height. If it is determined that the provisional position is incorrect, at S150, the determination unit 140 determines the error in the currently positioned provisional position. On the other hand, if it is determined that the provisional position is correct, at S160, the determination unit 140 determines the correct answer of the current provisional position. In the above, S110 is an example of the "provisional position acquisition step", S120 is the "road surface elevation acquisition step", S130 is the "antenna height estimation step", and S140, S150, and S160 are examples of the "determination step".

[0031] According to the above first embodiment, by comparing the sum of the road surface elevation and the antenna height with the height coordinate of the provisional position, the correctness determination of the provisional position is executed. Therefore, the correctness determination of the positioned provisional position can be executed without depending on the continuity of the time-series data. Thus, it is possible to more reliably detect an error in the positioning.

[0032] (Second Embodiment) In the second embodiment, a modified example of the locator ECU 100 in the first embodiment will be described. In FIGS. 3 to 5, the components denoted by the same reference numerals as in the drawings of the first embodiment are the same components and have the same operational effects.

[0033] In the second embodiment, the determination unit 140 further uses a height correction value h_e, which will be described later, in the calculation of the difference index d. Specifically, the determination unit 140 calculates the difference index d based on the following mathematical formula.

[0034] (Equation 3) diff = abs((h_m + h_a) - h_r - h_e) ···(3) In the second embodiment, in addition to the functional units described in the first embodiment, the locator ECU 100 includes a verification unit 150. When it is determined that the provisional position is incorrect, the verification unit 150 re-verifies the provisional position. In the re-verification, the verification unit 150 may determine the correctness of the provisional position based on the continuity of ambiguity. Alternatively, the verification unit 150 may determine the correctness of the provisional position based on scan matching. Alternatively, the verification unit 150 may determine the correctness of the provisional position based on the presence or absence of data jumps in the time series.

[0035] When the verification unit 150 determines that the provisional position is correct, it updates the correction amount of the antenna height. In addition, the verification unit 150 uploads the updated information of the map elevation data to the server via the in-vehicle communicator 20. The updated information includes, for example, the positioning time, the unique ID of vehicle A, the estimated position, the road surface height based on RTK positioning, the height from the road surface to the antenna, the version ID of the map used, and the road surface ID of the current position in the map used. The updated information is used by the server to update the elevation data of the map. The updated map data is distributed from the server to each vehicle A.

[0036] The verification unit 150 performs the correction of the antenna height. The verification unit 150 determines whether the traveling speed of vehicle A is outside the cancellation range of the correction process, and if it is determined that it is outside the cancellation range, the verification unit 150 performs the correction. On the other hand, when the verification unit 150 determines that the traveling speed is within the cancellation range, the correction is interrupted. Here, the cancellation range is a numerical range in which the traveling speed is less than a threshold value (for example, 3 m / s) or less than or equal to the threshold value. By canceling the correction when the traveling speed is within the cancellation range, the verification unit 150 can avoid updating the height correction value at substantially the same location. The verification unit 150 may acquire the traveling speed based on the detection information of the external sensor 40, such as the captured image of the surrounding monitoring camera, or may acquire the traveling speed based on the observation information of the GNSS receiver 10. Alternatively, the verification unit 150 may acquire the traveling speed from the wheel speed sensor.

[0037] When performing correction, the verification unit 150 calculates a height correction value he. The height correction value he is calculated based on the current height error hec corresponding to the difference between the sum of the road surface elevation and the antenna height and the height based on the provisional position. Specifically, the verification unit 150 first calculates the current height error based on the following formula.

[0038] (Equation 4) he = hr - (ha + hm) ···(4) Then, the verification unit 150 calculates the height correction value he based on the current height error hec and the previous height correction value hep. Specifically, the verification unit 150 calculates the height correction value he based on the following formula. In the following, g is the gain. The gain is a numerical value less than 1 (for example, 0.01). The gain is a coefficient that reduces the contribution degree of the current height error to the height correction value. In other words, the gain is a coefficient multiplied by the current height error to suppress a rapid change in the height correction value. Also, the previous height correction value is multiplied by a coefficient obtained by subtracting the gain from 1.

[0039] (Equation 5) he = (1 - g)hep + g × hec ···(5) Next, the flow of the positioning method executed by the locator ECU 100 of the second embodiment will be described below according to FIG. 4 by the cooperation of functional blocks. For steps with the same reference numerals as in the flow of FIG. 2, the description of the first embodiment is incorporated.

[0040] If it is determined at S140 that the provisional position is incorrect, this flow shifts to S150. At S141, the verification unit 150 re-verifies the provisional position. If it is determined that the provisional position is correct, at S142, the verification unit 150 updates the correction amount of the antenna height. In the subsequent S143, the verification unit 150 uploads the update information of the map elevation data. After the process of S143, the process of S150 is executed.

[0041] Regarding the details of the process executed by the verification unit 150 in S142, it will be described with reference to the flowchart of FIG. 5. First, in S142a, the verification unit 150 determines whether the traveling speed of vehicle A is outside the correction process suspension range. If it is determined that it is outside the suspension range, in S142b, the verification unit 150 calculates the current height error h_ec. Next, in S142c, the verification unit 150 updates the height correction value h_e based on the above formula (5). On the other hand, if it is determined in S142a that the traveling speed is within the suspension range, the verification unit 142 suspends the update of the height correction value h_e and ends the flow. In the above, S141, S142, and S143 are examples of the "verification process".

[0042] According to the above embodiment, when an error determination is made, the provisional position is re-verified based on information different from the difference index. According to this, even when an error determination is made based on the difference index, it is possible to verify whether the determination result is correct. Therefore, the certainty of the correct / incorrect determination of the provisional position can be improved.

[0043] (Third Embodiment) In the third embodiment, a modification example of the locator ECU 100 in the first embodiment will be described. In the following, components denoted by the same reference numerals as those in the drawings of the first embodiment are the same components and have the same operational effects.

[0044] In the third embodiment, the locator ECU 100 calculates the antenna height based on the height from the road surface to the distance measuring sensor based on the detection amount of the distance to the measurement target by the distance measuring sensor, and the height from the distance measuring sensor to the receiving antenna 11. The distance measuring sensor may be provided by an external sensor 40 such as a LiDAR or a surrounding monitoring camera, for example. Specifically, the antenna height estimation unit 130 calculates the height from the road surface to the distance measuring sensor based on the following formula. In the following formula, d is the measured distance to the road surface, and θ is the angle with respect to the horizontal direction in the distance measuring direction.

[0045] (Equation 6) h_gs = d × sinθ ···(6) Then, the antenna height estimation unit 130 calculates the antenna height based on the following formula. In the following formula, h_sa is the height from the distance measuring sensor to the receiving antenna 11. h_sa is information stored in advance in a storage medium such as the memory 101.

[0046] (Equation 7) h_a = h_gs + h_sa ···(7)

[0047] (Fourth Embodiment) In the fourth embodiment, a modified example of the locator ECU 100 in the first embodiment will be described. In the following, components denoted by the same reference numerals as in the drawings of the first embodiment are the same components and exhibit the same operational effects.

[0048] In the fourth embodiment, the locator ECU 100 calculates the antenna height by scan matching based on the distance measuring sensor. The road surface elevation estimation unit 120 acquires the height from the road surface to the distance measuring sensor by positioning using the distance measuring sensor and map data. For example, the road surface elevation estimation unit 120 may acquire the height by performing scan matching using a LiDAR device and a point cloud map.

[0049] According to the fourth embodiment, when the distance measuring sensor does not include the vicinity of the vehicle A in the measurement range, or when traveling on an uneven road such as a slope, the height to the distance measuring sensor can be measured more accurately. As a result, the accuracy of the estimated position is improved, and a more reliable determination of the correctness of the provisional position can be made. Note that the road surface elevation estimation unit 120 may directly calculate the height from the road surface by the distance measuring sensor as in the third embodiment when traveling on a flat road, and calculate the height from the road surface by scan matching when traveling on an uneven road.

[0050] (Fifth Embodiment) In the fifth embodiment, a modified example of the locator ECU 100 in the first embodiment will be described. In FIG. 6, components denoted by the same reference numerals as in the drawings of the first embodiment are the same components and exhibit the same operational effects.

[0051] In the fifth embodiment, when the determination unit 140 determines that the provisional position is incorrect, it determines whether the number of times of estimating the provisional position has reached the upper limit. If it determines that the upper limit has been reached, the determination unit 140 determines the error of the provisional position. On the other hand, when it is determined by the determination unit 140 that the upper limit has not been reached, the provisional position estimation unit 110 reselects the satellite data used for estimating the provisional position and estimates the provisional position again.

[0052] Next, the flow of the positioning method executed by the locator ECU 100 of the third embodiment will be described below with reference to FIG. 6 by the cooperation of the functional blocks. If it is determined in S140 that the provisional position is incorrect, this flow proceeds to S141. In S141, the determination unit 140 determines whether the number of times of estimating the provisional position has reached the upper limit. If it determines that the upper limit has been reached, this flow proceeds to S150. On the other hand, if it is determined in S141 that the upper limit has not been reached, it proceeds to S142. In S142, the provisional position estimation unit 110 reselects the satellite data and returns to S110.

[0053] (Other Embodiments) The disclosure in this specification is not limited to the illustrated embodiments. The disclosure includes the illustrated embodiments and modifications by those skilled in the art based on them. For example, the disclosure is not limited to the combination of components and / or elements shown in the embodiments. The disclosure can be implemented by various combinations. The disclosure can have additional parts that can be added to the embodiments. The disclosure includes those in which the components and / or elements of the embodiments are omitted. The disclosure includes the replacement or combination of components and / or elements between one embodiment and another. The disclosed technical scope is not limited to the description of the embodiments. Some of the disclosed technical scopes should be understood to be indicated by the description of the claims and to include all changes within the meaning and scope equivalent to the description of the claims.

[0054] In the above-described embodiment, the dedicated computer constituting the positioning device is assumed to be the locator ECU 100. Instead of this, the dedicated computer constituting the positioning device may be the driving control ECU mounted on the vehicle A, or may be the actuator ECU that individually controls the driving actuators of the vehicle A. Alternatively, the dedicated computer constituting the positioning device may be the navigation ECU. Alternatively, the dedicated computer constituting the positioning device may be the HCU (HMI (Human Machine Interface) Control Unit) that controls the information display of the information display system. Further, the dedicated computer constituting the positioning device may be a server device provided outside the vehicle A. Further, the dedicated computer constituting the positioning device may be the control circuit of the GNSS receiver 10.

[0055] As a modification of the above-described embodiment, when the receiving antenna 11 is attached to a member attached to the lower end of the suspension, the locator ECU 100 may use the antenna height stored in advance in the memory 101 or the like. In this case, since the receiving antenna 11 is attached under the suspension, it does not change as long as the tire diameter and the attachment position of the antenna do not change. Therefore, measurement data at the time of shipment and the like can be used. For example, such a configuration can be realized when the locator ECU 100 is mounted on a moving body other than the vehicle A, such as a mobile robot.

[0056] The locator ECU 100 may be a dedicated computer configured to include at least one of a digital circuit and an analog circuit as a processor. Here, in particular, the digital circuit is, for example, at least one type among ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Further, such a digital circuit may be provided with a memory storing a program.

[0057] The locator ECU 100 may be provided by one computer or a set of computer resources linked by a data communication device. For example, some of the functions provided by the locator ECU 100 in the above-described embodiment may be realized by another ECU or a server device.

Explanation of Signs

[0058] 11 Receiving antenna, 100 Locator ECU (Positioning device), 102 Processor, 110 Tentative position estimation unit (Tentative position acquisition unit), 120 Road surface elevation estimation unit (Road surface elevation acquisition unit), 130 Antenna height estimation unit, 140 Determination unit, 150 Verification unit, A Vehicle (Moving body).

Claims

1. A positioning device for estimating the position of a moving body (A) equipped with a receiving antenna (11) for receiving satellite data from positioning satellites, comprising: a provisional position acquisition unit (110) that acquires a provisional position of the moving body based on the satellite data; a road surface elevation acquisition unit (120) that acquires a road surface elevation, which is the elevation of the road surface at the approximate position, based on the approximate position of the moving body based on information different from the satellite data and map information; an antenna height estimation unit (130) that estimates the antenna height, which is the height from the road surface to the receiving antenna; a determination unit (140) that makes a correct determination of the provisional position when the difference between the sum of the road surface elevation and the antenna height and the height based on the provisional position falls within an allowable difference range, and makes an error determination of the provisional position when the difference is greater than the allowable difference range; a verification unit (150) that re-verifies the provisional position based on information different from the difference when the error determination is made; The positioning device further comprising: The verification unit corrects the antenna height when the correct determination is made, and sets a correction amount for correcting the antenna height based on the difference and a coefficient for reducing the contribution degree of the difference to the correction amount.

2. The moving body is a vehicle, The antenna height estimation unit calculates the antenna height based on the stroke amount of the suspension and the tire diameter in the vehicle. The positioning device according to claim 1.

3. The antenna height estimation unit calculates the antenna height based on the height from the road surface to the distance measuring sensor based on the detection amount of the distance to the road surface by the distance measuring sensor and the height from the distance measuring sensor to the receiving antenna. The positioning device according to claim 1.

4. The antenna height estimation unit sets the height from the road surface by the distance measuring sensor to be the height based on the matching between the point cloud of the road surface detected by the distance measuring sensor and the map information. The positioning device according to claim 3.

5. A positioning method executed by a processor (102) for estimating the position of a moving body (A) equipped with a receiving antenna (11) for receiving satellite data from positioning satellites, comprising: a provisional position acquisition step (S110) of acquiring a provisional position of the moving body based on the satellite data; A road surface elevation acquisition step (S120) of acquiring a road surface elevation, which is the elevation of a road surface at the estimated position, based on the estimated position of the moving body based on information different from the satellite data and map information; An antenna height estimation step (S130) of estimating an antenna height, which is the height from the road surface to the receiving antenna; A determination step (S140, S150, S160) of making a correct determination of the tentative position when the difference between the sum of the road surface elevation and the antenna height and the height based on the tentative position falls within an allowable difference range, and making an error determination of the tentative position when the difference is greater than the allowable difference range; A verification step (S141, S142, S143) of re-verifying the tentative position based on information different from the difference when the error determination is made; including; In the verification step, when the correct determination is made, the antenna height is corrected, and a correction amount for correcting the antenna height is set based on the difference and a coefficient for reducing the contribution degree of the difference to the correction amount. A positioning method.

6. The moving body is a vehicle, In the antenna height estimation step, the positioning method according to claim 5, wherein the antenna height is calculated based on a stroke amount of a suspension in the vehicle and a tire diameter.

7. In the antenna height estimation step, the positioning method according to claim 5, wherein the antenna height is calculated based on a height from the road surface to the distance measuring sensor based on a detection amount of the distance to the road surface by a distance measuring sensor and a height from the distance measuring sensor to the receiving antenna.

8. In the antenna height estimation step, the positioning method according to claim 7, wherein the height from the road surface by the distance measuring sensor is set as a height based on matching between a point group of the road surface detected by the distance measuring sensor and the map information.

9. A positioning program including a plurality of instructions for causing a processor (102) to execute in order to estimate the position of a moving body (A) equipped with a receiving antenna (11) for receiving satellite data from positioning satellites, The instructions are A tentative position acquisition step (S110) of acquiring a tentative position of the moving body based on the satellite data; A road surface elevation acquisition step (S120) of acquiring a road surface elevation, which is the elevation of a road surface at the estimated position, based on the estimated position of the moving body based on information different from the satellite data and map information; An antenna height estimation step (S130) for estimating an antenna height, which is the height from the road surface to the receiving antenna; A determination step (S140, S150, S160) for making a correct determination of the tentative position when the difference between the sum of the road surface elevation and the antenna height and the height based on the tentative position falls within an allowable difference range, and making an error determination of the tentative position when the difference is greater than the allowable difference range; A verification step (S141, S142, S143) for re-verifying the tentative position based on information different from the difference when the error determination is made; comprising; In the verification step, when the correct determination is made, a positioning program for correcting the antenna height and setting a correction amount for correcting the antenna height based on the difference and a coefficient for reducing the contribution of the difference to the correction amount.

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