Kinematic Positioning Error Convergence via Pre-stored Data
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Solution Overview
Problem
Precise point positioning systems face challenges in achieving rapid convergence of positioning errors, especially during the initial activation of autonomous travel control systems or in situations where satellite communication is blocked, such as tunnels, due to the difficulty in correcting carrier wave phase errors.
Innovation Solution
A kinematic positioning system that includes an on-vehicle device and a ground management device, where the on-vehicle device performs initial and secondary processing sequences to calculate position coordinates using carrier wave phases and pseudoranges, and selects the position coordinates with smaller data errors, while the ground management device transmits correction data to refine the positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If precise point positioning is used for autonomous travel control, then positioning accuracy is improved, but the time required for error convergence increases
Solution Approach 1:
The system performs preliminary actions by pre-calculating and storing position information at multiple candidate locations along the travel route before autonomous travel begins. During tunnel traversal when satellite signals are unavailable, the system can immediately switch to using these pre-prepared position data without requiring real-time error convergence, thus resolving the contradiction between maintaining high positioning accuracy and reducing error convergence time.
2Reliability
If precise point positioning is used in tunnel environments, then positioning availability is improved, but positioning accuracy deteriorates due to satellite signal blockage
Solution Approach 1:
The system prepares compensatory measures in advance by storing position information at multiple candidate locations before entering the tunnel. When satellite signals are blocked inside the tunnel, the system switches to using these pre-stored position data to maintain positioning availability. This beforehand cushioning ensures that positioning reliability is maintained during signal blockage while avoiding the accuracy deterioration that would occur with real-time error convergence in denied environments.
3Speed
If carrier wave phase correction is attempted immediately after activation or during signal blockage, then positioning speed is improved, but positioning reliability worsens due to inability to correct carrier wave phase errors
Solution Approach 1:
The system performs preliminary action by pre-calculating and storing position information at candidate locations before autonomous travel begins. This allows the system to immediately use pre-prepared position data when activated or during signal blockage, achieving fast positioning response without attempting unreliable carrier wave phase correction under adverse conditions, thus resolving the contradiction between positioning speed and reliability.
Data Source
AI summary
A kinematic positioning system configured to determine position coordinates of moving bodies by receiving positioning signals from positioning satellites, comprises an on-vehicle device configured to calculate the position coordinates of one of the moving bodies based on carrier wave phases of the positioning signals received from the positioning satellites, and a ground management device configured to transmit correction data used to calculate the position coordinates to the on-vehicle device in response to a request from the on-vehicle device. The on-vehicle device executes a first processing sequence of performing precise point positioning computation by acquiring precise orbit data of each positioning satellite from any of the positioning satellite and the ground management device, and calculating the position coordinates, and a second processing sequence of sending the ground management device a pseudorange concerning a positioning satellite selected from the positioning satellites, a carrier wave, and the position coordinates of the one moving body, performing the precise point positioning computation by acquiring the correction data from the ground management device, and calculating the position coordinates. The on-vehicle device selects the position coordinates having a smaller data error out of the position coordinates calculated in the first processing sequence and the position coordinates calculated in the second processing sequence as the position coordinates of the one moving body.