Coordinate Output Device for RTK Positioning Error Suppression
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Solution Overview
Problem
Interferometric positioning by the RTK method for moving bodies is prone to positioning errors (jumps) due to float solution inaccuracies.
Innovation Solution
A coordinate output method and device that selectively output either a fix solution, a float solution, or a dead reckoning (DR) solution based on the reliability of the RTK calculation and the continuity of fix solution availability, to minimize positioning errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If interferometric positioning by RTK method is applied to positioning of a moving body, then positioning precision is improved, but positioning errors (jumps) occur due to float solution inaccuracies
Solution Approach 1:
The patent dynamically switches between three positioning modes (fix solution, float solution, and dead reckoning) based on real-time reliability assessment. The system determines whether to output fix solution, float solution, or dead reckoning coordinates by evaluating the continuity of fix solution availability and the deviation between float solution and dead reckoning results, thereby adapting to changing positioning conditions to maintain both precision and reliability
Solution Approach 2:
The patent changes the output coordinate parameters based on the determined positioning mode. When fix solution is continuously available, it outputs fix solution coordinates; when fix solution is unavailable but deviation is small, it outputs float solution coordinates; when deviation exceeds threshold, it outputs dead reckoning coordinates. This parameter switching resolves the contradiction by selecting the most reliable coordinate type for each situation
2Duration of action of stationary object
If float solution is used for positioning, then positioning continuity is improved, but positioning accuracy deteriorates due to float solution inaccuracies
Solution Approach 1:
The patent introduces dead reckoning as an intermediary reference to assess float solution accuracy. By comparing the deviation between float solution and dead reckoning results, the system determines whether float solution is accurate enough for output. This intermediary comparison mechanism allows continuous positioning while filtering out inaccurate float solutions
Solution Approach 2:
The system uses feedback from the deviation calculation between float solution and dead reckoning to control float solution output. When deviation is within threshold, float solution is output; when deviation exceeds threshold, dead reckoning is output instead. This feedback control ensures positioning continuity while maintaining accuracy by suppressing inaccurate float solutions
Data Source
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AI summary
There is provided a coordinate output method capable of suppressing the influence of a positioning error (jump) of a float solution in a case where interferometric positioning by RTK method is applied to positioning of a moving body. Current coordinates of a moving body are estimated based on previous coordinates of the moving body and information on a speed of the moving body. In addition, interferometric wave positioning is executed based on the positioning data of a base station and the positioning data of a positioning station to calculate the current coordinates of the moving body as either a fix solution or a float solution. In a case where the fix solution may not be calculated after the fix solution is calculated for a predetermined time or more, the coordinates of the moving body estimated from the information on a speed are output.