Virtual Reference Point Positioning for Smooth Path Continuity
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Satellite positioning systems face accuracy degradation due to multipath signal reception, leading to stepwise changes in the path of movable objects when inertial navigation is combined with less accurate satellite positioning coordinates.
Innovation Solution
Increasing the weighting factor for satellite positioning coordinates in incremental steps to bring the virtual reference point closer to the satellite positioning coordinates, thereby inhibiting stepwise changes in the path of movable objects by using a positioning apparatus with a navigation signal receiver, acceleration sensor, and yaw rate sensor, and a controller that calculates satellite positioning coordinates and movement quantities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If satellite positioning coordinates are used as reference points for inertial navigation, then positioning can be provided sequentially, but the path of the current position becomes stepwise when satellite signal accuracy is degraded
Solution Approach 1:
The patent introduces a virtual reference point as an intermediary between the satellite positioning coordinates and the inertial navigation calculations. This virtual reference point is positioned between the inertial navigation position and the satellite positioning coordinates, serving as a mediator that smooths the transition and eliminates stepwise changes in the position path while maintaining sequential positioning capability.
2Productivity
If satellite positioning coordinates with degraded accuracy are used as reference points, then positioning updates can occur, but the position accuracy is reduced due to multipath effects
Solution Approach 1:
The virtual reference point acts as a buffer that filters out the impact of degraded satellite positioning coordinates. By positioning the virtual reference point between the inertial navigation position and the satellite coordinates, the system can maintain frequent positioning updates while reducing the direct influence of inaccurate satellite data on the final position accuracy.
3Measurement precision
If the weighting factor for satellite positioning coordinates is increased to improve accuracy, then the virtual reference point aligns better with satellite coordinates, but stepwise changes in the position path may occur
Solution Approach 1:
The patent dynamically adjusts the weighting factor for satellite positioning coordinates based on the reliability of the satellite signal. When satellite signal quality is high, the weighting factor is increased to improve accuracy. When signal quality degrades, the weighting factor is reduced to prevent stepwise changes in the position path, thus adaptively balancing accuracy and smoothness.
Solution Approach 2:
The system changes the weighting parameter dynamically based on signal conditions. By adjusting the weighting factor according to satellite signal reliability, the system can optimize the balance between using satellite positioning coordinates for accuracy and maintaining smooth position paths, avoiding stepwise changes when signals are degraded.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A positioning apparatus includes: a satellite positioning device (41) calculating a satellite positioning coordinate based on a navigation signal received by a navigation signal receiver (10); a movement quantity calculator (42) acquiring a signal from an inertial sensor and sequentially calculating a movement quantity of the movable object by inertial navigation from receiving a navigation signal until receiving the signal from the inertial sensor; a virtual reference point determinator (43) sequentially determining a coordinate of a virtual reference point after receiving the navigation signal; and a position determinator (44) determining the position of the movable object sequentially based on the movement quantity of the movable object from the virtual reference point. The virtual reference point determinator determines that the coordinate of the virtual reference point is obtained by multiplying respective weighting factors on the position of the movable object determined when the navigation signal is received and the satellite positioning coordinate, and increases the weighting factor used to multiply the satellite positioning coordinate in incremental steps.