Patent ID: 9223029
Filing Date: 2015-12-29
Classification: G01S

Abstract:
1. A positioning device comprising: an acquisition section configured to, at prescribed epochs, acquire GPS data containing a pseudorange and a phase transmitted from each of a plurality of GPS satellites, and configured to acquire INS data containing a movement amount of a moving body to which the device is installed; a derivation section configured to derive an observation equation, employing the GPS data and the INS data acquired by the acquisition section as observation values, for deriving, for each of the plurality of GPS satellites, a float solution for a number of waves of carrier wave for the GPS data present between each of the plurality of GPS satellites and the moving body, wherein the observation equation is derived with a range of float solutions for the number of waves constrained by a travel path of the moving body estimated based on INS data for 3 epochs or greater; a computation section configured to solve the observation equation derived by the derivation section, the computation section being further configured to compute a float solution for the number of waves for each of the plurality of GPS satellites based on the observation equation; and a positioning section configured to, based on the respective float solutions of the number of waves for each of the plurality of GPS satellites computed by the computation section, compute a fixed solution of number of waves of highest consistency, and to determine a position of the moving body based on the distance between the plurality of respective GPS satellites from which the fixed solution of number of waves is obtained and the moving body, the positioning section being further configured to output the position of the moving body as a current location of the moving body.