Mitsubishi Electric Corporation

Masakazu Miya

Seigo Fujita

Yuki Sato

Masayuki Saito

Kazuhiro Terao

Yoshihiro Shima

Hisao Sone

Tsutomu Nakajima

Mitsunobu Yoshida

Junichi Takiguchi

Ryujiro Kurosaki

Hayato Shiono

Ryoichiro Yasumitsu

Natsuki Kondo

A local error estimation unit () of a local error generation device () estimates and generates local errors (&#x3b4;T, &#x3b4;I) based on global errors (&#x3b4;o, &#x3b4;t, &#x3b4;b) included in positioning augmentation information () produced in an electronic reference point network () and observed data () generated by receivers on electronic reference points () not belonging to the electronic reference point network (). The local errors (&#x3b4;T, &#x3b4;I) are errors that influence positioning accuracy in a region where the electronic reference points () exist and that depend on the region where the electronic reference points () exist.

Local error generation device, computer readable medium, and positioning augmentation information distribution system

A positioning satellite selection device that obtains a selection combination of positioning satellites used for positioning of a positioning target, and includes: a positioning data acquisition unit that acquires positioning data or navigation information, a range observation value, and an error correction value of this range observation value of a positioning satellite; a satellite position calculator that calculates a satellite position of the positioning satellite from the navigation information; a quality evaluation unit that evaluates quality of the positioning data; a shortest time designation unit that sets a shortest selection time during which the positioning satellite is selected to a larger value as poorer the quality; a plan creator that obtains the selection combination by selecting a positioning satellite conditioned on selecting for longer than the shortest selection time; and a plan storage that stores a plan of the selection combination of positioning satellites.

Positioning satellite selection device, positioning information transmitting device, and positioning system

A correction generation unit generates an amount of correction for a phase pseudorange between a positioning satellite and each of a plurality of evaluation points, as an amount of evaluation point correction for each of the plurality of evaluation points, based on a carrier phase of a positioning signal observed at each of a plurality of electronic reference points. A reference calculation unit calculates a difference between the phase pseudorange between the positioning satellite and each of the plurality of evaluation points and a geometric distance between the positioning satellite and each of the plurality of evaluation points, as an amount of reference correction for each of the plurality of evaluation points. A ranging error calculation unit removes a bias component due to ambiguity from a difference between the amount of evaluation point correction and the amount of reference correction and thereby calculates a ranging error at each of the plurality of evaluation points.

Positioning augmentation device, positioning augmentation method, and computer readable medium

In a positioning augmentation device (), a plan making unit () selects a subset satisfying selection conditions from within a candidate set that is a set of satellites being selection candidates and saves plan data () indicating the selected subset in a memory (). A plan alteration unit () acquires integrity information indicating quality of a positioning signal transmitted from each satellite and detects a satellite of which the quality of the positioning signal does not satisfy quality conditions, from within the subset selected by the plan making unit (), based on the acquired integrity information. The plan alteration unit () replaces the detected satellite in the subset with another satellite included in the candidate set. A message generation unit () makes satellites, included in the subset indicated by the plan data () saved in the memory () among the satellites included in the candidate set, objects of positioning augmentation and generates a message () for distribution of augmentation information to be used for the positioning augmentation.

Positioning augmentation device, positioning augmentation system, and positioning augmentation method

A reinforcement information adjustment unit reduces an amount of information in reinforcement information by combining: update cycle adjustment processing to set an update cycle of the reinforcement information to be an integer multiple of a predetermined update cycle; geographic interval error value adjustment processing to reduce the number of geographic interval error values by selecting from among a plurality of the geographic interval error values each of which is an error at every predetermined geographic interval out of a plurality of error values, a geographic interval error value at every geographic interval that is an integer multiple of the predetermined geographic interval; and bit count adjustment processing to reduce a bit count of the error value for each error value. A reinforcement information output unit outputs, to an output destination, reinforcement information after being reduced in the amount of information by the reinforcement information adjustment unit.

Information processing device

Positioning device

An augmentation information adjustment unit () reduces an amount of information in augmentation information by combining: update cycle adjustment processing () to set an update cycle of the augmentation information to be an integer multiple of a predetermined update cycle; geographic interval error value adjustment processing () to reduce the number of geographic interval error values by selecting from among a plurality of the geographic interval error values each of which is an error at every predetermined geographic interval out of a plurality of error values, a geographic interval error value at every geographic interval that is an integer multiple of the predetermined geographic interval; and bit count adjustment processing () to reduce a bit count of the error value for each error value. An augmentation information output unit () outputs, to an output destination, augmentation information after being reduced in the amount of information by the augmentation information adjustment unit ().

Information processing device and positioning device

A mechanism converts positioning correction information included in an SSR message as defined by 'RTCM STANDARD 10403.2' to positioning correction information conforming to 'RTCM 10402.3'. A conversion device includes a computation processing section that acquires a plurality of types of positioning correction information conforming to &#x201c;RTCM STANDARD 10403.2&#x201d;, an approximate position being a positioning result, and a satellite position of a satellite that transmits positioning information based on which the approximate position is calculated, and based on the types of positioning correction information, the approximate position, and the satellite position that have been acquired, generates pieces of element data, such as CLR and ORB, which are elements used for generating the types of positioning correction information conforming to &#x201c;RTCM 10402.3&#x201d;, by computation, and a conversion calculation section that generates the types of positioning correction information conforming to &#x201c;RTCM 10402.3&#x201d;, based on the pieces of element data.

Conversion device and computer readable medium

A correction data creation unit receives a value of an error used in satellite positioning at a first time interval, and receives a correction value of the error at a second time interval that is a time interval 1/n (n is an integer of two or larger) time interval of the first time interval. The correction data creation unit also corrects the value of the error at the second time interval by using the correction value.

Global positioning device

An observation data screening unit () executes least squares method positioning using, as an observation amount, n (n is an integer of 3 or larger) number of single difference amounts of an L1-wave pseudorange obtained from n pieces of observation data from n number of positioning satellites and n pieces of correction data corresponding to the n pieces of the observation data. The observation data screening unit () calculates a sum of squares of n residuals obtained for each positioning satellite by executing the least squares method positioning and normalizes the n residuals. The observation data screening unit () then evaluates the sum of squares of the residuals and the n normalized residuals.

An apparatus and method generating a road image including no features such as trees and tunnels hiding or covering a road surface. A mobile measuring apparatus installed in a vehicle may acquire a distance and orientation point cloud, a camera image, GPS observation information, a gyro measurement value, and an odometer measurement value, while moving in a target area. The position and attitude localizing apparatus may localize the position and attitude of the vehicle based on the GPS observation information, the gyro measurement value and the odometer measurement value. The point cloud generating apparatus may generate a point cloud based on the camera image, the distance and orientation point cloud, and a position and attitude localized value. The point cloud orthoimage generating apparatus may extract points close to a road surface exclusively from the point cloud by removing points higher than the road surface, orthographically project each extracted point onto a horizontal plane, and generate a point cloud orthoimage. The point cloud orthoimage may show the road surface including no features covering or hiding the road surface.

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Tokyo, Japan

Masakazu Miya