Satellite navigation/dead-reckoning navigation integrated positioning device

Abstract

A satellite and/or dead-reckoning navigation integrated positioning device with improved accuracy including position, velocity, etc. is disclosed. A tracking processing module performs, based on a GPS signal, acquisition and tracking thereof and demodulation of a navigation message. A GPS calculation module calculates position, velocity, and the like based on pseudo-range and Doppler frequency observations, and ephemeris data and gives the calculations to output judgment and tracking processing modules. Based on external support information including inertial sensor output, map information or information about differences between map position and measured position, along with the pseudo-range and Doppler observations, an integrated positioning calculation module estimates position, velocity, and the like, and gives the estimates to the output judgment module. The output judgment module compares outputs of the GPS calculation and the integrated positioning calculation modules to judge reliability of data from the integrated positioning calculation module and abnormality of external support data.