AU2007234579B2

AU2007234579B2 - GPS receiving apparatus

Info

Publication number: AU2007234579B2
Application number: AU2007234579A
Authority: AU
Inventors: Hiroyuki Morita
Original assignee: Honda Motor Co Ltd
Current assignee: Honda Motor Co Ltd
Priority date: 2001-03-21
Filing date: 2007-11-21
Publication date: 2010-05-20
Anticipated expiration: 2022-03-12
Also published as: AU2007234579A1

Description

S&F Ref: 589714D2 AUSTRALIA PATENTS ACT 1990 COMPLETE SPECIFICATION FOR A STANDARD PATENT Name and Address Honda Giken Kogyo Kabushiki Kaisha, of 1-1, of Applicant : Minamiaoyama 2-chome Minato-ku, Tokyo, Japan Actual Inventor(s): Hiroyuki Morita Address for Service: Spruson & Ferguson St Martins Tower Level 35 31 Market Street Sydney NSW 2000 (CCN 3710000177) Invention Title: GPS receiving apparatus The following statement is a full description of this invention, including the best method of performing it known to me/us: 5845c(1034277_ ) 1 GPS RECEIVING APPARATUS BACKGROUND OF THE INVENTION 5 1. Field of the Invention The present invention relates to a GPS receiving apparatus. More particularly, the present invention relates to a GPS receiving apparatus capable of improving measurement accuracy by selectively using only some of the GPS signals transmitted by a number of satellites. 10 2. Description of the Prior Art As a navigation system employed in a moving body such as a car and a vessel, in Japanese Patent Laid-open No. Hei 4-324384, there has been disclosed an apparatus for determining the position of the moving body on the basis of GPS (Global Positioning System) signals, with each signal being an electric received by the apparatus from an 15 artificial satellite. The GPS receiving apparatus for determining a position receives GPS signals from three or more artificial satellites. It then computes distance data and altitude data from navigation messages transmitted by the artificial satellites, in order to find the position of the moving body. As a GPS antenna, a planar antenna is adopted. The planar antenna is known as 20 the so-called patch antenna having a disc-like shape with a diameter in the range 20 to 60 mm. In such a planar antenna, a number of antenna elements can be integrated so that its directivity in the vertical direction can be increased substantially. In addition, the planar antenna has a diversity configuration to provide a good reception condition. When an electric wave transmitted by a satellite having a small angle of 25 elevation such that the position of the satellite close to the horizon, the navigation system utilizing the GPS is adversely affected by a multipath, an ionized-layer delay, or the like. When this occurs, it is generally known that the precision of the system deteriorates. On the other hand, the planar antenna described above has a high directivity in the vertical direction, and a low sensitivity in the horizontal direction. Thus, a navigation system 30 using such a planar antenna is only minimally affected by the multipath, the ionized-layer delay, or the like. Given the above characteristics of a planar antenna, problems may occur if a planar antenna is employed in the GPS system of a moving body which changes its posture considerably during a movement. Despite the strong directivity of the planar 35 antenna, when the moving body is put into an inclined posture, the electric wave output of 2 a satellite having a small angle of elevation, unavoidably causes the precision of the GPS system to deteriorate. Examples of such a moving body where this problem occurs are a motor bicycle and a buggy car. Similarly, if a non-directional antenna is employed, other problems occur. If a 5 non-directional antenna is used to detect an electric wave in the vertical direction, and the moving body is in an inclined posture, such an antenna would receive not only an electric wave in the vertical direction, but also an electric wave in the horizontal direction. Thus, with either of these conventional devices, the technological problems of deteriorating precision remain. 10 Summary An object of the present invention is to overcome or at least substantially ameliorate one or more disadvantages of existing arrangements. According to one aspect, there is provided a GPS receiving apparatus for receiving 15 GPS signals transmitted by a plurality of satellites, the GPS receiving apparatus comprising: an antenna for receiving the GPS signals; position-calculating means for computing an approximate position using the GPS signals, 20 elevation-angle-computing means for finding an elevation angle of each of the satellites on the basis of a navigational message received from the satellites; and comparison means for comparing the elevation angle of each of the satellites with a predetermined reference elevation angle, position-calculating means for computing an accurate position using only GPS 25 signals transmitted by some of the satellites, each having an elevation angle greater than the predetermined reference elevation angle. According to another aspect, there is provided a GPS receiving apparatus for receiving GPS signals transmitted by a plurality of satellites, the GPS receiving apparatus comprising: 30 an antenna mounted on a moving body for receiving the signals; position-calculating means for computing an approximate position using the signals, signal processing means for extracting a navigation message received from the satellites; 35 elevation-angle-computing means for finding an elevation angle of each of the satellites on the basis of the navigational message; 2a comparison means for comparing the elevation angle of each of the satellites with a predetermined reference elevation angle; and position computing means for computing an accurate position of the moving body using only GPS signals transmitted by some of the satellites, each having an 5 elevation angle greater than the predetermined reference elevation angle. According to another aspect, there is provided a method of determining a position of a moving body having a changing posture relative to a horizon using a GPS receiving apparatus comprising an antenna, an elevation-angle-computing means, a comparison means, and a position-computing means, the method comprising 10 the steps of: acquiring GPS signals from satellites via the antenna; computing an approximate position using the signals, computing an elevation angle of each of the satellites in the elevation-angle computing means on the basis of a navigational message received from the satellites; 15 comparing the elevation angle of each of the satellites with a predetermined reference elevation angle in the comparison means; and computing an accurate position using only GPS signals transmitted by some of the satellites, each having an elevation angle greater than the predetermined reference elevation angle. 20 In accordance with the characteristics described above, only GPS signals transmitted by those satellites having an elevation angle greater than the predetermined reference elevation angle are selectively used. Thus, a position can be computed with a high degree of precision without being adversely affected by a multipath, an ionized-layer delay, or the like. 25 Further scope of applicability of the present invention will become apparent from the detailed description given hereinafter. However, it should be understood that the detailed description and specific examples, while indicating preferred embodiments of the invention, are given by way of illustration only, since various changes and modifications within the spirit and scope of the invention will become 30 apparent to those skilled in the art from this detailed description. Brief Description of the Drawings 3 The present invention will become more fully understood from the detailed description given hereinbelow and the accompanying drawings which are given by way of illustration only, and thus are not limitative of the present invention, and wherein: FIG. 1 is a perspective view of a buggy car, which has a saddle-sitting type, and 5 is expected to be capable of improving the measurement precision by employing a GPS receiving apparatus provided by the present invention; FIG. 2 is a block diagram showing the configuration of main components composing the GPS receiving apparatus implemented by an embodiment of the present invention; 10 FIG. 3 is a functional block diagram showing a satellite-selecting unit shown in FIG. 2.; FIG. 4 is a flowchart representing the operation of the embodiment; and FIG. 5 is a diagram showing a model representing the operation of the present invention. 15 DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention is described in detail by referring to diagrams as follows. FIG. 1 is a diagram showing a perspective view of a buggy car 100, which has a saddle sitting type, and is expected to be capable of improving the measurement precision considerably by employing a GPS receiving apparatus provided by the present invention. 20 The buggy car 100 drives components such as large-diameter wheels 101, an under cover 102 and a four-wheel driving mechanism to display a high ascending capability and high running-through performance. In this embodiment, a receiving antenna 1 of the GPS receiving system is set on the top of the front portion of the vehicle in a direction facing the sky. 25 The posture of such a moving body 100 changes significantly while the body is moving. Thus, the direction of the receiving antenna also changes with changes in posture of the body. Thus, with the moving body significantly inclined, the receiving antenna 1 is inevitably directed to a satellite at a small angle of elevation. FIG. 2 is a block diagram showing the configuration of main components 30 composing the GPS receiving apparatus implemented by the embodiment of the present invention. An example of the receiving antenna I is a helical antenna for receiving GPS signals transmitted by a plurality of GPS satellites. As compared to a conventional patch antenna provided on a planar plane, the receiving antenna 1 of the present invention has a 35 low directivity.

4 A high-frequency processing unit 2 performs a down conversion by converting a high-frequency signal included in the electric wave received by the receiving antenna I into a signal having a frequency in a desired band. An A/D conversion unit 3 performs an A/D conversion by converting the analog signal obtained in the down conversion process 5 into a digital signal. A signal-processing unit 4 extracts satellite navigation message from the digital signal which is outputted by the A/D conversion unit 3. A satellite-selecting unit 5 extracts position information of all satellites from the satellite navigation messages. Next, a position-computing unit 6 computes its own tentative present position by using extracted positions of the satellites. This is done by 10 finding elevation angles of the satellites from the position information of the satellites and the computing its own tentative present position. Subsequently, the satellite-selecting unit 5 selects those satellites having an angle of elevation greater than a predetermined reference elevation angle Oref among all the satellites, and extracts the satellite navigation messages therefrom. Finally, the position-computing unit 6 finds its own true present 15 position by using position information of the selected satellites. The position-computing unit 6 finds time information and position information of satellites from satellite navigation messages of the selected satellites. Then, a pseudo distance between each satellite and the GPS receiving apparatus is computed from a difference between a time the satellite transmits an electric wave and a time the GPS 20 receiving apparatus receives the electric wave, as well as from a measured Doppler frequency. The position-computing unit 6 further computes the three-dimensional or two dimensional position of the moving body, including an error of its own internal clock as an unknown variable. FIG. 3 is a functional block diagram showing the satellite-selecting unit 5, which 25 comprises an elevation-angle-computing unit 501, a reference-elevation-angle-generating unit 502, a comparison unit 503 and a pseudo-distance-computing unit 504. The elevation-angle-computing unit 501 extracts position information of each satellite STn from the satellite navigation message, and then computes the elevation angle .theta.n of the satellite STn. The reference-elevation-angle-generating unit 502 generates the 30 reference elevation angle Oref. The comparison unit 503 compares the computed elevation angle .theta.n of each satellite STn with the reference elevation angle Oref. The pseudo distance-computing unit 504 computes a pseudo distance Ln to each satellite STn with an elevation angle On greater than the reference elevation angle Oref on the basis of the satellite navigation message. The position-computing unit 6 selectively takes only 5 information of each satellite STn with an elevation angle On greater than the reference elevation angle Oref. Next, the operation of the embodiment is explained by referring to a flowchart shown in FIG. 4 and the block diagram of FIG. 3. As shown in FIG. 5, this embodiment is 5 explained as an embodiment capable of receiving electric waves from seven satellites STI to ST7. At a step S1, the elevation-angle-computing unit 501 employed in the satellite selecting unit 5 acquires a satellite navigation message transmitted from the first satellite STI from the signal-processing unit 4. Then, at a step S2, a variable N for identifying all 10 satellites is set at 1. In this embodiment, the variable N can have a value in the range 1 to 7. Further, a variable M for identifying a selected satellite is set at 0. At a step S3, the elevation-angle-computing unit 501 computes the elevation angle theta.1 of the Nth satellite STI, where N is initially 1. At a step S4, the comparison unit 503 compares the computed elevation angle 01 with the reference elevation angle Oref. 15 Since the elevation angle 01 of the satellite STI in this embodiment is smaller than the reference elevation angle Oref as shown in FIG. 5, the flow of the operation goes on to a step S8 to form a judgment as to whether or not the satellite STl processed at this time is the last satellite ST7. The outcome of the present judgment indicates that there is another satellite that remains to be processed. In this case, the flow of the operation thus 20 goes on to a step S9 at which the variable N is incremented. Then, the flow of the operation goes back to the step S3. At the next step S3, the elevation-angle-computing unit 501 computes the elevation angle 02 of the second satellite ST2. At the step S4, the comparison unit 503 compares the computed elevation angle 02 with the reference elevation angle Oref. 25 Since the elevation angle 02 of the satellite ST2 in this embodiment is greater than the reference elevation angle Oref as shown in FIG. 5, the flow of the operation goes on to a step S5 at which the variable M is incremented. At a step S6, the pseudo-distance computing unit 504 computes a pseudo distance Ln of the second satellite, that is, a pseudo distance L2 of the satellite ST2 in this case. At a step S7, the pseudo distance L2 30 obtained as a result of computation is supplied to the position-computing unit 6 to be stored in a storage area A(M). That is to say, the pseudo distance L2 is stored in a storage area A(]). The flow of the operation then goes on to the step S8 to form a judgment as to whether or not the satellite processed at this time is the last satellite. If the outcome of the 35 present judgment indicates that there is another satellite which remains to be processed, 6 the flow of the operation goes on to the step S9 at which the variable N is incremented. Then, the flow of the operation goes back to the step S3. The above pieces of processing are carried out repeatedly for each of the other satellites. As described above, the above processing steps are performed repeatedly for 5 each of the satellites STI to ST7. As a result, the position-computing unit 6 stores pseudo distances L2, L3, L4 and L5 of the satellites ST2 to ST5, each of which have an elevation angle On greater than the reference elevation angle Oref, and stores the pseudo distances L2, L3, L4 and L5 in storage areas A(1), A(2), A(3) and A(4) respectively as shown in FIG. 5. 10 At a step S10, the position-computing unit 6 computes the position of the moving body on the basis of the pseudo distances stored in the storage areas A(l), A(2), A(3) and A(4) and positional coordinates of the satellites. In this embodiment, in order to correct a shift between time information of satellites and time information of the moving body, the shift is also computed as an 15 unknown variable. Thus, the total number of unknown variables is four. The unknown variables other than the shift in time information are the three-dimensional coordinates of the moving body. Let notations (Xn, Yn, Zn) denote the positional coordinates of each satellite STn, notations (Xp, Yp, Zp) denote the positional coordinates of the moving body, notation C denote the speed of light, notation St denote the shift of the receiver time 20 and notation Ln denote the pseudo distance to each satellite STn. In this case, the following simultaneous equations hold true: {(Xp-XI).sup.2 +(Yp-Y1).sup.2 +(Zp-Z1).sup.2 }.sup.1/2 +C*.delta.t=Ll {(Xp-X2).sup.2 +(Yp-Y2).sup.2 +(Zp-Z2).sup.2 }.sup. 1/2 +C*.delta.t=L2 {(Xp-X2).sup.2 +(Yp-Y3).sup.2 +(Zp-Z3).sup.2 }.sup. 1/2 +C*.delta.t=L3 25 {(Xp-X4).sup.2 +(Yp-Y4).sup.2 +(Zp-Z4).sup.2 }.sup. 1/2 +C*.delta.t=L4 The above simultaneous equations are solved to find the position of the moving body, which is treated as unknown variables, as a cross point among surfaces of four spheres, each having a center point coinciding with one of the satellites and a radius equal to the distance from the satellite. 30 In accordance with the present embodiment, only signals transmitted by those satellites having a large angle of elevation are selectively fetched to compute the position of the moving body. Thus, the position can be computed with a high degree of precision 35 without being much affected by a multipath, an ionized-layer delay or the like.

7 In the embodiment described above, only four satellites have angles of elevation each exceeding the reference elevation angle Oref. It should be noted, however, that five or more satellites may have angles of elevation each exceeding the reference elevation angle 6ref. In such a case, the position of the moving body can be computed on 5 the basis of satellite navigation messages transmitted by four satellites selected in an order of decreasing angles of elevation. Thus, the position can be found with an even higher degree of precision. The present invention exhibits the following effects: 1: Since only signals transmitted by satellites having a large angle of elevation 10 are selectively fetched to compute the position of a moving body, the position can be computed with a high degree of precision. This prevents the navigation system of the moving body from being adversely affected by a multipath, an ionized-layer delay, or the like. 2: If a large number of satellites have large angles of elevation, the position of 15 the moving body can be computed on the basis of satellite navigation messages transmitted by a plurality of satellites selected in an order of decreasing angles of elevation. Accordingly, the true position of the moving body can be found with an even higher degree of precision. 3: Even if the posture of the moving body is changed to any arbitrary orientation, 20 the low-directivity antenna of the present invention results in selecting and using only those signals transmitted by satellites having a large angle of elevation. The invention being thus described, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled 25 in the art are intended to be included within the scope of the following claims.

Claims

1. A GPS receiving apparatus for receiving GPS signals transmitted by a plurality of satellites, said GPS receiving apparatus comprising: an antenna for receiving said GPS signals; 5 position-calculating means for computing an approximate position of said GPS receiving apparatus using said GPS signals, elevation-angle-computing means for finding an elevation angle of each of said satellites on the basis of a navigational message received from said satellites; and comparison means for comparing said elevation angle of each of said 10 satellites with a predetermined reference elevation angle, position-calculating means for computing an accurate position of said GPS receiving apparatus using only GPS signals transmitted by some of said satellites, each having an elevation angle greater than said predetermined reference elevation angle. 15

2. The GPS receiving apparatus according to claim 1, wherein some of said satellites are selected on a priority basis according to an order of decreasing elevation angles. 20

3. The GPS receiving apparatus according to claim 1, wherein said antenna is a low-directivity antenna or a non-directional antenna.

4. The GPS receiving apparatus according to claim 1, further comprising a signal processing means for extracting said navigation message received from said satellites, 25 and a position-computing means for computing a position of a moving body.

5. The GPS receiving apparatus according to claim 3, wherein the antenna is a helical antenna. 30

6. The GPS receiving apparatus according to claim 5, wherein the antenna is mounted on a moving body.

7. A GPS receiving apparatus for receiving GPS signals transmitted by a plurality of satellites, said GPS receiving apparatus comprising: 9 an antenna mounted on a moving body for receiving said signals; position-calculating means for computing an approximate position using said signals, signal processing means for extracting a navigation message received from 5 said satellites; elevation-angle-computing means for finding an elevation angle of each of said satellites on the basis of said navigational message; comparison means for comparing said elevation angle of each of said satellites with a predetennined reference elevation angle; and 10 position-calculating means for computing an accurate position of said moving body using only GPS signals transmitted by some of said satellites, each having an elevation angle greater than said predetermined reference elevation angle.

8. A GPS receiving apparatus according to claim 7, wherein some of said 15 satellites are selected on a priority basis according to an order of decreasing elevation angles.

9. A GPS receiving apparatus according to claim 7, wherein said antenna is a low-directivity antenna or a non-directional antenna. 20

10. A GPS receiving apparatus according to claim 9, wherein the antenna is a helical antenna.

11. A method for determining the position of a moving body using a GPS 25 receiving apparatus comprising an antenna, an elevation-angle-computing means, a comparison means, and a position-computing means, the method comprising the steps of: acquiring GPS signals from satellites via the antenna; computing an approximate position of said moving body using said signals, 30 computing an elevation angle of each of said satellites in the elevation-angle computing means on the basis of a navigational message received from said satellites; comparing the elevation angle of each of said satellites with a predetermined reference elevation angle in the comparison means; and 10 computing an accurate position of said moving body using only GPS signals transmitted by some of said satellites, each having an elevation angle greater than said predetermined reference elevation angle. 5

12. The method according to claim 11, further comprising selecting those of said satellites on a priority basis according to an order of decreasing elevation angles.

13. The method according to claim 11, wherein said antenna is a low-directivity antenna or a non-directional antenna. 10

14. The method according to claim 13, wherein the antenna is a helical antenna.

15. A GPS receiving apparatus being substantially as hereinbefore described with reference to any one of the embodiments as that embodiment is shown in the 15 accompanying Figures 2 to 4.

16. A method of determining a position of a moving body being substantially as hereinbefore described with reference to any one of the embodiments as that embodiment is shown in the accompanying Figures 2 to 4. 20 Dated 30 March 2010 Honda Giken Kogyo Kabushiki Kaisha Patent Attorneys for the Applicant/Nominated Person SPRUSON & FERGUSON