JP7707657B2 - Positioning device, positioning method, and positioning program - Google Patents

Description

The disclosure in this specification relates to technology for detecting positioning errors.

Patent Document 1 discloses a technology for determining whether a positioning solution calculated based on a positioning signal from a positioning satellite is erroneously detected. This technology determines whether a positioning solution is erroneously detected based on the presence or absence of continuity in time series data of changes in altitude, azimuth angle, or latitude and longitude.

JP 2018-141684 A

The technology of Patent Document 1 may not be able to determine whether a detection has occurred correctly when there is little time-series data, such as immediately after the receiver is started. Therefore, the technology of Patent Document 1 may lack reliability in detecting positioning errors.

The disclosed objective is to provide a positioning device, a positioning method, and a positioning program that can more reliably detect positioning errors.

The various aspects disclosed in this specification employ different technical means to achieve their respective objectives. Furthermore, the symbols in parentheses in the claims and in this section are merely examples showing the correspondence with the specific means described in the embodiments described below as one aspect, and do not limit the technical scope.

One of the disclosed positioning devices is a positioning device that estimates the position of a moving object (A) equipped with a receiving antenna (11) that receives satellite data from a positioning satellite,
a provisional position acquisition unit (110) for acquiring a provisional position of a moving object based on satellite data;
a road surface elevation acquisition unit (120) for acquiring a road surface elevation, which is the elevation of the road surface at the approximate position, based on an approximate position of the moving body based on information other than satellite data and map information;
an antenna height estimation unit (130) for estimating an antenna height, which is the height from a road surface to a receiving antenna;
a determination unit (140) that determines the provisional position to be correct when a difference between the sum of the road surface elevation and the antenna height and the height based on the provisional position falls within an allowable difference range, and that determines the provisional position to be incorrect when the difference is greater than the allowable difference range;
a verification unit (150) that reverifies the provisional position based on information different from the difference when an error determination is made;
Equipped with
If the result is determined to be correct, the verification unit corrects the antenna height and sets a correction amount for correcting the antenna height based on the difference and a coefficient that reduces the contribution of the difference to the correction amount.

One of the disclosed positioning methods is a positioning method executed by a processor (102) to estimate a position of a mobile object (A) equipped with a receiving antenna (11) that receives satellite data from a positioning satellite, the method comprising:
A provisional position acquisition step (S110) of acquiring a provisional position of a moving object based on satellite data;
a road surface elevation acquisition step (S120) of acquiring a road surface elevation, which is the elevation of the road surface at the approximate position, based on the approximate position of the moving object based on information other than satellite data and map information;
an antenna height estimation step (S130) of estimating an antenna height, which is a height from a road surface to a receiving antenna;
a determination step (S140, S150, S160) of determining that the provisional position is correct if the difference between the sum of the road surface elevation and the antenna height and the height based on the provisional position is within an allowable difference range, and determining that the provisional position is incorrect if the difference is greater than the allowable difference range;
a verification step (S141, S142, S143) of re-verifying the provisional position based on information other than the difference when an error is determined;
Including,
In the verification process, if a correct answer is determined, the antenna height is corrected, and a correction amount for correcting the antenna height is set based on the difference and a coefficient that reduces the contribution of the difference to the correction amount .

One of the disclosed positioning programs is a positioning program including a plurality of instructions to be executed by a processor (102) to estimate the position of a mobile object (A) equipped with a receiving antenna (11) that receives satellite data from a positioning satellite, the program comprising:
The command is,
A provisional position acquisition step (S110) of acquiring a provisional position of a moving object based on satellite data;
a road surface elevation acquisition step (S120) of acquiring a road surface elevation, which is the elevation of the road surface at the approximate position, based on the approximate position of the moving object based on information other than satellite data and map information;
an antenna height estimation step (S130) for estimating an antenna height, which is a height from a road surface to a receiving antenna;
a determination step (S140, S150, S160) of determining that the provisional position is correct if the difference between the sum of the road surface elevation and the antenna height and the height based on the provisional position is within an allowable difference range, and determining that the provisional position is erroneous if the difference is greater than the allowable difference range;
a verification step (S141, S142, S143) for re-verifying the provisional position based on information other than the difference when an error is determined;
Including,
In the verification process, if a correct answer is determined, the antenna height is corrected, and the amount of correction for correcting the antenna height is set based on the difference and a coefficient that reduces the contribution of the difference to the amount of correction .

According to these disclosures, the accuracy of the provisional position can be determined by comparing the sum of the road surface elevation and the antenna height with the height coordinate of the provisional position. Therefore, the accuracy of the determined provisional position can be determined without relying on the continuity of the time series data. Therefore, a positioning device, a positioning method, and a positioning program can be provided that can more reliably detect positioning errors.

2 is a block diagram showing the overall configuration of a system including a locator ECU; 4 is a flowchart showing an example of a positioning method executed by a locator ECU. FIG. 11 is a block diagram showing an overall configuration of a system including a locator ECU according to a second embodiment. 10 is a flowchart showing an example of a positioning method executed by a locator ECU in a second embodiment. 4 is a flowchart showing detailed processing of the processing of FIG. 3; FIG. 13 is a block diagram showing an overall configuration of a system including a locator ECU in a fifth embodiment.

First Embodiment
As shown in Fig. 1, a positioning device according to an embodiment of the present disclosure is provided by a locator ECU 100. The locator ECU 100 is an electronic control unit mounted on a vehicle A, which is a moving body.

The locator ECU 100 can communicate with other on-board components via an on-board network that includes at least one of a LAN (Local Area Network), a wire harness, and an internal bus. The on-board components here include at least a GNSS receiver 10, an on-board communication device 20, a map database (hereinafter, "map DB") 30, an external sensor 40, and a stroke sensor 50.

The GNSS receiver 10 is equipped with a receiving antenna 11 that receives positioning signals (satellite data) transmitted from positioning satellites that make up the GNSS (Global Navigation Satellite System), and a control circuit (not shown). The receiving antenna 11 is installed inside the dashboard, on the windshield, on the roof, etc. of vehicle A. The control circuit of the GNSS receiver 10 generates observation information based on the satellite data received by the receiving antenna 11. As an example, the observation information includes pseudorange, carrier phase, Doppler frequency, carrier-to-noise ratio, and whether or not a cycle slip has occurred. The GNSS receiver 10 sequentially provides the observation information to the locator ECU 100.

The in-vehicle communication device 20 is a communication module mounted on the vehicle A. The in-vehicle communication device 20 has at least the function of V2N (Vehicle to cellular Network) communication in accordance with communication standards such as LTE (Long Term Evolution) and 5G, and can receive correction information used in RTK positioning from reference stations around the vehicle A. The in-vehicle communication device 20 sequentially provides the acquired correction information to the locator ECU 100.

Map DB 30 is a non-volatile memory that stores map data such as link data, node data, road shapes, and structures. The map data may be a three-dimensional map consisting of a point cloud of characteristic points of road shapes and structures. The three-dimensional map may be generated based on captured images using REM (registered trademark). The map data may also include traffic regulation information, road construction information, weather information, and traffic light information. The map data stored in map DB 30 may be updated periodically or as needed based on the latest information distributed from a server installed outside vehicle A.

The external sensor 40 is an autonomous sensor that monitors the outside world of the vehicle A. The external sensor 40 is capable of detecting external information used in estimating the approximate position, which will be described later. As an example, the external sensor 40 may include at least one of a LIDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging) that detects a point cloud of feature points of features as external world information, and a peripheral monitoring camera that detects captured images of a predetermined range including the area in front of the vehicle A as external world information.

The stroke sensor 50 is a sensor that detects the stroke amount in the height direction of the suspension of the vehicle A. The stroke sensor 50 sequentially provides the detected stroke amount to the locator ECU 100.

The locator ECU 100 is a computer that includes at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transient tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores or stores computer-readable programs and data. The memory 101 stores various programs executed by the processor 102, such as a positioning program described below.

The processor 102 includes at least one of the following types of cores: a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a RISC (Reduced Instruction Set Computer)-CPU. The processor 102 executes a number of instructions included in a positioning program stored in the memory 101. This causes the locator ECU 100 to construct a number of functional units for estimating the current position of the vehicle A. In this manner, the positioning program stored in the memory 101 causes the processor 102 to execute a number of instructions, thereby constructing a number of functional units in the locator ECU 100. Specifically, as shown in FIG. 2, the locator ECU 100 is constructed with functional units such as a provisional position estimation unit 110, a road surface elevation estimation unit 120, an antenna height estimation unit 130, and a determination unit 140.

The tentative position estimation unit 110 acquires new satellite data received by the GNSS receiver 10. The tentative position estimation unit 110 estimates the current position of the GNSS receiver 10 as a tentative position by RTK positioning based on the satellite data and correction information from the reference station acquired from the vehicle-mounted communication device 20. The tentative position estimation unit 110 is an example of a "tenant position acquisition unit."

The road elevation estimation unit 120 estimates the road elevation at the current position of vehicle A. The road elevation estimation unit 120 estimates the road elevation based on the current position of vehicle A estimated by a method other than the satellite positioning by the tentative position estimation unit 110, i.e., the RTK positioning. In the following, the current position estimated by a method other than that by the tentative position estimation unit 110 is referred to as the approximate position for the sake of distinction.

As an example of a method for estimating the approximate position, the road surface elevation estimation unit 120 estimates the approximate position by matching the map data (map information) in the map DB 30 with external information from the external sensor 40. Specifically, the road surface elevation estimation unit 120 may estimate the approximate position by matching a point cloud map with point cloud data detected by LiDAR. Alternatively, the road surface elevation estimation unit 120 may estimate the approximate position by matching feature points of features in the map data with feature points of features in an image captured by a surrounding surveillance camera. The road surface elevation estimation unit 120 regards the elevation at the approximate position on the map data as the road surface elevation. The road surface elevation estimation unit 120 is an example of a "road surface elevation acquisition unit".

The antenna height estimation unit 130 estimates the antenna height of the GNSS receiver 10. The antenna height here is the height from the road surface to the installation position of the receiving antenna 11. The antenna height estimation unit 130 calculates the antenna height based on the height from the top of the suspension (the bottom surface of the vehicle body in this embodiment) to the receiving antenna 11, the stroke height of the suspension in vehicle A, and the tire radius. The height from the top of the suspension to the receiving antenna 11 is stored in advance in a storage medium such as memory 101. The antenna height estimation unit 130 may acquire the stroke height from the stroke sensor 50. In addition, the antenna height estimation unit 130 may acquire the tire radius stored in advance in memory 101, etc.

As an example, the antenna height estimation unit 130 calculates the antenna height by adding up the various parameters as shown in the following formula (1). In formula (1), h_a is the antenna height, h_ba is the height from the top of the suspension to the receiving antenna, h_s is the stroke height, and h_t is the tire radius.

(Equation 1)
h_a=h_ba+h_s+h_t...(1)
The determination unit 140 performs a correct/incorrect determination of the provisional position based on the road elevation and the antenna height. For example, when the absolute value (difference index) of the difference between the sum of the road elevation and the antenna height and the height at the provisional position (provisional height) is within an allowable difference range, the determination unit 140 determines that the provisional position is correct (correct determination). Specifically, the difference index diff is calculated based on the following formula. In the following formula, h_m represents the road elevation, h_a represents the antenna height, h_r represents the provisional height, and abs means taking the absolute value in parentheses.

(Equation 2)
diff=abs((h_m+h_a)-h_r)...(2)
On the other hand, when the difference indicator is not within the allowable difference range, the determination unit 140 determines that the provisional position is incorrect (error determination). The allowable difference range here is a numerical range in which the provisional position can be accepted as the correct answer for the position of vehicle A, and is a numerical range in which the difference indicator is less than or equal to the threshold value. When a correct answer determination is made, the determination unit 140 may confirm the provisional position as the measured position of vehicle A and transmit the position information to the in-vehicle device 90 that requires the position information. The position information may be transmitted to an external server of vehicle A, instead of the in-vehicle device 90. When an error determination is made, the provisional position estimation unit 110 may remeasure the provisional position. Alternatively, when an error determination is made, the in-vehicle device 90 may be notified that the provisional position cannot be determined by positioning.

Next, the flow of the positioning method executed by the locator ECU 100 through cooperation of the functional blocks will be described below with reference to FIG. 2. Note that in the flow described below, "S" refers to multiple steps of the flow that are executed by multiple commands included in the program.

First, in S100, the tentative position estimation unit 110 acquires the latest satellite data received by the GNSS receiver 10. Next, in S110, the tentative position estimation unit 110 estimates the tentative position by RTK based on the satellite data.

After the process of S110, in S120, the road elevation estimation unit 120 estimates the road elevation. Next, in S130, the antenna height estimation unit 130 estimates the antenna height. In the following S140, the determination unit 140 determines whether an error in the provisional position is detected based on the map elevation and the antenna height. If it is determined that the provisional position is incorrect, in S150, the determination unit 140 confirms that the provisional position measured this time is incorrect. On the other hand, if it is determined that the provisional position is correct, in S160, the determination unit 140 confirms that the provisional position measured this time is correct. In the above, S110 is an example of a "provisional position acquisition process", S120 is a "road elevation acquisition process", S130 is an "antenna height estimation process", and S140, S150, and S160 are an example of a "determination process".

According to the first embodiment described above, the accuracy of the provisional position is determined by comparing the sum of the road surface elevation and the antenna height with the height coordinate of the provisional position. Therefore, the accuracy of the determined provisional position can be determined without relying on the continuity of the time series data. Therefore, positioning errors can be detected more reliably.

Second Embodiment
In the second embodiment, a modified example of the locator ECU 100 in the first embodiment will be described. In Figures 3 to 5, components denoted by the same reference numerals as those in the first embodiment are similar components and have the same functions and effects.

In the second embodiment, the determination unit 140 further uses a height correction value h_e, which will be described later, to calculate the difference index d. Specifically, the determination unit 140 calculates the difference index d based on the following formula:

(Equation 3)
diff=abs((h_m+h_a)-h_r-h_e)...(3)
In the second embodiment, the locator ECU 100 includes a verification unit 150 in addition to the functional units described in the first embodiment. When it is determined that the provisional position is incorrect, the verification unit 150 reverifies the provisional position. In the reverification, the verification unit 150 may determine whether the provisional position is correct based on the continuity of ambiguity. Alternatively, the verification unit 150 may determine whether the provisional position is correct based on scan matching. Alternatively, the verification unit 150 may determine whether the provisional position is correct based on the presence or absence of data skips in a time series.

If the verification unit 150 determines that the provisional position is correct, it updates the correction amount for the antenna height. In addition, the verification unit 150 uploads update information for the map altitude data to the server via the in-vehicle communication device 20. The update information includes, for example, the positioning time, the unique ID of vehicle A, the estimated position, the road surface height based on RTK positioning, the height from the road surface to the antenna, the version ID of the map used, and the road surface ID of the current position on the map used. The update information is used to update the elevation data of the map in the server. The updated map data is distributed from the server to each vehicle A.

The verification unit 150 executes the correction of the antenna height. The verification unit 150 determines whether the traveling speed of the vehicle A is outside the range in which the correction process is stopped, and executes the correction if it is determined that the traveling speed is outside the range in which the correction process is stopped. On the other hand, if the verification unit 150 determines that the traveling speed is within the range in which the correction process is stopped, the correction is suspended. Here, the stop range is a numerical range in which the traveling speed is less than a threshold value (e.g., 3 m/s) or equal to or less than the threshold value. The verification unit 150 stops the correction when the traveling speed is within the stop range, thereby making it possible to avoid updating the height correction value at substantially the same location. The verification unit 150 may acquire the traveling speed based on the detection information of the external sensor 40, such as an image captured by a surrounding monitoring camera, or may acquire the traveling speed based on the observation information of the GNSS receiver 10. Alternatively, the verification unit 150 may acquire the traveling speed from a wheel speed sensor.

When performing the correction, the verification unit 150 calculates a height correction value h_e. The height correction value h_e is calculated based on the current height error h_ec, which corresponds to the difference between the sum of the road surface altitude and the antenna height, and the height based on the provisional position. Specifically, the verification unit 150 first calculates the current height error based on the following formula.

(Equation 4)
h_e=h_r-(h_a+h_m)...(4)
Then, the verification unit 150 calculates the height correction value h_e based on the current height error h_ec and the previous height correction value h_ep. Specifically, the verification unit 150 calculates the height correction value h_e based on the following formula. In the following, g is a gain. The gain is a numerical value less than 1 (for example, 0.01). The gain is a coefficient that reduces the contribution of the current height error to the height correction value. In other words, the gain is a coefficient that is multiplied by the current height error to suppress a sudden change in the height correction value. In addition, the previous height correction value is multiplied by a coefficient obtained by subtracting the gain from 1.

(Equation 5)
h_e=(1-g)h_ep+g×h_ec...(5)
Next, a flow of a positioning method executed by the locator ECU 100 of the second embodiment in cooperation with the functional blocks will be described below with reference to Fig. 4. The description of the first embodiment is cited for steps having the same reference numerals as those in the flow of Fig. 2.

If it is determined in S140 that the tentative position is incorrect, the flow proceeds to S150. In S141, the verification unit 150 reverifies the tentative position. If it is determined that the tentative position is correct, in S142, the verification unit 150 updates the correction amount for the antenna height. In the following S143, the verification unit 150 uploads update information for the map elevation data. After the processing of S143, the processing of S150 is executed.

Details of the process executed by the verification unit 150 in S142 will be described with reference to the flowchart in FIG. 5. First, in S142a, the verification unit 150 determines whether the traveling speed of the vehicle A is outside the range in which the correction process is stopped. If it is determined that it is outside the stop range, in S142b, the verification unit 150 calculates the current height error h_ec. Next, in S142c, the verification unit 150 updates the height correction value h_e based on the above-mentioned formula (5). On the other hand, if it is determined that the traveling speed is within the stop range in S142a, the verification unit 142 stops updating the height correction value h_e and ends the flow. In the above, S141, S142, and S143 are examples of a "verification process".

According to the above embodiment, if an erroneous judgment is made, the provisional position is re-verified based on information other than the difference index. As a result, even if an erroneous judgment based on the difference index is made, it is possible to verify whether the judgment result is correct or not. Therefore, the reliability of the judgment of the correctness of the provisional position can be improved.

Third Embodiment
In the third embodiment, a modified example of the locator ECU 100 in the first embodiment will be described. In the following, components denoted by the same reference numerals as those in the drawings of the first embodiment are similar components and have the same functions and effects.

In the third embodiment, the locator ECU 100 calculates the antenna height based on the height from the road surface to the distance sensor, which is based on the amount of detection of the distance to the road surface by the distance sensor that measures the distance to the measurement target, and the height from the distance sensor to the receiving antenna 11. The distance sensor may be provided by an external sensor 40, such as a LiDAR or a surrounding monitoring camera. Specifically, the antenna height estimation unit 130 calculates the height from the road surface to the distance sensor based on the following formula. In the following formula, d is the measured distance to the road surface, and θ is the angle of the distance measurement direction with respect to the horizontal direction.

(Equation 6)
h_gs=d×sinθ...(6)
Then, the antenna height estimation unit 130 calculates the antenna height based on the following formula: In the following formula, h_sa is the height from the distance measurement sensor to the receiving antenna 11. h_sa is information that is stored in advance in a storage medium such as the memory 101.

(Equation 7)
h_a=h_gs+h_sa...(7)

Fourth Embodiment
In the fourth embodiment, a modified example of the locator ECU 100 in the first embodiment will be described. In the following, components denoted by the same reference numerals as those in the drawings of the first embodiment are similar components and have the same functions and effects.

In the fourth embodiment, the locator ECU 100 calculates the antenna height by scan matching based on the distance measurement sensor. The road surface elevation estimation unit 120 obtains the height from the road surface to the distance measurement sensor by positioning using the distance measurement sensor and map data. For example, the road surface elevation estimation unit 120 may obtain the height by performing scan matching using a LiDAR device and a point cloud map.

According to the fourth embodiment, the height to the distance measurement sensor can be measured more accurately when the distance measurement sensor does not include the vicinity of vehicle A in its distance measurement range, or when the vehicle is traveling on an uneven road such as a slope. This improves the accuracy of the approximate position, and makes it possible to more reliably determine whether the tentative position is correct. Note that the road surface elevation estimation unit 120 may directly calculate the height from the road surface using the distance measurement sensor as in the third embodiment when the vehicle is traveling on a flat road, and may calculate the height from the road surface using scan matching when the vehicle is traveling on an uneven road.

Fifth Embodiment
In the fifth embodiment, a modified example of the locator ECU 100 in the first embodiment will be described. In Fig. 6, components denoted by the same reference numerals as those in the first embodiment are similar components and have the same functions and effects.

In the fifth embodiment, when the determination unit 140 determines that the tentative position is incorrect, it determines whether the number of times the tentative position has been estimated has reached an upper limit. If it determines that the number has been reached, the determination unit 140 confirms that the tentative position is incorrect. On the other hand, when the determination unit 140 determines that the upper limit has not been reached, the tentative position estimation unit 110 reselects satellite data to be used to estimate the tentative position, and re-estimates the tentative position.

Next, the flow of the positioning method executed by the locator ECU 100 of the third embodiment through cooperation of the functional blocks will be described below with reference to FIG. 6. If it is determined in S140 that the provisional position is incorrect, the flow proceeds to S141. In S141, the determination unit 140 determines whether the number of times the provisional position has been estimated has reached an upper limit. If it is determined that the upper limit has been reached, the flow proceeds to S150. On the other hand, if it is determined in S141 that the upper limit has not been reached, the flow proceeds to S142. In S142, the provisional position estimation unit 110 reselects satellite data and returns to S110.

Other Embodiments
The disclosure in this specification is not limited to the exemplified embodiments. The disclosure includes the exemplified embodiments and modifications by those skilled in the art based thereon. For example, the disclosure is not limited to the combination of parts and/or elements shown in the embodiments. The disclosure can be implemented by various combinations. The disclosure can have additional parts that can be added to the embodiments. The disclosure includes the omission of parts and/or elements of the embodiments. The disclosure includes the replacement or combination of parts and/or elements between one embodiment and another embodiment. The disclosed technical scope is not limited to the description of the embodiments. Some disclosed technical scopes are indicated by the description of the claims, and should be interpreted as including all modifications within the meaning and scope equivalent to the description of the claims.

In the above embodiment, the dedicated computer constituting the positioning device is the locator ECU 100. Alternatively, the dedicated computer constituting the positioning device may be a driving control ECU mounted on vehicle A, or an actuator ECU that individually controls the driving actuators of vehicle A. Alternatively, the dedicated computer constituting the positioning device may be a navigation ECU. Alternatively, the dedicated computer constituting the positioning device may be an HCU (Human Machine Interface (HMI) Control Unit) that controls the information display of the information display system. Alternatively, the dedicated computer constituting the positioning device may be a server device provided outside vehicle A. Alternatively, the dedicated computer constituting the positioning device may be a control circuit of the GNSS receiver 10.

As a modification of the above embodiment, when the receiving antenna 11 is attached to a member attached to the lower end of the suspension, the locator ECU 100 may use the antenna height previously stored in the memory 101 or the like. In this case, since the receiving antenna 11 is attached under the suspension, it will not change unless the tire diameter or the antenna attachment position changes. Therefore, measurement data at the time of shipment can be used. For example, such a configuration can be realized when the locator ECU 100 is mounted on a moving body other than vehicle A, such as a mobile robot.

The locator ECU 100 may be a dedicated computer configured to include at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is, for example, at least one of the following: ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Such a digital circuit may also include a memory that stores a program.

The locator ECU 100 may be provided by a single computer or a set of computer resources linked by a data communication device. For example, some of the functions provided by the locator ECU 100 in the above-described embodiment may be realized by another ECU or a server device.

11 Receiving antenna, 100 Locator ECU (positioning device), 102 Processor, 110 Provisional position estimation unit (Provisional position acquisition unit), 120 Road surface elevation estimation unit (Road surface elevation acquisition unit), 130 Antenna height estimation unit, 140 Determination unit, 150 Verification unit, A Vehicle (moving body).

Claims (9)

A positioning device that estimates the position of a moving object (A) equipped with a receiving antenna (11) that receives satellite data from a positioning satellite, comprising:
a provisional position acquisition unit (110) for acquiring a provisional position of the moving object based on the satellite data;
a road surface elevation acquisition unit (120) that acquires a road surface elevation, which is an elevation of the road surface at the approximate position, based on an approximate position of the moving body based on information other than the satellite data and map information;
an antenna height estimation unit (130) for estimating an antenna height, which is a height from the road surface to the receiving antenna;
a determination unit (140) that determines the provisional position as correct when a difference between the sum of the road surface altitude and the antenna height and a height based on the provisional position falls within an allowable difference range, and that determines the provisional position as incorrect when the difference is greater than the allowable difference range;
a verification unit (150) that reverifies the provisional position based on information different from the difference when the error determination is made;
Equipped with
The positioning device, wherein when the correct answer is determined, the verification unit corrects the antenna height and sets a correction amount for correcting the antenna height based on the difference and a coefficient that reduces the contribution of the difference to the correction amount . The moving object is a vehicle,
The positioning device according to claim 1 , wherein the antenna height estimator calculates the antenna height based on a stroke amount of a suspension of the vehicle and a tire diameter. The positioning device according to claim 1, wherein the antenna height estimation unit calculates the antenna height based on the height from the road surface to the distance measurement sensor, which is based on the amount of distance to the road surface detected by the distance measurement sensor, and the height from the distance measurement sensor to the receiving antenna. The positioning device according to claim 3, wherein the antenna height estimation unit determines the height from the road surface measured by the distance measurement sensor as a height based on matching between the point cloud of the road surface detected by the distance measurement sensor and the map information. A positioning method executed by a processor (102) for estimating a position of a mobile object (A) equipped with a receiving antenna (11) for receiving satellite data from a positioning satellite, comprising:
a tentative position acquisition step (S110) of acquiring a tentative position of the moving object based on the satellite data;
a road surface elevation acquisition step (S120) of acquiring a road surface elevation, which is an elevation of the road surface at the approximate position, based on the approximate position of the moving object based on information other than the satellite data and map information;
an antenna height estimation step (S130) of estimating an antenna height, which is a height from the road surface to the receiving antenna;
a determination step (S140, S150, S160) of determining that the provisional position is correct if a difference between the sum of the road surface elevation and the antenna height and a height based on the provisional position falls within an allowable difference range, and determining that the provisional position is incorrect if the difference is greater than the allowable difference range;
a verification step (S141, S142, S143) of re-verifying the provisional position based on information different from the difference when the error determination is made;
Including,
In the verification process, when the correct answer is determined, the antenna height is corrected, and a correction amount for correcting the antenna height is set based on the difference and a coefficient that reduces the contribution of the difference to the correction amount . The moving object is a vehicle,
6. The positioning method according to claim 5 , wherein in the antenna height estimating step, the antenna height is calculated based on a stroke amount of a suspension of the vehicle and a tire diameter. The positioning method according to claim 5, wherein in the antenna height estimation process, the antenna height is calculated based on the height from the road surface to the distance measuring sensor based on the detection amount of the distance to the road surface by the distance measuring sensor, and the height from the distance measuring sensor to the receiving antenna . The positioning method according to claim 7 , wherein in the antenna height estimation step, the height from the road surface measured by the distance measuring sensor is determined based on matching between a point cloud of the road surface detected by the distance measuring sensor and the map information. A positioning program including a plurality of instructions to be executed by a processor (102) to estimate a position of a mobile body (A) equipped with a receiving antenna (11) for receiving satellite data from a positioning satellite,
The instruction:
a provisional position acquisition step (S110) of acquiring a provisional position of the moving object based on the satellite data;
a road surface elevation acquisition step (S120) of acquiring a road surface elevation, which is an elevation of a road surface at the approximate position, based on an approximate position of the moving object based on information other than the satellite data and map information;
an antenna height estimation step (S130) of estimating an antenna height, which is a height from the road surface to the receiving antenna;
a determination step (S140, S150, S160) of determining that the provisional position is correct when a difference between the sum of the road surface elevation and the antenna height and a height based on the provisional position falls within an allowable difference range, and determining that the provisional position is erroneous when the difference is greater than the allowable difference range;
a verification step (S141, S142, S143) for re-verifying the provisional position based on information different from the difference when the error determination is made;
Including,
In the verification process, when the correct answer is determined, the antenna height is corrected, and a correction amount for correcting the antenna height is set based on the difference and a coefficient that reduces the contribution of the difference to the correction amount .