US 11,899,117 B2
Moving body positioning system, method, and program
Ryo Miyamoto, Tokyo (JP); Maho Kashiwagi, Tokyo (JP); and Yuka Kanda, Tokyo (JP)
Assigned to NEC Solution Innovators, Ltd., Tokyo (JP)
Appl. No. 16/971,613
Filed by NEC Solution Innovators, Ltd., Tokyo (JP)
PCT Filed Sep. 13, 2018, PCT No. PCT/JP2018/033986
§ 371(c)(1), (2) Date Aug. 20, 2020,
PCT Pub. No. WO2019/171633, PCT Pub. Date Sep. 12, 2019.
Claims priority of application No. 2018-042682 (JP), filed on Mar. 9, 2018.
Prior Publication US 2021/0011171 A1, Jan. 14, 2021
Int. Cl. G01S 19/22 (2010.01); G01C 21/28 (2006.01); G01S 19/28 (2010.01)
CPC G01S 19/22 (2013.01) [G01C 21/28 (2013.01); G01S 19/28 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A moving body positioning system comprising:
a GNSS receiver that is included in a moving body and that receives a GNSS signal transmitted from each of one or more satellites and acquires observation data corresponding to each of the satellites;
an external data acquisition unit that acquires external data that is predetermined data other than the observation data;
a multipath detection unit that detects multipath with respect to an observation data group that is a set of pieces of observation data used for positioning calculation to identify a position of the moving body and that is a set of pieces of observation data respectively acquired from the GNSS signals of the one or more satellites; and
a positioning calculation unit that performs the positioning calculation after selection of a satellite to be used and a satellite to be excluded on the basis of a result of the multipath detection, wherein
the multipath detection unit detects the multipath by determining whether the observation data is the multipath on the basis of a blocked range with respect to the GNSS signals in the moving body or an observation status of the GNSS signals in a different station that is a receiver station other than the moving body, the blocked range or the observation status being acquired from an analysis of the external data, and
wherein
the multipath detection unit includes
an invalidity determination condition assignment unit that assigns, to at least observation data included in the observation data group and determined to be the multipath, a predetermined index to be a determination condition for invalidity of the observation data.