US 12,265,160 B2
Positioning apparatus
Kohei Mori, Tokyo (JP); and Tomoya Kawagoe, Tokyo (JP)
Assigned to Mitsubishi Electric Corporation, Tokyo (JP)
Filed by Mitsubishi Electric Corporation, Tokyo (JP)
Filed on Jun. 27, 2022, as Appl. No. 17/850,189.
Claims priority of application No. 2021-137713 (JP), filed on Aug. 26, 2021.
Prior Publication US 2023/0061209 A1, Mar. 2, 2023
Int. Cl. G01S 19/12 (2010.01); G01S 19/05 (2010.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01)
CPC G01S 19/12 (2013.01) [G01S 19/05 (2013.01); G05D 1/0278 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A positioning apparatus comprising at least one processor configured to implement:
a satellite positioning information receptor that receives positioning information from positioning satellites;
a ground reinforcement information receptor that receives positioning reinforcement information from a ground base station;
a first own position calculator that calculates a first own position, based on the positioning information and the positioning reinforcement information of the ground base station;
a satellite reinforcement information receptor that receives positioning reinforcement information from the positioning satellite;
a second own position calculator that calculates a second own position based on the positioning information and the positioning reinforcement information of the satellite;
a driving mode receptor that receives a driving mode signal which indicates whether or not a driving mode of an own vehicle is an automatic driving mode, from an automatic driving apparatus of the own vehicle which is an arithmetic object of an own position;
an own position selector that determines either the first own position or the second own position to be used, based on the driving mode; and
an own position outputter that outputs the first own position or the second own position which is determined to be used by the own position selector, as a final own position.