US 12,013,467 B2
Positioning device, speed measuring device, and computer program product
Kazuya Shitaoka, Nagakute (JP); Noriyoshi Suzuki, Nagakute (JP); and Akira Miyajima, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on May 24, 2021, as Appl. No. 17/328,474.
Application 17/328,474 is a continuation of application No. PCT/JP2019/045962, filed on Nov. 25, 2019.
Claims priority of application No. 2018-220142 (JP), filed on Nov. 26, 2018.
Prior Publication US 2021/0286084 A1, Sep. 16, 2021
Int. Cl. G01S 19/03 (2010.01); G01S 5/02 (2010.01); G01S 19/23 (2010.01); G01S 19/31 (2010.01); G01S 19/53 (2010.01)
CPC G01S 19/03 (2013.01) [G01S 5/0284 (2013.01); G01S 19/23 (2013.01); G01S 19/31 (2013.01); G01S 19/53 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A positioning device configured to calculate a position, on an earth, of a positioning target location different from an installation location of each of a plurality of satellite antennas in a mobile body, the positioning device comprising:
a satellite information acquisition portion configured to acquire satellite information including
information that is related to a position of each of a plurality of satellites and transmitted from the plurality of satellites and
information that is related to a distance between each of the plurality of satellites and the mobile body;
an attitude detection portion configured to detect an attitude of the mobile body;
a positional relationship calculation portion configured to calculate a positional relationship between the installation location of each of the plurality of satellite antennas on the earth and the positioning target location for each of the plurality of satellite antennas, based on a detected attitude of the mobile body;
a position calculation portion configured to calculate the position of the positioning target location on the earth based on a calculated positional relationship and acquired satellite information; and
a reliability determination portion configured to determine a reliability of the attitude detected by the attitude detection portion,
wherein:
the position calculation portion is configured to calculate the position of the positioning target location on the earth on assumption that the installation location of each of the plurality of satellite antennas is same as the positioning target location when the reliability determination portion determines that the reliability of the attitude is low.