초록 ▼

A coupled real-time GPS/IMU simulation method with differential GPS includes the steps of receiving real-time trajectory data from a 6DOF trajectory generator and generating GPS simulated measurements (rover and reference) and inertial measurement unit simulated electronic signals based on the real

A coupled real-time GPS/IMU simulation method with differential GPS includes the steps of receiving real-time trajectory data from a 6DOF trajectory generator and generating GPS simulated measurements (rover and reference) and inertial measurement unit simulated electronic signals based on the real GPS models and IMU models, respectively, and injecting those simulated data into an on-board integrated GPS/INS (global positioning system/inertial navigation system). Therefore, the coupled real-time GPS/IMU simulation method with differential GPS can be applied to evaluate the performance of the integrated GPS/INS in the area of high accuracy positioning in addition to the regular evaluation (one receiver mode).

대표청구항 ▼

A coupled real-time GPS/IMU simulation method with differential GPS includes the steps of receiving real-time trajectory data from a 6DOF trajectory generator and generating GPS simulated measurements (rover and reference) and inertial measurement unit simulated electronic signals based on the real

A coupled real-time GPS/IMU simulation method with differential GPS includes the steps of receiving real-time trajectory data from a 6DOF trajectory generator and generating GPS simulated measurements (rover and reference) and inertial measurement unit simulated electronic signals based on the real GPS models and IMU models, respectively, and injecting those simulated data into an on-board integrated GPS/INS (global positioning system/inertial navigation system). Therefore, the coupled real-time GPS/IMU simulation method with differential GPS can be applied to evaluate the performance of the integrated GPS/INS in the area of high accuracy positioning in addition to the regular evaluation (one receiver mode). ach of three dimensions; wherein said direction measuring unit measures said displacement direction on the basis of the acceleration detected by said acceleration detecting unit. 9. The position measurement device, according to claim 7, comprising an angular velocity detecting unit for detecting the angular velocity in each of three dimensions; wherein said direction measuring unit measures said displacement direction on the basis of the angular velocity detected by said angular velocity detecting unit. 10. A position measurement device comprising: a position measuring unit for finding two-dimensional position information, at least including latitude and longitude, of a measurement point where the device is presently located on the basis of radio wave information received from satellites; and a distance and direction measuring unit for measuring a displacement distance and a displacement direction, to the device, from an earlier position obtained by said position measuring unit, wherein the earlier position was determined based on radio wave information received from a prescribed number of the satellites, the prescribed number being three or more; wherein said position measuring unit determines a present position of the measurement point on the basis of both of said displacement distance and said displacement direction, when radio wave information is received from a lesser number of the satellites, wherein the lesser number of which is less than said prescribed number. 11. The position measurement device, according to claim 10, comprising an acceleration detecting unit for detecting the acceleration in each of three dimensions; wherein said distance measuring unit measures the displacement distance and displacement direction on the basis of the acceleration measured by said acceleration detecting unit. 12. The position measurement device, according to claim 10, comprising: an acceleration detecting unit for detecting the acceleration in each of three dimensions; and an angular velocity detecting unit for detecting the angular velocity in each of three dimensions; wherein said distance measuring unit measures the displacement distance on the basis of the acceleration measured by said acceleration detecting unit, and the displacement direction on the basis of the angular velocity detected by said angular velocity detecting unit. 13. The position measurement device according to claim 1, wherein the position measurement device is portable and comprises a terminal.14. A position measurement method comprising the steps of: finding two-dimensional position information, at least including latitude and longitude, of a present measurement point on the basis of radio wave information received from satellites; measuring a displacement distance, to the measurement point, from an earlier position obtained in said step of finding two-dimensional position information, wherein the earlier position was determined based on radio wave information received from a prescribed number of the satellites, the prescribed number being three or more; determining a present position of the measurement point, based on both of radio wave information received from a lesser number of the satellites, wherein the lesser number is less than said prescribed number, and on said displacement distance. 15. A position measurement device comprising: a position measuring unit for finding two-dimensional position information, at least including latitude and longitude, of a measurement point on the basis of radio wave information received from a prescribed number, comprising three or more, of satellites, and measuring the position of the measurement point; and a distance measuring unit for measuring a displacement distance from a prescribed position obtained by said position measuring unit; wherein said position measuring unit measures the position of the measurement point based on of said displacement distance and at least one piece of radio wave information received from the satellites, the number of which is less than said prescribed number, in the case where the number of satellites from which radio wave information can be received is less than said prescribed number wherein said position measuring unit measures the position of said measurement point, based on said displacement distance and one piece of radio wave information received from one satellite, the number of which is less than said prescribed number; wherein said position measuring unit determines the position of the measurement point to be the center of a circle constituting a first position group where a second position group, comprising a set of the positions of the measurement point based on said displacement distance, overlaps a third position group, comprising a set of positions of the measurement point based on said radio wave information. 16. The position measurement device, according to claim 15, wherein said position measuring unit determines the radius of said circle to be the error of said determined position.17. The position measurement device, according to claim 1, wherein the prescribed position is a predetermined position and the prescribed number is a predetermined number.18. The position measurement device, according to claim 10, wherein the prescribed position is a predetermined position and the prescribed number is a predetermined number.19. The position measurement device, according to claim 13, wherein the prescribed position is a predetermined position and the prescribed number is a predetermined number.20. The position measurement device, according to claim 14, wherein the prescribed position is a predetermined position and the prescribed number is a predetermined number.