초록 ▼

To provide a GPS compound device having a configuration including a GPS receiver, that accurately determines abnormality in an output from the GPS receiver based on a difference between a GPS pseudorange measurement and a Doppler frequency measurement, when detecting the abnormality in the outputs f

To provide a GPS compound device having a configuration including a GPS receiver, that accurately determines abnormality in an output from the GPS receiver based on a difference between a GPS pseudorange measurement and a Doppler frequency measurement, when detecting the abnormality in the outputs from the GPS receiver, while avoiding continuation of the abnormality at the time of the abnormality determination resulting from estimation errors of the GPS pseudorange measurement and the Doppler frequency measurement. When the abnormality of the outputs from the GPS receiver are detected, an abnormal period is counted. When the count value is below a predetermined threshold, the outputs from the GPS receiver are treated as abnormal, and after it exceeded the threshold, the outputs from the GPS receiver are treated as normal. Thus, the abnormality of the outputs from the GPS receiver can be determined accurately.

대표청구항 ▼

1. A GPS compound device having a configuration including a GPS receiver, comprising: an integration processor for outputting a position, a velocity, and an azimuth of a moving body;an error estimator for estimating at least a velocity error and an azimuth error of the outputs from the integration p

1. A GPS compound device having a configuration including a GPS receiver, comprising: an integration processor for outputting a position, a velocity, and an azimuth of a moving body;an error estimator for estimating at least a velocity error and an azimuth error of the outputs from the integration processor based on at least an output from the GPS receiver and the outputs from the integration processor; anda GPS abnormality detector for detecting an abnormality of the output from the GPS receiver based on a difference between at least one of a pseudorange measurement and a Doppler frequency measurement of the output from the GPS receiver and an estimated value of the measurement,wherein, when the abnormality is detected by the GPS abnormality detector, an abnormal period is counted, and based on comparison of the count value with a predetermined threshold, the output from the GPS receiver is determined whether to be treated as abnormal or normal. 2. The GPS compound device of claim 1, wherein the GPS abnormality detector determines a reliability of the output from the GPS receiver, and when the GPS abnormality detector determines as non-reliable, the count of the abnormal period is stopped or reset. 3. The GPS compound device of claim 1, wherein the detection of abnormality by the GPS abnormality detector is performed by determining an abnormality of the output from the GPS receiver based on a difference between at least one of the position and the velocity of the output from the GPS receiver and at least one of the position and the velocity of the outputs from the integration processor. 4. The GPS compound device of claim 1, wherein the integration processor calculates the position, the velocity, and the azimuth of the moving body based on at least the position of the output from the GPS receiver, at least the output from an accelerometer for measuring an acceleration of the moving body in the traveling direction, and at least an output from a gyro sensor for measuring a rotation rate about an azimuth axis of the moving body. 5. The GPS compound device of claim 1, wherein the integration processor calculates the position, the velocity, and the azimuth of the moving body based on outputs from a velocity sensor for measuring at least a velocity of the moving body in the traveling direction and a gyro sensor for measuring at least a rotation about the azimuth axis of the moving body. 6. The GPS compound device of claim 1, further comprising a memory module for storing the output from the integration processor immediately before a power-off, wherein the data stored in the memory module is used as an initial value of the calculation by the integration processor at the time of a power-on.