Granted Patent B2

US 11,156,718 · App. 16/068,864 · Granted Oct 26, 2021

Inventor: Haruto Takeda (Tokyo, JP)

Assignee: SONY CORPORATION

G01S19/04G01S19/05G01S19/44

Abstract

Claims (56)

1. A movable information processing apparatus, comprising:

a GPS reception unit configured to receive a plurality of radio waves from a plurality of satellites, wherein the plurality of satellites further transmits the plurality of radio waves to a first reference station and a second reference station;

a communication unit configured to:

communicate with a server, the first reference station, and the second reference station,

measure a reception strength of a radio wave emitted from the first reference station, and

measure a reception strength of a radio wave emitted from the second reference station; and

a processing unit configured to:

acquire, from the server via the communication unit, a first observation value of the first reference station, wherein the first observation value is based on the plurality of radio waves from the plurality of satellites;

calculate a first integer bias between the first reference station and the movable information processing apparatus based on the acquired first observation value and an observation value of the movable information processing apparatus, wherein the observation value of the movable information processing apparatus is based on the plurality of radio waves from the plurality of satellites, the first integer bias indicates a relative position of the movable information processing apparatus with respect to the first reference station;

acquire, from the server via the communication unit, an inter-reference-station integer bias between the second reference station and the first reference station, wherein

the inter-reference-station integer bias is calculated based on the first observation value and a second observation value of the second reference station,

the second observation value is based on the plurality of radio waves from the plurality of satellites, and

the inter-reference-station integer bias indicates a relative position of the second reference station with respect to the first reference station;

calculate a second integer bias between the movable information processing apparatus and the second reference station based on the calculated first integer bias and the acquired inter-reference-station integer bias, wherein the second integer bias indicates a relative position of the movable information processing apparatus with respect to the second reference station; and

switch to the second reference station from the first reference station, based on the reception strength of the radio wave emitted from the second reference station to the movable information processing apparatus and the calculated second integer bias, wherein the reception strength of the radio wave emitted from the second reference station is greater than the reception strength of the radio wave emitted from the first reference station.

2. The movable information processing apparatus according to claim 1 , wherein

the communication unit is further configured to transmit a signal to the server,

the transmitted signal includes a position of the movable information processing apparatus, and

the server selects the second reference station based on the transmitted position of the movable information processing apparatus.

3. The movable information processing apparatus according to claim 2 , wherein the second reference station is located at a position closest to the movable information processing apparatus among a plurality of reference stations.

4. The movable information processing apparatus according to claim 1 , further comprising a communication unit configured to receive the radio wave emitted from the second reference station.

5. The movable information processing apparatus according to claim 1 , wherein the processing unit is further configured to execute a kinematic positioning operation in association with at least one of the first reference station or the second reference station.

6. A calculation method, comprising:

receiving, by a GPS reception unit in a movable information processing apparatus, a plurality of radio waves from a plurality of satellites, wherein the plurality of satellites further transmits the plurality of radio waves to a first reference station and a second reference station;

communicating with a server, the first reference station, and the second reference station;

measuring a reception strength of a radio wave emitted from the first reference station;

measuring a reception strength of a radio wave emitted from the second reference station;

acquiring, from the server via the communication unit, a first observation value of the first reference station, wherein the first observation value is based on the plurality of radio waves from the plurality of satellites;

calculating, by the processing unit in the movable information processing apparatus, a first integer bias between the first reference station and the movable information processing apparatus based on the acquired first observation value and an observation value of the movable information processing apparatus, wherein the observation value of the movable information processing apparatus is based on the plurality of radio waves from the plurality of satellites, the first integer bias indicates a relative position of the movable information processing apparatus with respect to the first reference station;

acquiring, from the server via the communication unit, an inter-reference-station integer bias between the second reference station and the first reference station, wherein

the inter-reference-station integer bias is calculated based on the first observation value and a second observation value of the second reference station,

the second observation value is based on the plurality of radio waves from the plurality of satellites, and

the inter-reference-station integer bias indicates a relative position of the second reference station with respect to the first reference station;

calculating, by the processing unit in the movable information processing apparatus, a second integer bias between the movable information processing apparatus and the second reference station based on the calculated first integer bias and the acquired inter-reference-station integer bias, wherein the second integer bias indicates a relative position of the movable information processing apparatus with respect to the second reference station; and

switching to the second reference station from the first reference station, based on the reception strength of the radio wave emitted from the second reference station to the movable information processing apparatus and the calculated second integer bias, wherein the reception strength of the radio wave emitted from the second reference station is greater than the reception strength of the radio wave emitted from the first reference station.

7. A system, comprising:

a first reference station configured to receive a plurality of radio waves from a plurality of satellites;

a second reference station configured to receive the plurality of radio waves from the plurality of satellites, wherein

the first reference station is at a specific position, and

the first reference station is different from the second reference station;

a movable information processing apparatus configured to execute a positioning operation based on the plurality of the radio waves from the plurality of satellites, wherein the movable information processing apparatus includes:

a GPS reception unit configured to receive the plurality of radio waves from the plurality of satellites;

a communication unit configured to:

communicate with a server, the first reference station, and the second reference station,

measure a reception strength of a radio wave emitted from the first reference station, and

measure a reception strength of a radio wave emitted from the second reference station, and

a processing unit configured to:

acquire, from the server via the communication unit, a first observation value of the first reference station, wherein the first observation value is based on the plurality of radio waves from the plurality of satellites,

calculate a first integer bias between the first reference station and the movable information processing apparatus based on the acquired first observation value and an observation value of the movable information processing apparatus, wherein

the observation value of the movable information processing apparatus is based on the plurality of radio waves from the plurality of satellites, and

the first integer bias indicates a relative position of the movable information processing apparatus with respect to the first reference station,

acquire, from the server via the communication unit, an inter-reference-station integer bias between the first reference station and the second reference station, wherein

the inter-reference-station integer bias is calculated based on the first observation value and a second observation value of the second reference station, and

the inter-reference-station integer bias indicates a relative position of the second reference station with respect to the first reference station,

calculate a second integer bias between the movable information processing apparatus and the second reference station based on the calculated first integer bias and the acquired inter-reference-station integer bias, wherein the second integer bias indicates a relative position of the movable information processing apparatus with respect to the second reference station, and

switch to the second reference station from the first reference station, based on the reception strength of the radio wave emitted from the second reference station to the movable information processing apparatus and the calculated second integer bias, wherein the reception strength of the radio wave emitted from the second reference station is greater than the reception strength of the radio wave emitted from the first reference station.

Priority Claims (1)

Continuity (1)

Cited By (10)

US 12,216,211 US 12,366,666 US 12,442,929 US 12,498,493 US 12,578,482 US 12,656,506 US 12,681,478 US 12,699,188 US 12,710,553 US 12,736,683