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1. WO2020008705 - APPARATUS AND PROGRAM FOR ESTIMATING POSITION AND ORIENTATION OF MOVING BODY, AND SYSTEM AND METHOD FOR ESTIMATING POSITION AND ORIENTATION OF MOVING BODY

Publication Number WO/2020/008705
Publication Date 09.01.2020
International Application No. PCT/JP2019/016877
International Filing Date 19.04.2019
IPC
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19
Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38
Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39
the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
42
Determining position
43
using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
44
Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19
Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
01
Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
13
Receivers
14
specially adapted for specific applications
15
Aircraft landing systems
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
19
Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
38
Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
39
the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
53
Determining attitude
54
using carrier phase measurements; using long or short baseline interferometry
55
Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
G01S 19/44 (2010.01)
G01S 19/15 (2010.01)
G01S 19/55 (2010.01)
CPC
G01S 19/15
G01S 19/44
G01S 19/53
G01S 19/55
Applicants
  • Terra Drone株式会社 TERRA DRONE CORPORATION [JP/JP]; 東京都渋谷区神宮前5丁目53-67 コスモス青山SOUTH棟3F Cosmos Aoyama South 3F, 5-53-67, Jinguumae, Shibuya-Ku, Tokyo 1500001, JP
Inventors
  • 鈴木 太郎 SUZUKI Taro; JP
Agents
  • 松下 昌弘 MATSUSHITA Masahiro; JP
Priority Data
2018-12954906.07.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) APPARATUS AND PROGRAM FOR ESTIMATING POSITION AND ORIENTATION OF MOVING BODY, AND SYSTEM AND METHOD FOR ESTIMATING POSITION AND ORIENTATION OF MOVING BODY
(FR) APPAREIL ET PROGRAMME POUR ESTIMER LA POSITION ET L'ORIENTATION D'UN CORPS MOBILE, ET SYSTÈME ET PROCÉDÉ POUR ESTIMER LA POSITION ET L'ORIENTATION D'UN CORPS MOBILE
(JA) 移動体の位置及び姿勢を推定する装置とそのプログラム、移動体の位置及び姿勢を推定するシステムとその方法
Abstract
(EN)
Each of three or more receivers installed in a UAV 1 generates, on the basis of signals received from a plurality of satellites 7, observation data including information relating to the distance from the satellites 7 to the receiver. An information processing device 5 calculates an estimated reception position estimated as the position at which one or more receivers receives signals from the satellites 7, on the basis of the observation data and position data of the plurality of satellites 7, and calculates the estimated position of a distance measurement device 20 in the UAV 1 on the basis of the estimated reception position and the estimated orientation of the UAV 1. The distance measurement device 20 radiates laser light to an object in synchronization with the timing of reception of the signals from the satellites 7 by the receiver, and measures the distance to the object.
(FR)
Chaque récepteur parmi au moins trois récepteurs installés dans un VAP 1 génère, sur la base de signaux reçus d'une pluralité de satellites 7, des données d'observation comprenant des informations relatives à la distance des satellites 7 au récepteur. Un dispositif de traitement d'informations 5 calcule une position de réception estimée comme étant la position dans laquelle un ou plusieurs récepteurs reçoivent des signaux provenant des satellites 7, sur la base des données d'observation et des données de position de la pluralité de satellites 7, et calcule la position estimée d'un dispositif de mesure de distance 20 dans le VAP 1 sur la base de la position de réception estimée et de l'orientation estimée du VAP 1. Le dispositif de mesure de distance 20 irradie une lumière laser vers un objet en synchronisation avec le moment de réception des signaux provenant des satellites 7 par le récepteur, et mesure la distance à l'objet.
(JA)
UAV1に設置された3以上の受信機の各々が、複数の衛星7から受信した信号に基づいて、これらの衛星7から受信機までの距離に関する情報を含んだ観測データを生成する。情報処理装置5は、この観測データと、複数の衛星7の位置データとに基づいて、1以上の受信機が衛星7からの信号を受信する位置を推定した推定受信位置を算出し、推定受信位置とUAV1の推定姿勢とに基づいて、UAV1における測距装置20の推定位置を算出する。測距装置20は、受信機において衛星7からの信号を受信するタイミング同期して対象物にレーザー光を照射し、対象物との距離を測定する。
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