Moving body position estimating/tracking device, method of estimating/tracking position of moving body, and moving body position estimating/tracking program



【課題】GPSによる位置情報と追尾アンテナによる指向角情報とを用いて、移動体の位置を高精度に推定しながらその移動体を追尾することができるようにする。 【解決手段】加速度センサ2が検出した加速度センサ検出信号S2に基づいて行われる無人機位置伝播処理に対し、GPS受信器1が受信したGPS受信信号による位置更新タイミングにおいて無人機の位置推定値を生成するのと同時に、前回の更新時刻から現在時刻までに伝播処理と同期して得られた追尾アンテナ6の指向角度誤差信号の時系列データを利用して、追尾アンテナ指向角指令信号S6を生成する。その結果、追尾アンテナ6に設置アライメント誤差が存在したり、GPS受信機1が検出した更新位置信号S1に位置誤差が含まれていても、カルマンフィルタ処理の枠組み中でこれら検出信号の誤差補正が実施可能となり、無人機の位置推定と追尾アンテナによる高精度追尾とを同時に達成できる。 【選択図】図1
PROBLEM TO BE SOLVED: To track a moving body, while accurately estimating the position of the moving body, using position information by a GPS and directional angle information through a tracking antenna. SOLUTION: A position estimation value of an unmanned aircraft is generated, at position updating timing by a GPS reception signal received by a GPS receiver 1 for unmanned aircraft position propagation processing performed, based on an acceleration sensor detection signal S2 detected by an acceleration sensor 2, and time-series data of a directional angle error signal in the tracking antenna 6, obtained in synchronization with propagation processing from the last update time to the current time are utilized to generate a tracking antenna directional angle command signal S6. As a result, even if there is an installation alignment error in the tracking antenna 6, or a position error is included in an update position signal S1 detected by the GPS receiver 1, error correction for the detection signals can be executed within a framework of Kalman filtering, and simultaneous attainment of the position estimation of the unmanned aircraft and precise tracking by the tracking antenna becomes possible. COPYRIGHT: (C)2011,JPO&INPIT




Download Full PDF Version (Non-Commercial Use)

Patent Citations (21)

    Publication numberPublication dateAssigneeTitle
    JP-2000029519-AJanuary 28, 2000Caterpillar Inc, キャタピラー インコーポレイテッドMethod and device for controlling vehicle navigation
    JP-2000292170-AOctober 20, 2000Nec Corp, 日本電気株式会社Moving body attitude angle detecting device
    JP-2002158525-AMay 31, 2002Mitsubishi Electric Corp, 三菱電機株式会社衛星追尾用アンテナ制御装置
    JP-2005024535-AJanuary 27, 2005Mitsubishi Electric Corp, 三菱電機株式会社位置推定装置
    JP-2005181149-AJuly 07, 2005Mitsubishi Electric Corp, 三菱電機株式会社衛星追尾用アンテナ制御装置
    JP-2005257644-ASeptember 22, 2005Intelligent Cosmos Research Institute, 株式会社インテリジェント・コスモス研究機構Device, method, and program for detecting position
    JP-2007064853-AMarch 15, 2007Hitachi Ltd, 株式会社日立製作所Controller, system and program for positioning mobile object by using complex positioning
    JP-2007235649-ASeptember 13, 2007Nec Corp, 日本電気株式会社Drive controller and driving control method of data relay antenna
    JP-2008175721-AJuly 31, 2008Mitsubishi Electric Corp, 三菱電機株式会社Sensor error estimating device, and observation device, method, and program
    JP-2010066073-AMarch 25, 2010Nec Corp, 日本電気株式会社Movable body position estimation system, movable body position estimation method, and movable body position estimation program
    JP-2012112738-AJune 14, 2012Nec Corp, 日本電気株式会社追尾装置及び追尾方法
    JP-H02190005-AJuly 26, 1990Mitsubishi Electric CorpAntenna directivity controller for artificial satellite
    JP-H04335174-ANovember 24, 1992Nec CorpTracking receiver
    JP-H0685521-AMarch 25, 1994Mitsubishi Electric Corp, 三菱電機株式会社Antenna orientation controller for artificial satellite
    JP-H07128421-AMay 19, 1995Nec Corp, 日本電気株式会社移動体搭載アンテナの追尾制御装置
    JP-H07209400-AAugust 11, 1995Nec Corp, 日本電気株式会社Equipment and method for controlling antenna mounted on moving body
    JP-H088630-AJanuary 12, 1996Nec Corp, 日本電気株式会社Antenna drive controller
    JP-H09261149-AOctober 03, 1997Mitsubishi Electric Corp, 三菱電機株式会社Directing controller for communication antenna
    JP-H1038992-AFebruary 13, 1998Nec Corp, 日本電気株式会社Antenna tracking controller and method therefor
    JP-H11109102-AApril 23, 1999Toyota Motor Corp, Yazaki Corp, トヨタ自動車株式会社, 矢崎総業株式会社車両用計器
    JP-S63271182-ANovember 09, 1988Nec CorpAutomatic controller for antenna beam direction

NO-Patent Citations (0)


Cited By (2)

    Publication numberPublication dateAssigneeTitle
    CN-104377447-AFebruary 25, 2015北京遥测技术研究所一种基于Kalman滤波器的机动目标跟踪控制系统
    CN-104965522-AOctober 07, 2015深圳市浩瀚卓越科技有限公司GPS-based automatic multi-rotor unmanned aerial vehicle tracking system