The invention relates to navigation, particularly, to detection of indoor and outdoor positions of mobile devices. Technical result of the invention is to improve the accuracy of mobile terminal position detection at time of occurrence of a specific trigger event and decrease of load on sensor, computing, communication and other resources of the mobile terminal at times when a trigger event occurs. Mobile terminal positioning technique at the trigger event moment, is characterized by the following sequence: receipt of series of readings of inertial and non-inertial sensors, identification of intervals, during which readings of at least one sensor generates a stationary process; then detection of at least one point of time, when at least one stationary process is replaced by another stationary process; then identification of parameters of at least one pattern of movement for at least one stationarity interval; then detection of at least one position of the mobile terminal according to readings of non-inertial sensors; estimation of mobile terminal path according to parameters of at least one pattern of movement and then of position corresponding to change of one stationary process to another; then detection of mobile terminal position at time corresponding to a specific trigger event.

A position estimation unit (2) comprising a first transceiver device (3) and a processing unit (10) that is arranged to repeatedly calculate time-of-flight (TOF) for radio signals (x.sub.1, x.sub.2, x.sub.3, x.sub.4, x.sub.5, x.sub.6) sent pair-wise between two transceivers among the first transceiver device (3) and at least two other transceiver devices (7, 8, 9); calculate possible positions for the transceiver devices (3, 7, 8, 9), which results in possible positions for each transceiver device (3, 7, 8, 9); and perform Multidimensional scaling (MDS) calculation in order to obtain relative positions of the transceiver devices (3, 7, 8, 9) in a present coordinate system. After two initial MDS calculations, between every two consecutive MDS calculations, the processing unit (10) is arranged to repeatedly perform a processing procedure comprising translation, scaling and rotation of present coordinate system such that a corrected present coordinate system is acquired. The processing procedure is arranged to determine the corrected present coordinate system such that a smallest change for the relative positions of the transceiver devices (3, 7, 8, 9) between the consecutive MDS calculations is obtained.

Embodiments provide for methods and portable positioning devices adapted to determine a geospatial position of a point of interest. In one embodiment, the portable positioning device comprises an antenna, a levelling detector, an imaging device, a display unit and a processing unit. The antenna may be adapted to receive satellite information signals. The levelling detector is arranged relative to the antenna for detecting whether the antenna is positioned horizontally. The imaging device has an optical axis and a sighting axis. In one embodiment, the sighting axis intersects an antenna axis. In another embodiment, the sighting axis is aligned with the antenna axis. The display unit may be provided for assisting in identifying the point of interest within a field of view of the imaging device and for assisting in identifying whether the antenna is horizontally levelled and whether a phase center and the point of interest are vertically aligned.

A system and method of calibrating satellite signals broadcast by one or more satellites of a satellite positioning system. The system receives sensor data from one or more sensors provided on a vehicle. The system further detects satellite signals from the one or more satellites, and determines timing offsets associated with the satellite signals from each of the one or more satellites based at least in part on the sensor data. For example, the one or more sensors may include at least one of a camera or a rangefinder, and the sensor data may correspond to a three-dimensional sensor image that may be used to determine a location of the vehicle.

One of objectives of the present invention is to derive a timing of energy supply in an automatic driving process with a better precision. A vehicle control system of the present invention comprises: an automatic driving control part, automatically performing at least one of velocity control and steering control of a vehicle, thereby automatically driving the vehicle to a set destination; a deriving part, deriving the energy predicted to be consumed during automatic driving on a guide path from a current position of the vehicle to the destination; and a judging part, judging whether the vehicle needs to be supplied with energy until the vehicle arrives at the destination based on the energy derived by the deriving part.

An object is to provide a vehicle position determination device, a vehicle control system, a vehicle position determination method, and a vehicle position determination program capable of determining a position of a vehicle with higher accuracy. A vehicle position determination device includes a coordinates acquisition unit that acquires a position of a vehicle in a geographic coordinate system, a recognition unit that acquires lane information of a road on which the vehicle travels and recognizes the position of the vehicle on the lane, and a control unit that corrects the position acquired by the coordinates acquisition unit on the basis of the position recognized by the recognition unit, and determines the position of the vehicle in the geographic coordinate system.

Provided is a method for matching telemetry packets for satellite image processing, which includes receiving a plurality of image data telemetry packets and a plurality of auxiliary data telemetry packets, the plurality of image data telemetry packets include satellite image data photographed from a satellite, but do not include satellite image sequence information, and the plurality of auxiliary data telemetry packets include satellite image sequence information, correcting a packet time of either the plurality of image data telemetry packets or the plurality of auxiliary data telemetry packets by using a predetermined mathematical formula, and matching the plurality of image data telemetry packets and the plurality of auxiliary data telemetry packets corresponding to the same satellite image sequence by using the packet time.

Provided is a device including an acquisition unit that acquires information indicating a position estimation system selected from among a plurality of position estimation systems for estimating a position of a flight vehicle, and a position estimation unit that estimates the position of the flight vehicle from first information generated by using an inertial sensor of the flight vehicle and second information generated through the position estimation system based on a parameter for the position estimation system.

[Object] To make it possible to more favorably estimate the position of a flight vehicle.

[Solution] Provided is a device including: an acquisition unit that acquires information indicating a position estimation system selected from among a plurality of position estimation systems for estimating a position of a flight vehicle; and a position estimation unit that estimates the position of the flight vehicle from first information generated by using an inertial sensor of the flight vehicle and second information generated through the position estimation system based on a parameter for the position estimation system.

Provided herein is a method for generating a road surface. The method for generating a road surface includes: obtaining a view height of a laser scanner used in an operation process through a mobile mapping system (MMS); determining a reference height on the basis of the obtained view height and a height measured by a global positioning system (GPS); extracting point cloud data positioned in a predetermined height range from the determined reference height among point cloud data obtained in the mobile mapping system; and generating the road surface on the basis of the extracted point cloud data.