JP2001013237A - Carrier phase relative determination device and determination system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the presence or absence of cycle slip generation by using the difference between reception point height that is determined by carrier phase difference obtained by mobile and base stations according to a satellite signal, and the reception point height that does not use the satellite signal. SOLUTION: The carrier phase information of each satellite where a GPS receiver 2 of a base station receives is broadcasted from an antenna 4 for data transmission. In a mobile station, a signal where a GPS antenna 11 receives from a plurality of satellites is processed by amplification, mixing, sampling, digital conversion, or the like as phase information. A CPU 25 obtains the position of a reception point (GPS height) according to double phase difference based on the phase information from the base station, and that obtained at the mobile station side. Furthermore, the instantaneous height (observation height) of the reception point is obtained according to the sum of a tidal level observation value from a tide observation location that a data receiver 22 receives, and a ship up-and-down movement observation value obtained by a vertical gyro 23. When the average value of GPS and observation height exceeds a preset threshold, it is judged that cycle slip is generated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device that receives a signal transmitted from a positioning satellite and performs carrier phase relative positioning.

[0002]

2. Description of the Related Art Conventionally, GPS requires relative positioning using a carrier phase when a high positioning accuracy of about several cm is required.

[0003] For example, in surveying ships and marine civil engineering ships,
A receiver for observing a carrier phase of a radio wave transmitted from a GPS satellite is provided for each of a base station whose position is already accurately determined and a mobile station whose position is to be obtained.
So-called real-time kinematic (RTK) GPS positioning, which measures the position of a receiving point in real time, is performed.

This real-time kinematic (RT)
K) In the GPS positioning, first, the difference (single phase difference) between the carrier phase of the reference satellite observed by the receiver of the base station and the carrier phase of the reference satellite observed by the receiver of the mobile station is obtained.
The difference (single phase difference) between the carrier phase of another satellite observed by the receiver of the base station and the carrier phase of those satellites observed by the receiver of the mobile station is determined, and the difference between the two (double phase difference) is obtained. Phase difference). Then, based on this, an equation with the receiving point position as an unknown number is established, and the equation is solved to find the position of the receiving point. However, the above-mentioned double phase difference is only correctly obtained only for the value below the decimal point of the carrier phase, and the value of the integer wavelength (integer value bias) is initially unknown. So first, OTF (On The Fly calibratio
An initialization process for obtaining an integer bias of the carrier phase called n) is performed, and thereafter, the position of the reception point is obtained based on the value of the integer part of each of the above-mentioned double phase differences and the value after the decimal point.

[0005]

However, in the measurement of the carrier phase, a carrier signal is reproduced from a signal received from a GPS satellite, and the phase of the carrier signal is converted to a wave number including a phase angle corresponding to a fraction of a wavelength. If reception is interrupted momentarily due to obstacles, noise radio waves, or multiple reflections on satellite radio waves, information on the increase or decrease of the integer part of the wave number is lost. I will be. This phenomenon is called "cycle slip". For example, even for an instantaneous interruption of 0.1 second or less, the carrier phase locked loop of the receiver is out of synchronization, and information about the increase or decrease of the integer part of the wave number is lost.

When such a cycle slip occurs,
The hyperboloid due to the double phase difference jumps by the slip of the integral value of the double phase difference, and a large error is included in the positioning result. Therefore, conventionally, the magnitude of the difference (residual) between the double phase difference (observed) used for positioning and the double phase difference calculated backward from the positioning result is always checked, and the residual is a certain threshold. When the value was exceeded, a cycle slip was considered to have occurred.

[0008] In FIG. 8A, a solid line is a line (carrier phase position) on which a curve formed by the intersection of two of the three hyperboloids obtained from the double phase difference observed is drawn. In this example, the position of the center of gravity of the triangle formed by the intersection of the three carrier phase position lines is set as the position of the reception point. The broken line is the carrier phase position line calculated backward from the positioning result, and the distance from the position of the receiving point to each carrier phase position line is the residual. Since the integer value of the double phase difference is different, the interval between a plurality of adjacent carrier phase position lines is substantially equal to one wavelength of the carrier phase, and is about 20 cm. If this is called one lane, for example, 0.
When a residual of 5 lanes (about 10 cm) or more occurs, it is considered that a cycle slip has occurred.

However, in a situation where only two satellites other than the reference satellite can be received, only two carrier phase position lines can be drawn as shown in FIG. Can not be asked.

However, since the carrier phase position line is drawn on a plane in the example of FIG. 8, the carrier phase position line based on a double phase difference obtained by a total of four satellites, that is, the reference satellite and the other three satellites, Although the residual is obtained as three lines, it is necessary to perform three-dimensional positioning in practice, so that radio waves from five or more satellites must be received. That is, in the case of four satellites, there is only one intersection of the three hyperboloids, and no residual occurs. For this reason, in a situation where only radio waves from four satellites can be received, it is not possible to determine the cycle slip by checking the residual, and if a cycle slip actually occurs in this state, it remains unknown that an error has occurred. I will.

An object of the present invention is to provide a carrier phase relative positioning apparatus capable of accurately detecting the occurrence of cycle slip even when only four satellites are available.

[0011]

A carrier phase relative positioning apparatus according to the present invention comprises: means for receiving carrier phase information of a plurality of positioning satellites obtained by a base station; and transmitting signals from the plurality of positioning satellites. While receiving and obtaining each carrier phase, a double phase difference of a carrier phase is obtained from the carrier phase and the carrier phase of the plurality of positioning satellites received from the base station, and the double phase difference and the plurality of Means for locating the receiving point from the position of the positioning satellite, and the double positioning based on the difference between the height of the receiving point and the height of the receiving point obtained without using the received signal from the positioning satellite. Determining means for determining the presence or absence of a cycle slip caused by the phase difference;

As described above, the height of the receiving point obtained without using the received signal from the positioning satellite is irrelevant to the cycle slip, and thus, is obtained without using the received signal from the positioning satellite. By comparing the height of the received point with the height of the received point obtained by using the received signal from the positioning satellite, it is possible to determine whether or not there is a cycle slip.

[0013] In the simplest case, when the height of the receiving point is known in advance, such as in a construction vehicle moving on a flat ground having a predetermined height, this height and the signal from the satellite are used. When the value of the difference from the height of the reception point measured and received exceeds a predetermined value, it may be considered that a cycle slip has occurred.

Further, in the carrier phase relative positioning apparatus according to the present invention, the determining means may determine an average value of the difference between the heights obtained by the smoothing filter having a high response and the smoothing filter having a low response. When the difference exceeds a predetermined threshold value, it is assumed that the cycle slip has occurred.

The fluctuation of the height difference due to the cycle slip largely appears in the average value of the smoothing filter having high response, and does not greatly appear in the average value of the smoothing filter having low response. When the difference between the average values of the difference exceeds a predetermined value, it can be considered that a cycle slip has occurred. Thus, even when the height of the receiving point constantly changes due to tide levels and waves, such as a ship, the presence or absence of a cycle slip is accurately determined without being affected by the fluctuation of the actual height of the receiving point. You.

Therefore, when determining whether or not a cycle slip has occurred based on the difference between the average values, the "height of the receiving point obtained without using the received signal from the positioning satellite" is always set to 0. It may be fixed to.

Further, in the carrier phase relative positioning apparatus according to the present invention, the determining means obtains a short-term change speed and a long-term change speed of the height difference, and a difference between the two change speeds is obtained.
When a predetermined threshold value is exceeded, it is assumed that the cycle slip has occurred.

According to such a configuration, even when the difference between the average values of the two height differences appears relatively small, the change in the height difference due to the cycle slip is determined as the short-term change speed. Since it appears greatly and does not appear as a long-term change rate, the cycle slip can be accurately detected.

Further, the carrier phase relative positioning apparatus according to the present invention may be configured such that a height of a receiving point obtained without using a received signal from the positioning satellite is obtained by a ship vertical movement observation value obtained by a ship vertical movement observation apparatus or a ship vertical movement observation value obtained by a ship vertical movement observation apparatus. The tide level obtained from the tide level observation device or tide table.

For example, when the position of a receiving antenna for receiving a signal from a positioning satellite is measured on a surveying ship, a vertical (vertical) motion acceleration provided in the ship is obtained. The vertical movement of the ship is observed with a gyro, etc., and information wirelessly transmitted from the tide station is received and used as a tide level observation value. Then, the sum of the two is obtained as the height of the receiving point.

Further, the carrier phase relative positioning apparatus according to the present invention comprises: means for receiving carrier phase information of a plurality of positioning satellites obtained by a base station; and receiving signals from the plurality of positioning satellites and And the carrier phase of the plurality of positioning satellites received from the base station and the carrier phase of the plurality of positioning satellites, the double phase difference and the plurality of positioning satellites Means for measuring the speed of change in the height direction of the receiving point from the position of, and the speed of change in the height direction of the receiving point and the height direction of the receiving point obtained without using a received signal from the positioning satellite. Determining means for determining the presence or absence of a cycle slip occurring in the double phase difference based on a difference from the change speed.

As described above, the change speed in the height direction of the receiving point obtained without using the received signal from the positioning satellite is:
Since it is irrelevant to the cycle slip, the change rate in the height direction of the receiving point obtained without using the received signal from the positioning satellite, and the change of the receiving point obtained using the received signal from the positioning satellite. By comparing the change speed in the height direction, it is possible to determine the presence or absence of a cycle slip.

Further, in the carrier phase relative positioning apparatus according to the present invention, the change rate in the height direction of the reception point obtained without using the reception signal from the positioning satellite is a unit time obtained by the ship vertical movement observation apparatus. It is the amount of change in the height direction per unit, or the amount of change in tide level per unit time obtained by the tide level observation device or tide table.

Further, the positioning system of the present invention is provided with means for wirelessly transmitting the tide level data to the base station, and comprises a carrier phase relative positioning device using the tide level data and the base station.

Similarly, in the positioning system of the present invention, the base station is provided with means for wirelessly transmitting the data of the tide change per unit time, and a carrier phase relative positioning device using the data of the tide change is provided. And the base station.

[0026]

FIG. 1 is a diagram showing the configuration of a carrier phase relative positioning apparatus and a positioning system according to a first embodiment of the present invention. FIG. 1A shows the configuration of a base station, and FIG. 1 shows the configuration of a station. The base station uses GP as shown in (A).
It comprises an S antenna 1, a GPS receiver 2, a data transmitter 3, and a data transmission antenna 4. Here GPS
The receiver 2 receives radio waves from each satellite and repeatedly obtains data of each carrier phase at a predetermined cycle. The data transmitter 3 broadcasts the satellite number and carrier phase information together with the time information from the data transmitting antenna 4 to a predetermined service area.

On the other hand, the mobile station has the configuration shown in FIG. 2B. The GPS antenna 11 receives signals from a plurality of satellites, and the L1 band amplifier circuit 12 amplifies the signals, and the mixer circuit 1
4 mixes this signal with the signal from the local oscillation circuit 13 and converts it into an intermediate frequency signal. Intermediate frequency amplifier circuit 1
5 amplifies this, sampler 16 samples it at a predetermined period, and AD converter 17 converts the value into digital data. The CPU 25 executes a program written in the ROM 26 in advance to perform relative positioning. RAM
27 is used as a working area when executing the program. The data receiver 19 receives data broadcast from the base station. Reference numeral 18 denotes the receiving antenna. The data receiver 22 receives the data of the tide level observation value wirelessly transmitted from the tide station. 21 is the receiving antenna. The CPU 25 reads data received by the data receivers 19 and 22 via the interface 20. The vertical gyro 23 detects the acceleration of the motion in the height (vertical) direction of the ship, and includes a gyro unit, an acceleration detection unit, and a calculation unit that obtains instantaneous height data by integrating the acceleration twice. The CPU 25 reads the detected data via the interface 24,
The height change of the ship in a shorter time than the tide cycle is obtained. Further, the CPU 25 outputs the positioning result and the cycle slip information to the outside via the interface 28.

It is to be noted that the current tide level is obtained based on a tide table estimated in advance instead of the data of the tide level observation value,
The data may be broadcast.

FIGS. 2 and 3 show the CPU 25 shown in FIG.
6 is a flowchart showing the processing procedure of FIG. FIG. 2 is a flowchart relating to the positioning processing. First, the carrier phase information of each satellite currently being received is read. This carrier phase information is the value of the phase counter. A plurality of double phase differences are obtained based on the carrier phase information of each satellite transmitted from the base station and the carrier phase information of each satellite obtained on the mobile station side. At this time, the reference satellite is determined to be the satellite having the largest elevation angle among the receivable satellites. The intersection of a plurality of hyperboloids determined by these double phase differences is the position of the reception point. However, since the integer bias of the double phase difference is undecided immediately after the start of reception, there are a plurality of intersections of the hyperboloid as candidates for the position of the reception point. Of the plurality of candidate positions, the correct position is designated as OTF (On The Fly calibra
option). That is, an integer bias of each double phase difference is obtained.

After the completion of the OTF, the position of the receiving point is obtained based on the integer bias value of each double phase difference and the value after the decimal point which are correctly obtained. Since the position information obtained here is a value in ECEF (Earth Center Earth Fixed) coordinates, it is converted into a coordinate system of latitude, longitude, and height and output.

Thereafter, the positioning result is periodically output by the RTK method. As described later, whether or not a cycle slip has occurred is determined each time based on the height information. If it is detected that a cycle slip has occurred, the process returns to the OTF processing again.

FIG. 3 is a flowchart showing a procedure for determining a cycle slip performed during the above-mentioned positioning process. First, the height of the receiving point is obtained from the tide level observation value obtained by receiving the radio wave transmitted from the tide station and the ship vertical motion observation value obtained by the vertical gyro. Here, the observed tide level is a component that fluctuates in a cycle of about 12 hours, and the observed vertical movement is a component that fluctuates in a cycle of several seconds to several tens of seconds. The sum of the two is obtained as the instantaneous height of the receiving point. .

Next, the height of the receiving point by the positioning processing shown in FIG. 2 (hereinafter referred to as “GPS height”), and the height of the receiving point obtained from the tide level observation value and the ship vertical motion observation value (Hereinafter referred to as “observation height”). Subsequently, an average value of the height difference is obtained using a smoothing filter having a high responsiveness and a smoothing filter having a low responsiveness.
Find the difference between the two. When this value exceeds a predetermined threshold value, it is regarded that a cycle slip has occurred, and the information is output. If the threshold value is not exceeded, a short-term change rate and a long-term change rate of the height difference are obtained, and the difference between the two is obtained. That is, the difference between the change speeds of the two height differences having different responsiveness is obtained. When this value exceeds a predetermined threshold value, it is considered that a cycle slip has occurred and the information is output.

FIG. 4 is a block diagram showing a procedure of the cycle slip determination. In FIG. 4, αβ
The filter is generally represented as shown at the bottom of the figure and performs the following operations.

[0035] In _{E n = R n -P n S} n = P n + αE n S n '= S n-1' + βE n P n + 1 = S n + S n ' wherein, R _n: input value at time n S _n : average value of input value at time n S _n ': speed of change of input value at time n P _n : estimated value at time n _En : deviation between estimated value and input value at time n (estimation error) P _{n + 1} : Estimated value for the next time ( _{Pn in} next step) α: Correction coefficient for estimation of input value β: Correction coefficient for estimation of change speed of input value

[0036] Thus, although smoothed value of the input value R _n that varies with time is determined as S _n,
The smaller α is, the slower the smoothing response is,
, The smoothing response increases.

The speed of change of the input value R _n is obtained as S _n ′. As β becomes smaller, the response becomes slower and the long-term change speed is obtained. As β becomes larger, the response becomes longer. As it increases, the short-term rate of change is determined.

Assuming that α and β are in a relationship of β = α ² / (2−α), when estimating the input value and estimating the change speed of the input value from the difference between the estimated value and the input value, Thus, stable estimation can be performed without delay in tracking the estimated value or excessive response.

In this embodiment, the input value of the αβ filter is used as the difference between the GPS height and the observation height, and is used as shown in the upper part of FIG. As described above, the difference between the heights is R _n
By inputting the average value of the difference in height is obtained as S _n, the rate of change of the difference in height is obtained as S _n '.

Here, in the “light αβ filter”, α =
0.2, β = 0.022, and in the “heavy αβ filter”, α = 0.05 and β = 0.0013. The “light αβ filter” functions as a smoothing filter having high responsiveness when calculating the average value of the height difference, and also functions as a filter for calculating the short-term change speed of the height difference. Conversely, the “heavy αβ filter” functions as a smoothing filter with low response when obtaining the average value of the height differences, and also functions as a filter for calculating the long-term change speed of the height differences.

In the embodiment described above, both the observation value by the vertical gyro and the observation value of the tide level are used to obtain the height of the reception point without using the reception signal from the positioning satellite. For example, when the vertical motion of a ship in a short period is obtained and the presence or absence of a cycle slip is determined from the rate of change of the height difference, without using the tide level observation value, it is also possible to use only the vertical gyro observation value. Good. Conversely, when determining the height of a ship in a long period and determining whether or not a cycle slip has occurred from the average value of the height differences, without using a vertical gyro,
Only tide level observations may be used.

In the embodiment, the vertical gyro is used as a device for observing the vertical motion of the ship. In addition, a device for detecting acceleration in a three-dimensional direction is used. May be extracted.

In the embodiment described above, the GPS
The presence or absence of a cycle slip was detected by comparing the height with the observation height. However, when radio waves from five or more satellites were in a receivable state, the residual was also obtained and the magnitude of the residual was determined. Alternatively, the presence / absence of a cycle slip may be detected from the change speed, and the presence / absence of a cycle slip may be determined from both the method based on the residual and the method based on the height. Thereby, the detection omission of the cycle slip is reduced and the safety is enhanced.

In the embodiment described above, an example is shown in which the present invention is applied to a ship such as a surveying ship or an offshore civil engineering ship. However, as in the case of a construction vehicle moving on a flat ground having a predetermined height. If the height of the receiving point is known in advance and is a fixed value, the fixed value may be input as the “observed height” in the above embodiment. Alternatively, when the difference between the “GPS height” in the embodiment and the fixed value exceeds half (about 10 cm) of the distance of one wavelength of the carrier, it is considered that a cycle slip has occurred. You may comprise.

For example, the above “observation height” is always fixed to 0, and the difference between “GPS height” and “observation height”, ie, “G
Regarding the “PS height” itself, the cycle is determined by whether or not the difference between the average value obtained by the smoothing filter having high responsiveness and the average value obtained by the smoothing filter having low responsiveness has exceeded a predetermined threshold value. The occurrence of slip may be determined.

Next, a configuration of a carrier phase relative positioning apparatus and a positioning system according to a second embodiment will be described with reference to FIGS. 5A and 5B are diagrams showing the configurations of the carrier phase relative positioning device and the positioning system, wherein FIG. 5A shows the configuration of a base station, and FIG. 5B shows the configuration of a mobile station. The base station includes a GPS antenna 1, a GPS receiver 2, a data transmitter 3, a tide level observation device 5, and a data transmission antenna 4 as shown in FIG. The GPS receiver 2 is the same as that shown in FIG. The data transmitter 3 broadcasts the satellite number and the carrier phase information together with the time information from the data transmitting antenna 4 into a predetermined service area, and further broadcasts the tide level data observed by the tide level observation device 5. At this time, the data relating to the carrier phase information and the data relating to the tide level may be multiplexed using one radio wave or may be broadcast independently.

Instead of the tide level observation device 5, the current tide level or the current tide level change amount per unit time may be obtained from a tide table estimated in advance, and the data may be broadcast.

On the other hand, the mobile station has the configuration shown in FIG. Unlike the configuration shown in FIG. 1, in this example, the data receiver 19 receives not only the data on the carrier phase information broadcast from the base station but also the data on the tide level. Other components are the same as those shown in FIG.

FIGS. 6 and 7 show the CPU 25 shown in FIG.
6 is a flowchart showing the processing procedure of FIG. FIG. 6 is a flowchart relating to the positioning processing. Unlike the embodiment shown in FIG. 2, here, the occurrence of cycle slip is determined by comparing the change speed of the observation height with the change speed of the GPS height. The processing contents in the other steps are the same as those shown in FIG.

FIG. 6 is a flowchart showing a procedure for determining a cycle slip performed during the above positioning process. First, a change speed in the height direction of the receiving point is obtained from the observed vertical movement of the ship obtained by the vertical gyro.

Next, the difference between the speed of change in the height direction of the receiving point by the positioning processing shown in FIG. 6 and the speed of change in the height direction of the receiving point obtained from the above observed vertical movement of the ship is determined. Subsequently, when the difference exceeds a predetermined threshold value, it is regarded that a cycle slip has occurred, and the information is output.

The change speed in the height direction of the receiving point may be obtained from the tide level received by the data receiver 19 or the tide level change amount per unit time.

[0053]

According to the first, fifth, seventh and eighth aspects of the present invention, it is possible to determine whether or not a cycle slip has occurred even if only four positioning satellites can be received and no residual is obtained. Therefore, even in an area or time zone where radio waves from many positioning satellites cannot be received, it is possible to correctly perform carrier phase relative positioning while determining whether or not a cycle slip has occurred. Therefore, a temporal or spatial region where carrier phase relative positioning can be performed is widened.

According to the second and third aspects of the present invention, even when the height of the receiving point constantly fluctuates due to tide and waves, such as a ship, the influence of the fluctuation of the actual height of the receiving point can be reduced. The cycle slip can be accurately determined without receiving it.

According to the fourth and sixth aspects of the present invention, in a surveying ship, an ocean civil engineering ship, or the like, a means for receiving information on a tide level wirelessly transmitted from a tide station, a ship vertical movement observation device, and a carrier Since the positioning device that performs the phase relative positioning is originally used for the survey, it is possible to easily determine whether or not the cycle slip has occurred by only the calculation without providing a new external device.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a carrier phase relative positioning apparatus according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing a procedure of a positioning process in the device.

FIG. 3 is a flowchart showing a processing procedure for determining whether or not a cycle slip has occurred in the apparatus.

FIG. 4 is a block diagram showing a processing procedure of a cycle slip determination.

FIG. 5 is a block diagram showing a configuration of a carrier phase relative positioning apparatus according to a second embodiment of the present invention.

FIG. 6 is a flowchart showing a procedure of a positioning process in the device.

FIG. 7 is a flowchart showing a processing procedure for determining whether a cycle slip has occurred in the apparatus.

FIG. 8 is a diagram illustrating a relationship between a carrier phase position line, a position of a reception point, and a residual.

[Explanation of symbols]

 1,11-GPS antenna 4-Data transmission antenna 18,21-Data reception antenna

Continuation of the front page (72) Inventor Yuji Yoshida 1-9-4 Nihonbashi Muromachi, Chuo-ku, Tokyo F-term in the Marine DGPS Use Promotion Council (reference) 2F029 AA04 AB07 AC02 AC03 AD08 5J062 BB02 CC07 DD23 EE04 FF04 HH04

Claims (8)

[Claims] 1. A means for receiving carrier phase information of a plurality of positioning satellites obtained by a base station, and receiving signals from the plurality of positioning satellites to obtain respective carrier phases, Means for determining a double phase difference of the carrier phase from the carrier phase of the plurality of positioning satellites received from the base station, and positioning a receiving point from the position of the double phase difference and the plurality of positioning satellites. Determining means for determining the presence or absence of a cycle slip occurring in the double phase difference based on a difference between the height of the receiving point and the height of the receiving point obtained without using a received signal from the positioning satellite. Carrier phase relative positioning device provided. 2. The method according to claim 1, wherein the difference between the average values of the height differences obtained by the smoothing filter having high responsiveness and the smoothing filter having low responsiveness is equal to a predetermined threshold value. 2. The carrier phase relative positioning apparatus according to claim 1, wherein when the frequency exceeds a predetermined value, the cycle slip is considered to have occurred. 3. The determination means obtains a short-term change speed and a long-term change speed of the height difference from the height difference, and a difference between the two change speeds is a predetermined threshold. The carrier phase relative positioning apparatus according to claim 1, wherein when the value exceeds a value, the cycle slip is regarded as having occurred. 4. The height of a receiving point obtained without using a reception signal from the positioning satellite is a ship vertical movement observation value obtained by a ship vertical movement observation device or a tide level obtained by a tide level observation device or a tide table. Claims 1 and 2
Or the carrier phase relative positioning apparatus according to 3. 5. A means for receiving carrier phase information of a plurality of positioning satellites obtained by a base station, and receiving signals from the plurality of positioning satellites to obtain respective carrier phases, And a carrier phase of the plurality of positioning satellites received from the base station to determine a double phase difference of the carrier phase, and from the position of the double phase difference and the plurality of positioning satellites in a height direction of a receiving point. Means for measuring the change speed, based on the difference between the change speed in the height direction of the receiving point and the change speed in the height direction of the reception point obtained without using a received signal from the positioning satellite, A carrier phase relative positioning device provided with a determination means for determining the presence / absence of a cycle slip caused by a double phase difference. 6. The change rate in the height direction of the receiving point obtained without using the received signal from the positioning satellite is the amount of change in the height direction per unit time or the tide level obtained by the ship vertical movement observation device. The carrier phase relative positioning device according to claim 5, wherein the tide level change amount per unit time obtained by an observation device or a tide table. 7. A positioning system comprising: a means for wirelessly transmitting the tide level data according to claim 4 in said base station; and a base station and said carrier phase relative positioning apparatus according to claim 4. 8. The base station is provided with a means for wirelessly transmitting the data of the tide level change per unit time according to claim 6, and is constituted by the base station and the carrier phase relative positioning apparatus according to claim 6. Positioning system.