JP2005321353A - Positioning system, outdoor unit, positioning method, control method for outdoor unit, control program for outdoor unit, and computer readable recording medium stored with control program for outdoor unit - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning system and the like allowing positioning even in a position incapable of receiving a signal from a position information satellite. <P>SOLUTION: The outdoor unit 40 has an indoor distance information generating means for generating indoor distance information indicating a distance between the position information satellite and an indoor unit 60a or the like, based on satellite position information and indoor fixed position information, an indoor arrival time information generating means for generating indoor arrival time information indicating a time required for advancing a position related information signal by the distance indicated by the indoor distance information, a fundamental information generating means for generating signal fundamental information for indoor transmission, based on the position related information signal and the indoor arrival time information, and the like, the indoor unit 60a or the like has a signal transmission means for the indoor transmission or the like for transmitting a signal for the indoor transmission in a time when the indoor arrival time lapses counted from a transmission time, based on the transmission time included in the signal fundamental information for the indoor transmission and the indoor arrival time information, and a terminal equipment 20 has a receiving means for the signal for the indoor transmission for receiving the signal for the indoor transmission, from the indoor unit 60a or the like. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a positioning system, an outdoor device, a positioning method, an outdoor device control method, an outdoor device control program, and a computer-readable recording medium storing an outdoor device control program.

2. Description of the Related Art Conventionally, a positioning system that measures the current position of a GPS receiver using, for example, a GPS (Global Positioning System), which is a satellite navigation system that uses a position information satellite, has been put into practical use. This GPS receiver measures the current position by calculating the distance from the GPS satellite based on the transmission time of a signal carrying navigation messages from a plurality of GPS satellites and the time when the signal is received. It is configured.
However, there are cases where the current position cannot be measured in places where the signal strength of signals from GPS satellites is weak, such as in buildings (indoors).
On the other hand, a technique for improving reception sensitivity by performing processing such as taking a high rate sample of a signal and noise from a GPS satellite has been proposed (for example, Patent Document 1).
JP 2003-240833 A (FIG. 1 etc.)

  However, in the prior art, it is assumed that the GPS receiver can receive at least a weak signal, and there is a problem in that positioning may not be possible if no signal can be received from a GPS satellite.

  Therefore, the present invention provides a positioning system, an outdoor device, a positioning method, an outdoor device control method, an outdoor device control program, and an outdoor device control program capable of positioning even at a position where a signal from a position information satellite cannot be received. It is an object of the present invention to provide a computer-readable recording medium that stores information.

  According to the first aspect, the object is arranged at an outdoor fixed position that is an outdoor fixed position, and at an indoor fixed position that is communicable with the outdoor apparatus and is an indoor fixed position. A positioning system comprising: an indoor device, and a terminal device capable of communicating with the indoor device and receiving a position-related signal from a position information satellite and positioning a current position. Includes a signal receiving means for receiving a position related signal from a position information satellite, a transmission time information indicating a transmission time when the position related signal is transmitted from the position information satellite, and a reception indicating a reception time when the position related signal is received. Based on time information, outdoor distance information generating means for generating outdoor distance information indicating a distance between the position information satellite and the outdoor device, satellite orbit information included in the position related signal, and the outdoor Based on the outdoor fixed position information indicating a fixed position and the outdoor distance information, satellite position information generating means for generating satellite position information indicating the position of the position information satellite, and an indoor fixed position indicating the indoor fixed position of the indoor unit Indoor fixed position information storing means for storing information, and indoor distance information generating means for generating indoor distance information indicating a distance between the position information satellite and the indoor device based on the satellite position information and the indoor fixed position information. An indoor arrival time information generating means for generating indoor arrival time information indicating a time required for the position related signal to travel the distance indicated by the indoor distance information; and the position related signal and the indoor arrival time information. Basic information generating means for generating signal basic information for indoor transmission based on, basic information transmission means for transmitting signal basic information for indoor transmission to the indoor device, The indoor device has a basic information receiving means for receiving basic signal for indoor transmission from the outdoor device, and an indoor transmission signal generator for generating an indoor transmission signal based on the indoor signal basic information. Means for transmitting the indoor transmission signal at a time at which the indoor arrival time elapses from the transmission time based on the transmission time information and the indoor arrival time information included in the basic signal for indoor transmission. The terminal device is achieved by a positioning system comprising an indoor sending signal receiving means for receiving the indoor sending signal from the indoor device.

  According to the configuration of the first aspect of the invention, the outdoor device can generate the satellite position information based on the satellite orbit information, the outdoor fixed position information, and the outdoor distance information.

The outdoor device can generate the indoor distance information based on the satellite position information and the indoor fixed position information.
The outdoor device can generate the indoor arrival time information based on the indoor distance information.

And the said outdoor apparatus produces | generates the signal basic information for indoor transmission based on the said position related signal and the said indoor arrival time information, and transmits to the said indoor apparatus.
The indoor device generates the indoor transmission signal based on the indoor transmission signal basic information, and transmits the indoor transmission signal at a time when the indoor arrival time elapses from the transmission time.
The terminal device receives the indoor transmission signal and measures the current position.

For this reason, even if the terminal device cannot receive the position-related signal directly from the position information satellite, the terminal apparatus can be used for indoor transmission in a reception environment similar to that for receiving the position-related signal directly located outdoors. A signal can be received.
Thereby, it is possible to provide a positioning system capable of positioning even at a position where a signal from the position information satellite cannot be received.

  According to a second aspect of the present invention, in the configuration of the first aspect of the present invention, there are a plurality of the indoor units, and the basic information transmitting means of the outdoor unit is different from the position information satellites with respect to the plurality of indoor units. The indoor signal basic information for indoor transmission based on the position related signal is transmitted.

  According to the configuration of the second invention, since there are a plurality of the indoor devices, the terminal device can receive the indoor transmission signal from the indoor device arranged at the nearest position. For this reason, the said terminal device can receive the said indoor transmission signal in the favorable receiving sensitivity from the said indoor device.

  The basic information transmitting means of the outdoor device transmits the signal basic information for indoor transmission based on the position related signals from different position information satellites to the plurality of indoor devices. And the said outdoor apparatus produces | generates and transmits the said signal for indoor transmission based on this signal basic information for indoor transmission.

On the other hand, when the same indoor transmission signal based on the position related signal from the same position information satellite is transmitted from different indoor devices, the same indoor transmission signals interfere with each other, There is a problem that the reception sensitivity of the terminal device is lowered.
In this regard, according to the configuration of the present invention, it is possible to prevent the same indoor transmission signals from interfering with each other and lowering the reception sensitivity of the terminal device.

  According to a third invention, in the configuration of the second invention, the basic information transmitting means of the outdoor device is the indoor closest to the indoor position corresponding to a sky position that is a position in the sky of each position information satellite. The indoor transmission signal basic information based on the position-related signals from the position information satellites is transmitted to the indoor devices arranged at fixed positions.

According to the configuration of the third invention, the outdoor device is the indoor, for example, a ceiling or wall of a room of a building is regarded as a sky, and the position or position of each position information satellite in the sky is the ceiling or wall. The indoor fixed position closest to the position corresponding to the sky position is determined.
Then, the outdoor device is connected to the indoor device disposed at the indoor fixed position closest to the position corresponding to the sky position, which is the position of the position information satellite in the sky, from each position information satellite. The signal basic information for indoor transmission including the position related information is transmitted.

For this reason, the approximate position of the indoor fixed device exists between the line segments connecting the position information satellite and the terminal device.
Accordingly, the terminal device can receive the indoor transmission signal in a reception environment that is substantially the same as that in which the position information signal is received directly from the position information satellite in a state where there is no ceiling or wall. .
Therefore, the terminal device can measure the current position with the same accuracy as existing outdoors.

  According to a fourth aspect of the present invention, in the configuration according to any one of the first to third aspects, when the basic information generating unit of the outdoor device cannot generate the signal basic information for indoor transmission, the outdoor device Transmits a position-related signal received from the position information satellite to the indoor device.

For example, the basic information generating means of the outdoor device may not be able to generate the outdoor transmission signal basic information due to a failure or the like.
According to the configuration of the fourth invention, in such a case, the outdoor device transfers the position related signal received from the position information satellite to the indoor device.
For this reason, the said terminal device can measure a present position based on the said position related signal which the said outdoor device received and transferred.

  According to a fifth aspect of the present invention, there is provided an outdoor device arranged at an outdoor fixed position, which is an outdoor fixed position, wherein the outdoor device includes a signal receiving means for receiving a position related signal from a position information satellite. The distance between the position information satellite and the outdoor device is based on transmission time information indicating a transmission time when the position related signal is transmitted from the position information satellite and reception time information indicating a reception time when the position related signal is received. Outdoor distance information generating means for generating outdoor distance information indicating the position of the position information satellite based on the satellite orbit information included in the position related signal, the outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. The satellite position information generating means for generating the satellite position information indicating the position and the indoor fixed position indicating the indoor fixed position where the indoor apparatus capable of communicating with the outdoor device is disposed. Indoor fixed position information storage means for storing position information, and indoor distance information generation for generating indoor distance information indicating the distance between the position information satellite and the indoor device based on the satellite position information and the indoor fixed position information Means, indoor arrival time information generating means for generating indoor arrival time information indicating a time required for the position-related signal to travel the distance indicated by the indoor distance information, and generating an indoor transmission signal in the indoor device And the indoor transmission signal basic information for causing the indoor unit to transmit the indoor transmission signal at a time when the indoor arrival time elapses from the transmission time of the position related signal, the position related signal and the indoor arrival time. Basic information generating means for generating information based on information, and basic information transmitting means for transmitting the indoor signal basic information for indoor transmission to the indoor device. It is achieved by an outdoor apparatus characterized.

According to the configuration of the fifth invention, similarly to the configuration of the first invention, even if the terminal device cannot receive the position related signal directly from the position information satellite, The indoor transmission signal can be received in a reception environment similar to the reception of the position related signal.
Thereby, even when a signal from a position information satellite cannot be received, an outdoor device capable of positioning by the terminal device can be provided.

  According to the sixth aspect of the present invention, the outdoor device disposed at the outdoor fixed position, which is an outdoor fixed position, receives a position related signal from a position information satellite, and the outdoor device includes the A distance between the position information satellite and the outdoor device is indicated based on transmission time information indicating a transmission time when the position related signal is transmitted from the position information satellite and reception time information indicating a reception time when the position related signal is received. The outdoor distance information generation step for generating outdoor distance information, and the outdoor device based on the satellite orbit information included in the position related signal, the outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. A satellite position information generating step for generating satellite position information indicating the position of the information satellite; and an indoor fixed position in which an indoor device capable of communicating with the outdoor device is disposed. Indoor distance information generating step for generating indoor distance information indicating a distance between the position information satellite and the indoor device based on the indoor fixed position information indicating the indoor position information, and the outdoor device includes the position related information An indoor arrival time information generating step for generating indoor arrival time information indicating a time required for the signal to travel a distance indicated by the indoor distance information; and the outdoor device includes the position related signal and the indoor reception time information. Basic information generating step for generating signal basic information for indoor transmission based on, basic information transmission step for the outdoor device to transmit signal basic information for indoor transmission to the indoor device, and the indoor device, A basic information receiving step for receiving signal basic information for indoor transmission from an outdoor device; and the indoor device transmits indoor information based on the signal basic information for indoor transmission. A signal generation step for indoor transmission for generating a signal, and a signal transmission step for indoor transmission in which the indoor device transmits the signal for indoor transmission at a time when the indoor arrival time elapses from a transmission time of the position-related signal; An indoor device that is communicable with the indoor device and has positioning means for measuring a current position by receiving a position related signal from the position information satellite, and receiving an indoor transmission signal from the indoor device. And a signal receiving step for sending. This is achieved by a positioning method.

According to the configuration of the sixth invention, similarly to the configuration of the first invention, even though the terminal device cannot receive the position related signal directly from the position information satellite, it is located outdoors and the position related The indoor transmission signal can be received in a reception environment similar to that for receiving a signal.
Thereby, even if it is a case where the signal from a positional information satellite cannot be received, the said terminal device can measure.

  According to the seventh aspect of the present invention, there is provided a signal receiving step in which an outdoor device disposed at an outdoor fixed position, which is an outdoor fixed position, receives a position-related signal from a position information satellite; A distance between the position information satellite and the outdoor device is indicated based on transmission time information indicating a transmission time when the position related signal is transmitted from the position information satellite and reception time information indicating a reception time when the position related signal is received. The outdoor distance information generating step for generating outdoor distance information, and the outdoor device based on the satellite orbit information included in the position related signal, the outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. A satellite position information generating step for generating satellite position information indicating a position of the information satellite; and the outdoor apparatus includes an indoor apparatus capable of communicating with the satellite position information and the outdoor apparatus. An indoor distance information generating step for generating indoor distance information indicating a distance between the position information satellite and the indoor device, based on the indoor fixed position information indicating the indoor fixed position to be performed, and the outdoor device. Is an indoor arrival time information generating step for generating indoor arrival time information indicating a time required for the position-related signal to travel the distance indicated in the indoor distance information; Indoor transmission signal basic information for causing the indoor device to transmit the indoor transmission signal at a time when the indoor arrival time elapses from the transmission time of the position related signal. Basic information generation step for generating based on the indoor arrival time information, and the outdoor device transmits the signal basic information for indoor transmission to the indoor device And basic information transmitting step that is achieved by the control method of the outdoor unit, characterized in that it comprises a.

According to the configuration of the seventh invention, similar to the configuration of the sixth invention, even if the terminal device cannot receive the position related signal directly from the position information satellite, The indoor transmission signal can be received in a reception environment similar to the reception of the related signal.
Thereby, even if it is a case where the signal from a position information satellite cannot be received, a positioning can be made with respect to the said terminal device.

  According to an eighth aspect of the present invention, in the configuration of the seventh aspect, in the basic information transmission step, the outdoor unit is configured to transmit the indoors based on the position-related signals from different position information satellites to a plurality of the indoor units. Transmitting signal basic information is transmitted.

  According to the configuration of the eighth invention, similarly to the configuration of the second invention, it is possible to prevent the same indoor transmission signals from interfering with each other and lowering the reception sensitivity of the terminal device.

  According to a ninth invention, in the configuration of the eighth invention, in the basic information transmission step, the outdoor device is closest to the indoor position corresponding to a sky position that is a sky position of each position information satellite. The indoor transmission signal basic information based on the position-related signals from the position information satellites is transmitted to the indoor devices arranged at indoor fixed positions.

  According to the configuration of the ninth invention, as in the configuration of the third invention, the current position can be measured with the same accuracy as that existing outdoors with respect to the terminal device.

  According to a tenth aspect of the present invention, in the configuration according to any one of the seventh to ninth aspects, in the basic information transmitting step, when the outdoor device cannot generate the signal basic information for indoor transmission, the outdoor information The apparatus transfers a position related signal received from the position information satellite to the indoor apparatus.

  According to the configuration of the tenth invention, similarly to the configuration of the fourth invention, for example, even when the basic information generating means of the outdoor device cannot generate the signal basic information for outdoor transmission due to a failure or the like. Since the outdoor device transfers the position related signal received from the position information satellite to the indoor device, the current position is measured based on the position related signal received and transferred by the outdoor device to the terminal device. Can be made.

  According to the eleventh aspect of the present invention, there is provided a signal receiving step in which an outdoor device arranged at an outdoor fixed position, which is an outdoor fixed position, receives a position-related signal from a position information satellite, and the outdoor device. However, based on the transmission time information indicating the transmission time when the position related signal is transmitted from the position information satellite and the reception time information indicating the reception time when the position related signal is received, the position information satellite and the outdoor device An outdoor distance information generating step for generating outdoor distance information indicating a distance, and the outdoor device based on satellite orbit information included in the position related signal, outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. A satellite position information generating step for generating satellite position information indicating the position of the position information satellite; and the outdoor device communicates with the satellite position information and the outdoor device. Indoor distance information generation for generating indoor distance information indicating the distance between the position information satellite and the indoor device based on the indoor fixed position information indicating the indoor fixed position where the active indoor device is disposed and the satellite position information An indoor arrival time information generating step for generating indoor arrival time information indicating a time required for the outdoor device to travel the distance indicated by the position-related signal in the indoor distance information; and the outdoor device, Indoor transmission signal basic information for causing the indoor device to generate an indoor transmission signal and causing the indoor device to transmit the indoor transmission signal at a time when the indoor arrival time elapses from a transmission time of the position-related signal. A basic information generating step for generating based on the position-related signal and the indoor arrival time information, and the outdoor device for the indoor transmission to the indoor device It is achieved by a computer program, characterized in that to execute the basic information transmitting step of transmitting No. basic information.

  According to a twelfth aspect of the present invention, there is provided a signal receiving step in which an outdoor device disposed at an outdoor fixed position, which is an outdoor fixed position, receives a position-related signal from a position information satellite, and the outdoor device. However, based on the transmission time information indicating the transmission time when the position related signal is transmitted from the position information satellite and the reception time information indicating the reception time when the position related signal is received, the position information satellite and the outdoor device An outdoor distance information generating step for generating outdoor distance information indicating a distance, and the outdoor device based on satellite orbit information included in the position related signal, outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. A satellite position information generating step for generating satellite position information indicating the position of the position information satellite; and the outdoor device communicates with the satellite position information and the outdoor device. Indoor distance information generation for generating indoor distance information indicating the distance between the position information satellite and the indoor device based on the indoor fixed position information indicating the indoor fixed position where the active indoor device is disposed and the satellite position information An indoor arrival time information generating step for generating indoor arrival time information indicating a time required for the outdoor device to travel the distance indicated by the position-related signal in the indoor distance information; and the outdoor device, Indoor transmission signal basic information for causing the indoor device to generate an indoor transmission signal and causing the indoor device to transmit the indoor transmission signal at a time when the indoor arrival time elapses from a transmission time of the position-related signal. A basic information generating step for generating based on the position-related signal and the indoor arrival time information, and the outdoor device for indoor transmission to the indoor device It is achieved by a computer readable recording medium recording a computer program, characterized in that to execute the basic information transmitting step of transmitting No. basic information.

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
The embodiments described below are preferred specific examples of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these embodiments.

FIG. 1 is a schematic diagram showing, for example, a positioning system 10 which is a positioning system according to an embodiment of the present invention.
The positioning system 10 includes, for example, a signal generation device 40 that is an outdoor device disposed at a position P1 that is an example of an outdoor fixed position that is a building 30 such as an outdoor fixed position.

  The positioning system 10 also includes signal transmission devices 60a to 60f that are communicable with the signal generation device 40 and are indoor devices disposed at indoor fixed positions, for example, indoor positions P2 to P7, respectively. As shown in FIG. 1, there are a plurality of signal transmission devices 60a and the like.

The positioning system 10 also has positioning means that can communicate with the signal generating device 40 and receives position-related signals from, for example, GPS satellites 12a, 12b, 12c, and 12d, which are position information satellites, and position the current position. For example, the terminal 20 is a terminal device. The position-related signal is loaded with transmission time information indicating the time transmitted from the GPS satellite 12a or the like, orbit information or the like (navigation message) indicating the orbit of the GPS satellite 12a or the like.
If the terminal 20 is outdoors, it can receive a position-related signal from the GPS satellite 12a or the like. However, since the terminal 20 is held on the user's back and is located on the first basement floor of the building 30, it is not possible to directly receive a position-related signal from the GPS satellite 12a or the like.
The number of GPS satellites 12a and the like is not limited to four.

(Hardware configuration of terminal 20)
FIG. 2 is a schematic diagram showing the main hardware configuration of the terminal 20.
As shown in FIG. 2, the terminal 20 has a computer, and the computer has a bus 22.
The bus 22 is connected to a CPU (Central Processing Unit) 23, a storage device 24, an input device 25, and the like. The storage device 24 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), or the like.

Further, for example, a terminal GPS device 26 is connected to the bus 22 as positioning means for receiving position-related signals from the GPS satellites 12a to 12d in FIG. The terminal GPS device 26 is also an example of an indoor transmission signal receiving unit that receives an indoor transmission signal from the signal transmission device 60a and the like.
Also connected to the bus 22 are a terminal communication device 27 for communicating with other terminals through a communication network such as a base station and the Internet network (not shown), and a terminal display device 28 for displaying various information. .

(About main software configuration of terminal 20)
FIG. 3 is a schematic diagram showing a main software configuration and the like of the terminal 20.
As illustrated in FIG. 3, the terminal 20 includes a terminal control unit 120 that controls each unit.
2 is a terminal communication unit 122 corresponding to the terminal communication device 27 in FIG. 2, a terminal positioning unit 124 corresponding to the terminal GPS device 26 in FIG. 2, and a terminal display unit 126 corresponding to the terminal display device 28 in FIG. Have

(Hardware configuration of signal generation device 40)
FIG. 4 is a schematic diagram showing a main hardware configuration of the signal generation device 40.
As illustrated in FIG. 4, the signal generation device 40 includes a computer, and the computer includes a bus 42.
A CPU 44, a storage device 46, an input device 48, and the like are connected to the bus 42.

Further, for example, an antenna device 50 which is a signal receiving means for receiving a position related signal from the GPS satellite 12a of FIG.
The bus 42 is connected to an external storage device 52 for storing various types of information, a generation device side communication device 54 for communicating with the signal transmission device 60a of FIG.
The generation device clock 56 is synchronized with a clock such as the GPS satellite 12a of FIG. 1, and is configured to measure the transmission time of the position-related signal from the GPS satellite 12a and the reception time of the position-related signal. .

(Main software configuration of the signal generation device 40)
FIG. 5 is a schematic diagram illustrating a main software configuration and the like of the signal generation device 40.
FIG. 6 is a schematic diagram showing position-related signals and the like from the GPS satellite 12a of FIG.
As illustrated in FIG. 5, the signal generation device 40 includes a generation device control unit 140 that controls each unit.
Further, the signal generation device 40 corresponds to the generation device side communication unit 142 corresponding to the generation device side communication device 54 of FIG. 4, the signal reception unit 144 corresponding to the antenna device 50 of FIG. 4, and the generation device clock 56 of FIG. And a generating device timer 146 that performs the generation.
The signal generation device 40 includes a generation device first storage unit 148, a generation device second storage unit 162, and a generation device third storage unit 168. Various programs are stored in the generation device first storage unit 148. Various information is stored in the generation device second storage unit 162. The generation device third storage unit 168 stores information acquired by the signal generation device 40 and generated information.

The generation device first storage unit 148 of the signal generation device 40 stores a satellite selection program 149. The satellite selection program 149 is information for the generation device control unit 140 to select a GPS satellite 12a or the like that generates simulation signal basic information described later.
The signal generation device 40 also has a navigation message reception program 150 for receiving a navigation message included in a position-related signal from the GPS satellite 12a received by the signal reception unit 144. Based on the navigation message reception program 150, the generation device control unit 140 can acquire navigation message information including orbit information such as the GPS satellites 12a from the position-related signals described above.
Further, the generation device control unit 140 can acquire the transmission time information 172 indicating the transmission time of the position related signal included in the position related signal from the GPS satellite 12a or the like based on the navigation message reception program 150.
For example, the signal generation device 40 shown in FIG. 6 acquires navigation message information from the position-related signal S1a from the GPS satellite 12a, and acquires transmission time information indicating the transmission time, for example, 1:00:00. To do.
The generation device control unit 140 stores the acquired navigation message information 170 and transmission time information 172 in the generation device third storage unit 168.

In addition, the signal generation device 40 stores an outdoor distance information generation program 152 in the generation device first storage unit 148. The outdoor distance information generation program 152 is based on the transmission time information included in the navigation message information 170 and the reception time information indicating the reception time when the position-related signal acquired by the generation device timing unit 146 is received by the generation device control unit 140. Thus, it is information for generating outdoor distance information 174 indicating the distance between the GPS satellite 12a and the like and the signal generation device 40.
That is, the outdoor distance information generation program 152 and the generation device control unit 140 are examples of outdoor distance information generation means.
Since the propagation speed of the position-related signal that is a radio wave (electromagnetic wave) is uniquely determined, the signal generation device 40 can generate the outdoor distance information 174 based on the above-described transmission time information and reception time information. It is.
For example, the generation device control unit 140 determines whether the position-related signal S1a in FIG. 6 has a transmission time of 1:00:00 and a reception time of 1: 00: 00 + x seconds. The outdoor distance information 174 indicating the distance d1 that the position-related signal S1a that is the electromagnetic wave can travel can be generated.
The generation device control unit 140 stores the generated outdoor distance information 174 in the generation device third storage unit 168.

Further, the signal generation device 40 has a satellite position information generation program 154. The satellite position information generation program 154 is based on the satellite orbit information included in the navigation message information 170, the generation apparatus position information 164 indicating the position of the signal generation apparatus 40, and the outdoor distance information 174. This is information for generating satellite position information 176 indicating the position of the GPS satellite 12a or the like. That is, the satellite position information generation program 154 and the generation device control unit 140 determine the positions of the GPS satellites 12a and the like based on the satellite orbit information, the outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information included in the position related signal. It is an example of the satellite position information generation means which produces | generates the satellite position information shown.
For example, the generation device control unit 140 is based on the satellite orbit information indicating the satellite orbit G1 in FIG. 6, the generation device position information 164 indicating the position P1 of the signal generation device 40, and the outdoor distance information 174 indicating the distance d1. Satellite position information 176 indicating the position GP1 of the GPS satellite 12a can be generated.
The generation device control unit 140 stores the generated satellite position information 176 in the generation device third storage unit 168.

  In addition, the signal generation device 40 stores transmission device position information 166 indicating the position P2 and the like of the signal transmission device 60a and the like in FIG. 1 in the generation device second storage unit 162. That is, the generation device second storage unit 162 is an example of an indoor fixed position information storage unit that stores indoor fixed position information indicating the indoor fixed position of the signal transmission device 60a and the like.

The signal generation device 40 has an indoor distance information generation program 156. The indoor distance information generation program causes the generation device control unit 140 to generate indoor distance information 178 indicating the distance between the GPS satellite 12a and the signal transmission device 60a and the like based on the satellite position information 176 and the transmission device position information 166. Information. That is, the indoor distance information generation program and the generation device control unit 140 are an example of an indoor distance information generation unit.
For example, the generation device control unit 140 uses the GPS satellite 12a and the signal transmission device based on the satellite position information 176 indicating the position GP1 of the GPS satellite 12a and the transmission device position information 166 indicating the position P6 of the signal transmission device 60e in FIG. Indoor distance information 178 indicating the distance d2 to 60e can be generated.
The generation device control unit 140 stores the generated indoor distance information 178 in the generation device third storage unit 168.

In addition, the signal generation device 40 includes a delay time information generation program 157. The delay time information generation program 157 is a delay time information indicating the time required for the position control signal from the GPS satellite 12a or the like to travel the distance d2 in FIG. 6 based on the indoor distance information 178. This is information for generating 180. That is, the delay time information generation program 157 and the generation device control unit 140 include an indoor arrival time information generation unit that generates indoor arrival time information indicating the time required for the position-related signal to travel the distance indicated by the indoor distance information. It is an example. The delay time information 180 is an example of indoor arrival time information.
For example, the generation device control unit 140 generates the delay time information 180 indicating the time y required for the position related signal S1a from the GPS satellite 12a to travel the distance d2.
The generation device control unit 140 stores the generated delay time information 180 in the generation device third storage unit 168.

Further, the signal generation device 40 has a simulation signal basic information generation program 158. The simulation signal basic information generation program 158 is information for the generation device control unit 140 to generate the simulation signal basic information 182 based on the position-related signal received from the GPS satellite 12a or the like and the delay time information 180 described above.
That is, the simulation signal basic information generation program 158 and the generation device control unit 140 are an example of basic information generation means for generating signal basic information for indoor transmission based on the position-related signal and indoor arrival time information. The simulated signal basic information 182 is an example of signal basic information for indoor transmission.
For example, the generation device control unit 140 includes the Doppler effect information indicating the Doppler effect generated from the position related signal received from the GPS satellite 12a of FIG. 6, the transmission device position information 166 and the navigation message information 170, and the delay time information 180. Based on this, the simulation signal basic information 182 can be generated.
The generation device control unit 140 stores the generated simulation signal basic information 182 in the generation device third storage unit 168 and transmits it to the signal transmission device 60a of FIG.
That is, the generation device side communication unit 142 is also an example of basic information transmission means for transmitting indoor signal basic information for indoor transmission to the signal transmission device 60a and the like.

When the generation device control unit 140 cannot generate the simulation signal basic information 182 based on the simulation signal basic information generation program 158, the position related signal received from the GPS satellite 12a or the like is transferred to the signal transmission device 60a or the like.
Then, the signal transmission device 60a that has received the transfer of the position related signal transmits the position related signal as it is. Thereby, the terminal 20 can measure the current position based on the position related signal received and transferred by the signal generation device 40.

  The signal generation device 40 also has a satellite assignment program 160. The satellite allocation program 160 uses the generation device control unit 140 to generate basic signal basic information based on position-related signals from different GPS satellites to the plurality of signal transmission devices 60a and the like (see FIG. 1) by the generation device side communication unit 142. This is information for transmitting 182.

FIG. 7 is a schematic diagram showing the operation of the satellite assignment program.
For example, in the signal generation device 40 of FIG. 7, the signal transmission device 60e includes simulated signal basic information based on the position related signal S1a from the GPS satellite 12a and simulated signal basic information based on the position related signal S2a from the GPS satellite 12b. Send. The signal transmission device 60e generates and transmits a simulation signal S1b based on the simulation signal basic information based on the position related signal S1a and a simulation signal S2b based on the simulation signal basic information based on the position related signal S2a from the GPS satellite 12b. To do.
On the other hand, in the signal generation device 40 of FIG. 7, the signal transmission device 60f includes simulated signal basic information based on the position related signal S3a from the GPS satellite 12c and simulated signal basic information based on the position related signal S4a from the GPS satellite 12d. Send. Then, the signal transmission device 60f generates and transmits a simulation signal S3b based on the simulation signal basic information based on the position related signal S3a and a simulation signal S4b based on the simulation signal basic information based on the position related signal S4a from the GPS satellite 12d. To do.
Thus, when simulated signals having the same configuration generated based on position-related signals from the same GPS satellite 12a etc. are sent from different signal sending devices 60a etc., the same simulated signals interfere with each other, The problem that the reception sensitivity of the terminal 20 is lowered can be prevented in advance.

(Hardware configuration of signal transmission device 60a)
FIG. 8 is a schematic diagram showing a main hardware configuration of the signal transmission device 60a.
Since the configuration of the signal transmission devices 60a to 60f in FIG. 1 is the same, only the configuration of the signal transmission device 60a will be described, and the description of the configuration of the signal transmission devices 60b to 60f will be omitted.

As shown in FIG. 8, the signal transmission device 60 a has a computer, and the computer has a bus 62.
A CPU 64, a storage device 66, an input device 68, and the like are connected to the bus 62.
Further, the bus 62 includes a transmission device clock 70 synchronized with a clock such as the GPS satellite 12a of FIG. 1, an external storage device 72, and a transmission device side communication device 74 for communicating with the signal generation device 40 of FIG. Is connected. The sending device side communication device 74 is an example of basic information receiving means for receiving the simulated signal basic information 182 (see FIG. 5) from the signal generating device 40.

(Main software configuration of the signal transmission device 60a)
FIG. 9 is a schematic diagram illustrating a main software configuration and the like of the signal transmission device 60a.
Since the configuration of the signal transmission devices 60a to 60f in FIG. 1 is the same, only the configuration of the signal transmission device 60a will be described, and the description of the configuration of the signal transmission devices 60b to 60f will be omitted.
As shown in FIG. 9, the signal transmission device 60a includes a transmission device control unit 200 that controls each unit.
Further, the signal transmission device 60a includes a transmission device side communication unit 202 corresponding to the transmission device side communication device 74 of FIG. 8 and a transmission device timing unit 204 corresponding to the transmission device clock 70 of FIG.
Further, as shown in FIG. 9, the signal transmission device 60a includes a transmission device first storage unit 206 for storing various programs and a transmission device second storage unit 220 for storing various information.

As shown in FIG. 9, the signal transmission device 60 a stores a simulation signal information generation program 208 in the transmission device first storage unit 206. The simulation signal information generation program 208 generates simulation signal information 222 indicating the simulation signal S1b (see FIG. 6) based on the simulation signal basic information 182 received from the signal generation device 40 of FIG. It is information to do. The simulation signal shown in the simulation signal information 222 is sent to the underground indoor space PB in FIG. 6 as described later.
That is, the simulated signal information generation program 208 and the transmission device control unit 200 are an example of an indoor transmission signal generation unit that generates an indoor transmission signal based on the indoor transmission signal basic information. The simulation signal S1b is an example of an indoor transmission signal.
As described above, the simulation signal basic information 182 received from the signal generation device 40 includes, for example, the position related signal received by the signal generation device 40 from the GPS satellite 12a of FIG. 6, the transmission device position information 166, and the navigation message information 170. Is generated based on the Doppler effect information indicating the Doppler effect generated from the delay time information 180 and the delay time information 180.
Based on the simulated signal information generation program 208, the sending device control unit 200 generates simulated signal information 222 indicating a simulated signal, for example, by modulating a position-related signal corresponding to the above-described Doppler effect.
The sending device control unit 200 stores the generated simulation signal information 222 in the sending device second storage unit 220.

  The sending device control unit 200 also uses the sending device side delay time information 226 as the sending device side delay time information 226 based on the simulated signal information generating program 208 and uses the delay time information 180 included in the simulated signal basic information 182 received from the signal generating device 40. 2 is stored in the storage unit 220.

The signal transmission device 60a also has a delay time passage determination program 210 as shown in FIG. In the delay time elapsed determination program 210, the sending apparatus control unit 200 causes the delay time information 180 to be transmitted from the time 1:00:00, which is the transmission time indicated by the transmission time information 224, to the simulation signal S1b indicated by the simulation signal information 222. This is information for determining the elapse of x seconds, which is the delay time shown in FIG. 1, and sending the simulation signal S1b when the delay time elapses.
That is, the delay time elapsed determination program 210 and the transmission device control unit 200 simulate the time at which the indoor arrival time elapses from the transmission time based on the transmission time information 224 and the indoor arrival time information included in the simulated signal basic information 182. It is an example of the signal transmission means for indoor transmission which transmits signal S1b.
For example, the signal transmission device 60a is shown in FIG. 6 at the time when x seconds shown in the transmission device side delay time information 226 elapses from the transmission time 1:00:00 shown in the transmission time information 224 in FIG. Thus, the simulation signal S1b is sent to the underground indoor space PB.

  Accordingly, the terminal 20 in FIG. 6 receives the simulation signal S1ba in the same manner as when the position-related signal is received directly from the GPS satellite 12a outdoors, despite being located in the indoor space PB in the basement of the building 30, The position can be measured.

As described above, even if the terminal 20 cannot receive the position related signal directly from the GPS satellite 12a or the like, the terminal 20 receives the simulated signal in the same reception environment as the position related signal received outside. be able to.
Thereby, even if it is a case where the signal from a positional information satellite cannot be received, the positioning system 10 which can be positioned can be provided.
Note that since the terminal 20 can receive a simulated signal in a reception environment similar to the outdoors, a configuration for acquiring a weak signal (for example, a high sensitivity mode) is not necessary. Therefore, the terminal 20 can be downsized and the production cost can be reduced.
Further, as shown in FIG. 1, since there are a plurality of signal transmission devices 60a and the like, the terminal 20 can receive a simulated signal from the signal transmission device 60a and the like arranged at the nearest position. For this reason, the terminal 20 can receive the simulation signal with good reception sensitivity from the signal transmission device 60a and the like.

(Operation example of positioning system 10)
The above is the configuration of the positioning system 10 according to the present embodiment. Hereinafter, an example of the operation will be described mainly using FIGS. 10 and 11.
10 and 11 are schematic flowcharts showing an operation example of the positioning system 10 according to the present embodiment.
Hereinafter, as shown in FIG. 6, the case where the signal generation device 40 receives the position-related signal S1a from the GPS satellite 12a will be described.

  When the antenna device 50 (see FIG. 4) of the signal generation device 40 in FIG. 6 receives the position-related signal S1a from the GPS satellite 12a (step ST1 in FIG. 10), the generation device control unit 140 in FIG. Message information is acquired (step ST2). Step ST1 is an example of a signal reception step in which the signal generation device 40 receives a position-related signal from the GPS satellite 12a or the like.

  Subsequently, the signal generator 40 determines whether or not there is a valid navigation message (step ST3). If there is no valid navigation message, the antenna device 50 receives the simulated signal basic information because it cannot be generated. The position related signal S1a is transmitted as it is to the signal transmission device 60a, and the signal transmission device 60a is caused to transmit the position related signal S1a as it is (step ST31).

  When the generation device control unit 140 in FIG. 5 determines that there is a valid navigation message in step ST3, the simulation signal basic information 182 (see FIG. 5) of the GPS satellite 12a at the position of the signal transmission device 60a is generated. To do. As shown in FIG. 11, the generation of the simulation signal basic information 182 is first performed by the signal generator 40 selecting a specific GPS satellite from the GPS satellites 12a and the like. In the example of FIG. 6, the signal generation device 40 selects the GPS satellite 12a (step ST141).

  Subsequently, the signal generation device 40 calculates a distance d1 (see FIG. 6) from the GPS satellite 12a to the signal generation device 40 (step ST142). Step ST142 is based on the GPS satellite 12a based on the transmission time information indicating the transmission time when the position related signal is transmitted from the GPS satellite 12a and the like and the reception time information indicating the reception time when the position related signal is received. It is an example of the outdoor distance information generation step which produces | generates the outdoor distance information which shows the distance of etc. and the signal generation device 40.

  Subsequently, the signal generation device calculates the position of the GPS satellite 12a in FIG. 6 (step ST143). In step ST143, the signal generation device 40 is based on the satellite orbit information included in the position-related signal, the generation device position information 164 (see FIG. 5) indicating the outdoor fixed position of the signal generation device 40, and the outdoor distance information. 12 is an example of a satellite position information generation step for generating satellite position information 176 (see FIG. 5) indicating a position such as 12a.

Subsequently, the signal generation device 40 calculates the distance d2 from the GPS satellite 12a to the signal transmission device 60e based on the satellite position information indicating the position of the GPS satellite 12a in FIG. 6 (step ST144).
In step ST144, the signal generation device 40 generates indoor distance information indicating the distance between the position information satellite and the signal transmission device 60a based on the satellite position information 176 and the transmission device position information 166 (see FIG. 5). It is an example of a distance information generation step.

  Subsequently, the signal generator 40 uses the delay time information (signal delay time) indicating the delay time (signal delay time) required for the position-related signal S1a from the GPS satellite 12a to travel the distance d2 (see FIG. 6). Signal delay time information) 180 (see FIG. 5) is generated (step ST145). Step ST145 is an example of an indoor arrival time information generation step in which the signal generation device 40 generates indoor arrival time information indicating the time required for the position-related signal to travel the distance indicated by the indoor distance information. The delay time information is an example of indoor arrival time information.

  Subsequently, the signal generation device 40 generates simulated signal basic information 182 (see FIG. 5) from the delay time information 180 and the Doppler effect (step ST146). Step ST146 is an example of a basic information generation step in which the signal generation device 40 generates the simulation signal basic information 182 based on the position-related signal and the delay time information 180.

Subsequently, the signal generation device 40 determines which GPS satellite 12a or the like to send the simulation signal based on the position-related signal from the signal transmission device 60a or the like in each area (step ST5 in FIG. 10). Simulated signal basic information 182 (see FIG. 5) is transmitted to the signal transmission device 60a and the like in each area (step ST6). For example, the signal generation device 40 transmits the simulated signal basic information 182 based on the position related signal S1a from the GPS satellite 12a of FIG. 6 to the signal transmission device 60e.
At this time, simulated signal basic information 182 based on position-related information from different GPS satellites 12a and the like is transmitted to a plurality of signal transmission devices 60a and the like. Thereby, it is possible to prevent signal interference caused by the same simulated signal being transmitted from the same signal transmission device 60a or the like.
Step ST5 is an example of a basic information transmission step in which the signal generation device 40 transmits the simulated signal basic information 182 to the signal transmission device 60a and the like. At the same time, the signal transmission device 60 a and the like are an example of a basic information receiving step for receiving the simulated signal basic information 182 from the signal generation device 40.

  Subsequently, the signal transmission device 60a or the like that has received the simulation signal basic information 182 generates a simulation signal (step ST7). Step ST <b> 7 is an example of a simulation signal generation step in which the signal generation device 40 generates a simulation signal based on the simulation signal basic information 182.

Subsequently, the signal transmission device 60e of FIG. 6 is indicated in the transmission device side delay time information 226 from 1:00:00 which is the transmission time of the position related signal S1a shown in the transmission time information 224 (see FIG. 9). It is determined that it is time to elapse the delay time of x seconds (step ST8), and the simulation signal S1b is transmitted at that time (step ST9).
Step ST9 is an example of an indoor transmission signal transmission step in which the signal transmission device 60a and the like transmit the simulation signal S1b at the time when the signal delay time elapses from the transmission time of the position-related signal.
Subsequently, as shown in FIG. 6, the terminal 20 receives the simulation signal (step ST10) and measures the current position.
Step ST10 is an example of an indoor transmission signal reception step in which the terminal 20 receives the simulated signal S1b and the like from the signal transmission device 60a and the like.

(Second Embodiment)
Next, a second embodiment will be described.
Since the configuration of the positioning system 11 in the second embodiment has many configurations in common with the positioning system 10 in the first embodiment, common portions are denoted by the same reference numerals and the like, the description thereof is omitted, and The difference will be mainly described.

FIG. 12 is a schematic diagram showing a positioning system 11 according to the second embodiment.
In the positioning system 11, unlike the positioning system 10 of the first embodiment, a plurality of signal transmission devices 60 g to 60 n are arranged on the ceiling and wall of the building 31. The signal transmission device 60g and the like are arranged so that the signal transmission device 60g and the like can be seen in any direction when viewed from the internal space 31P of the building 31.

FIG. 13 is a schematic diagram illustrating a main software configuration and the like of the signal generation device 41 according to the second embodiment.
Unlike the signal generation device 40 of the first embodiment, the signal generation device 41 of the second embodiment has a satellite position corresponding transmission device determination program 190. The satellite position corresponding transmission device determination program 190 is generated by the generation device control unit 140 using the generation device side communication unit 142 so that the indoor fixed position closest to the indoor position corresponding to the sky position that is a position in the sky of the star such as the GPS satellite 12a. This is information for transmitting simulated signal basic information based on position-related signals from the GPS satellites 12a and the like to the signal transmission device 60g and the like arranged in FIG.

For example, as shown in FIG. 12, the signal generation device 41 that has received the position-related signal S1a from the GPS satellite 12a located at the position GP2 having a low elevation angle west of the building 31 regards the indoor space 31P of the building 31 as the sky. In this case, the simulation signal basic information based on the position-related signal from the GPS satellite 12a is transmitted to the signal transmission device 60h disposed at the position P10 having a low elevation angle in the west, which is the position corresponding to the position GP2.
Then, the signal transmission device 60h generates and transmits a simulation signal from the simulation signal basic information based on the position related signal from the GPS satellite 12a.

For this reason, as shown in FIG. 12, the signal transmission device 60h is located between the line segment LG connecting the GPS satellite 12a and the terminal 20. This means that, when viewed from the terminal 20 located in the building 31, the result is the same as when the position-related signal is received directly from the GPS satellite 12a.
Thereby, it is possible to form a state almost the same as when the terminal 20 has received the position-related signal directly from the GPS satellite 12a.
That is, the terminal 20 can receive the simulated signal in a reception environment that is substantially the same as that in which the position information signal is directly received from the GPS satellite 12a or the like without the above-described ceiling or wall.
Therefore, the terminal 20 can measure the current position with the same accuracy as existing outdoors.

(About programs and computer-readable recording media)
To cause a computer to execute a signal reception step, an outdoor distance information generation step, a satellite position information generation step, an indoor distance information generation step, an indoor arrival time information generation step, a basic information generation step, etc. The outdoor device control program can be used.
Moreover, it can also be set as the computer-readable recording medium etc. which recorded the control program etc. of such an outdoor device.

  A program storage medium used for installing the control program of the outdoor device in the computer and making it executable by the computer is, for example, a flexible disk such as a floppy (registered trademark), a CD-ROM (Compact Disc Read Only). Semiconductor memory in which programs are temporarily or permanently stored as well as package media such as Memory, CD-R (Compact Disc-Recordable), CD-RW (Compact Disc-Rewriterable), DVD (Digital Versatile Disc), etc. It can be realized with a magnetic disk or a magneto-optical disk.

  The present invention is not limited to the embodiments described above. Furthermore, the above-described embodiments may be combined with each other.

It is the schematic which shows the positioning system which concerns on embodiment of this invention. It is the schematic which shows the main hardware constitutions of a terminal. It is the schematic which shows the main software structures etc. of a terminal. It is the schematic which shows the main hardware constitutions of a signal generation apparatus. It is the schematic which shows the main software structures etc. of a signal generation apparatus. It is the schematic which shows the position related signal etc. from a GPS satellite. It is the schematic which shows the effect | action of a satellite allocation program. It is the schematic which shows the main hardware constitutions of a signal transmission apparatus. It is the schematic which shows the main software structures etc. of a signal transmission apparatus. It is a schematic flowchart which shows the operation example of a positioning system. It is a schematic flowchart which shows the operation example of a positioning system. It is the schematic which shows the positioning system which concerns on 2nd Embodiment. It is the schematic which shows the main software structures etc. of a signal generation apparatus.

Explanation of symbols

  12a, 12b, 12c, 12d ... GPS satellite, 20 ... terminal, 30,31 ... building, 40 ... signal generation device, 60a to 60n ... signal transmission device, 149 ... satellite Selection program, 150 ... Navigation message reception program, 152 ... Outdoor distance information generation program, 154 ... Satellite position information generation program, 156 ... Indoor distance information generation program, 157 ... Delay time information generation Program: 158 ... Simulated signal basic information generation program, 160 ... Satellite allocation program, 208 ... Simulated signal information generation program, 210 ... Delay time elapsed judgment program, 190 ... Satellite position corresponding transmission device Judgment program

Claims (12)

An outdoor device disposed at an outdoor fixed position, which is an outdoor fixed position;
An indoor device that is communicable with the outdoor device and is disposed at an indoor fixed position that is an indoor fixed position;
A terminal device capable of communicating with the indoor device and having positioning means for positioning a current position by receiving a position-related signal from a position information satellite;
A positioning system having
The outdoor device is
A signal receiving means for receiving a position-related signal from the position information satellite;
Based on the transmission time information indicating the transmission time when the position related signal is transmitted from the position information satellite and the reception time information indicating the reception time when the position related signal is received, the distance between the position information satellite and the outdoor device is determined. Outdoor distance information generating means for generating outdoor distance information indicating;
Satellite position information generating means for generating satellite position information indicating the position of the position information satellite based on satellite orbit information included in the position related signal, outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information; ,
Indoor fixed position information storage means for storing indoor fixed position information indicating the indoor fixed position of the indoor device;
Indoor distance information generating means for generating indoor distance information indicating a distance between the position information satellite and the indoor device based on the satellite position information and the indoor fixed position information;
Indoor arrival time information generating means for generating indoor arrival time information indicating a time required for the position-related signal to travel the distance indicated by the indoor distance information;
Basic information generating means for generating signal basic information for indoor transmission based on the position related signal and the indoor arrival time information;
Basic information transmitting means for transmitting the indoor transmission signal basic information to the indoor device;
Have
The indoor device is
Basic information receiving means for receiving signal basic information for indoor transmission from the outdoor device;
Based on the indoor transmission signal basic information, indoor transmission signal generation means for generating an indoor transmission signal;
Based on the transmission time information and the indoor arrival time information included in the indoor transmission signal basic information, the indoor transmission signal for transmitting the indoor transmission signal at the time when the indoor arrival time elapses from the transmission time Delivery means, and
The positioning system comprising: an indoor transmission signal receiving means for receiving the indoor transmission signal from the indoor apparatus. There are a plurality of the indoor devices,
The basic information transmitting means of the outdoor device transmits the basic signal for indoor transmission based on the position related signals from different position information satellites to the plurality of indoor devices. 1. The positioning system according to 1.   The basic information transmitting means of the outdoor device is for each indoor device disposed at the indoor fixed position closest to the indoor position corresponding to the sky position corresponding to the sky position of each position information satellite. The positioning system according to claim 2, wherein the basic signal for indoor transmission is transmitted based on the position related signal from each of the position information satellites.   When the basic information generating means of the outdoor device cannot generate the signal basic information for indoor transmission, the outdoor device transfers the position related signal received from the position information satellite to the indoor device. The positioning system according to any one of claims 1 to 3. An outdoor device arranged at an outdoor fixed position, which is an outdoor fixed position,
The outdoor device is
A signal receiving means for receiving a position-related signal from the position information satellite;
Based on the transmission time information indicating the transmission time when the position related signal is transmitted from the position information satellite and the reception time information indicating the reception time when the position related signal is received, the distance between the position information satellite and the outdoor device is determined. Outdoor distance information generating means for generating outdoor distance information indicating;
Satellite position information generating means for generating satellite position information indicating the position of the position information satellite based on satellite orbit information included in the position related signal, outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information; ,
Indoor fixed position information storage means for storing indoor fixed position information indicating an indoor fixed position, which is an indoor fixed position in which an indoor device capable of communicating with the outdoor device is disposed;
Indoor distance information generating means for generating indoor distance information indicating a distance between the position information satellite and the indoor device based on the satellite position information and the indoor fixed position information;
Indoor arrival time information generating means for generating indoor arrival time information indicating a time required for the position-related signal to travel the distance indicated by the indoor distance information;
Indoor transmission signal basic information for causing the indoor device to generate an indoor transmission signal and causing the indoor device to transmit the indoor transmission signal at a time when the indoor arrival time elapses from a transmission time of the position-related signal. Basic information generating means for generating based on the position related signal and the indoor arrival time information;
Basic information transmitting means for transmitting the indoor transmission signal basic information to the indoor device;
An outdoor device comprising: A signal receiving step in which an outdoor device arranged at an outdoor fixed position, which is an outdoor fixed position, receives a position-related signal from a position information satellite; and
The outdoor device is based on transmission time information indicating a transmission time when the position related signal is transmitted from the position information satellite and reception time information indicating a reception time when the position related signal is received. Outdoor distance information generation step for generating outdoor distance information indicating the distance of the outdoor device;
The outdoor device generates satellite position information indicating the position of the position information satellite based on the satellite orbit information included in the position related signal, the outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. A location information generation step;
The outdoor device indicates a distance between the position information satellite and the indoor device based on the satellite position information and indoor fixed position information indicating an indoor fixed position where an indoor device capable of communicating with the outdoor device is disposed. Indoor distance information generation step for generating indoor distance information;
Indoor arrival time information generating step for generating indoor arrival time information indicating a time required for the outdoor device to travel the distance indicated by the position-related signal in the indoor distance information;
A basic information generating step in which the outdoor device generates signal basic information for indoor transmission based on the position-related signal and the indoor reception time information;
A basic information transmission step in which the outdoor device transmits the basic signal for indoor transmission to the indoor device; and
A basic information receiving step in which the indoor device receives signal basic information for indoor transmission from the outdoor device;
The indoor device generates an indoor transmission signal based on the indoor transmission signal basic information, and generates an indoor transmission signal.
The indoor sending signal sending step for sending the indoor sending signal at a time when the indoor arrival time elapses from a sending time of the position related signal;
An indoor device that is communicable with the indoor device and has positioning means for measuring a current position by receiving a position related signal from the position information satellite, and receiving an indoor transmission signal from the indoor device. A sending signal receiving step;
A positioning method characterized by comprising: A signal receiving step in which an outdoor device arranged at an outdoor fixed position, which is an outdoor fixed position, receives a position-related signal from a position information satellite; and
The outdoor device is based on transmission time information indicating a transmission time when the position related signal is transmitted from the position information satellite and reception time information indicating a reception time when the position related signal is received. Outdoor distance information generation step for generating outdoor distance information indicating the distance of the outdoor device;
The outdoor device generates satellite position information indicating the position of the position information satellite based on the satellite orbit information included in the position related signal, the outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. A location information generation step;
Based on the indoor fixed position information indicating the indoor fixed position where the outdoor apparatus is arranged with the satellite position information and the indoor apparatus communicable with the outdoor apparatus, the position information satellite and the indoor apparatus Indoor distance information generating step for generating indoor distance information indicating the distance to
Indoor arrival time information generating step for generating indoor arrival time information indicating a time required for the outdoor device to travel the distance indicated by the position-related signal in the indoor distance information;
The outdoor device causes the indoor device to generate an indoor transmission signal, and causes the indoor device to transmit the indoor transmission signal at a time when the indoor arrival time has elapsed from the transmission time of the position-related signal. Basic information generation step for generating signal basic information for the position based on the position related signal and the indoor arrival time information;
A basic information transmission step in which the outdoor device transmits the basic signal for indoor transmission to the indoor device; and
A control method for an outdoor device, comprising:   In the basic information transmission step, the outdoor device transmits the indoor transmission signal basic information based on the position related signals from different position information satellites to a plurality of indoor devices. Item 8. The outdoor device control method according to Item 7.   In the basic information transmitting step, the outdoor device is connected to each indoor device arranged at the indoor fixed position closest to the indoor position corresponding to the sky position corresponding to the sky position of each position information satellite. 9. The method of controlling an outdoor device according to claim 8, wherein the basic signal for indoor transmission is transmitted based on the position related signal from each of the position information satellites. In the basic information transmission step, when the outdoor device cannot generate the signal basic information for indoor transmission,
The method for controlling an outdoor device according to any one of claims 7 to 9, wherein the outdoor device transfers a position-related signal received from the position information satellite to the indoor device. On the computer,
A signal receiving step in which an outdoor device arranged at an outdoor fixed position, which is an outdoor fixed position, receives a position-related signal from a position information satellite; and
The outdoor device is based on transmission time information indicating a transmission time when the position related signal is transmitted from the position information satellite and reception time information indicating a reception time when the position related signal is received. Outdoor distance information generation step for generating outdoor distance information indicating the distance of the outdoor device;
The outdoor device generates satellite position information indicating the position of the position information satellite based on the satellite orbit information included in the position related signal, the outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. A location information generation step;
Based on the indoor fixed position information indicating the indoor fixed position where the outdoor apparatus is arranged with the satellite position information and the indoor apparatus communicable with the outdoor apparatus, the position information satellite and the indoor apparatus Indoor distance information generating step for generating indoor distance information indicating the distance to
Indoor arrival time information generating step for generating indoor arrival time information indicating a time required for the outdoor device to travel the distance indicated by the position-related signal in the indoor distance information;
The outdoor device causes the indoor device to generate an indoor transmission signal, and causes the indoor device to transmit the indoor transmission signal at a time when the indoor arrival time has elapsed from the transmission time of the position-related signal. Basic information generation step for generating signal basic information for the position based on the position related signal and the indoor arrival time information;
A basic information transmission step in which the outdoor device transmits the basic signal for indoor transmission to the indoor device; and
A computer program for executing On the computer,
A signal receiving step in which an outdoor device arranged at an outdoor fixed position, which is an outdoor fixed position, receives a position-related signal from a position information satellite; and
The outdoor device is based on transmission time information indicating a transmission time when the position related signal is transmitted from the position information satellite and reception time information indicating a reception time when the position related signal is received. Outdoor distance information generation step for generating outdoor distance information indicating the distance of the outdoor device;
The outdoor device generates satellite position information indicating the position of the position information satellite based on the satellite orbit information included in the position related signal, the outdoor fixed position information indicating the outdoor fixed position, and the outdoor distance information. A location information generation step;
Based on the indoor fixed position information indicating the indoor fixed position where the outdoor apparatus is arranged with the satellite position information and the indoor apparatus communicable with the outdoor apparatus, the position information satellite and the indoor apparatus Indoor distance information generating step for generating indoor distance information indicating the distance to
Indoor arrival time information generating step for generating indoor arrival time information indicating a time required for the outdoor device to travel the distance indicated by the position-related signal in the indoor distance information;
The outdoor device causes the indoor device to generate an indoor transmission signal, and causes the indoor device to transmit the indoor transmission signal at a time when the indoor arrival time has elapsed from the transmission time of the position-related signal. Basic information generation step for generating signal basic information for the position based on the position related signal and the indoor arrival time information;
A basic information transmission step in which the outdoor device transmits the basic signal for indoor transmission to the indoor device; and
A computer-readable recording medium on which a computer program is recorded.

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