JP2006220586A - Positioning system, terminal apparatus, control method of the terminal apparatus, control program of the terminal apparatus, computer readable recording medium for recording control program of the terminal apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning system in an inter-base station asynchronous communications network for eliminating the need for drastically changing a system in a communication base station, and for enabling positioning by using a communication radio waves from the communication base station. <P>SOLUTION: The communication base station 20A has a communication radio wave transmitting means for transmitting communication radio waves CS1 for carrying a plurality of frames; an information providing apparatus 40 has a transmission satellite time information generating means and a frequency shift information generating means; and a broadcast apparatus 60 has a time information broadcasting means for broadcasting time information. A terminal apparatus 80 has: a terminal side time information receiving means; a terminal side communications radio wave receiving means for receiving the communication radio waves CS1 from the communications base station 20A; a terminal side reception time information generating means; and a communication radio wave positioning means for positioning the terminal apparatus 80, on the basis of base station position information on three or more communication base stations 20A, transmission time information, transmission satellite time information, frequency shift information, and the terminal side reception time information. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a positioning system, a terminal device, a terminal device control method, a terminal device control program, and a terminal device in an asynchronous communication network between base stations that do not have a common reference timing such as the same clock between communication base stations. The present invention relates to a computer-readable recording medium on which the control program is recorded.

Conventionally, for example, in a so-called digital mobile communication system of a code division multiple access (CDMA) system, a technique for ensuring time synchronization between a plurality of base stations has been proposed (for example, Patent Document 1). With such a technique, when time synchronization is established between a plurality of base stations, the position can be detected based on the arrival time difference of received signals between the plurality of base stations and the mobile radio terminal device (for example, JP-A-7-181242).
Special table 2003-509953 gazette (FIG. 1 etc.)

  However, there is a problem that an economic burden is large for the construction of a system for synchronizing time between base stations existing in large numbers throughout the country.

  Accordingly, the present invention provides a positioning system in an asynchronous communication network between base stations that can perform positioning using communication radio waves from a communication base station without requiring a significant system change of the communication base station. An object of the present invention is to provide a terminal device, a control method for the terminal device, a control program for the terminal device, and a computer-readable recording medium on which the control program for the terminal device is recorded.

  According to the first invention, the object is to provide a plurality of communication base stations located at fixed positions, an information providing device capable of communicating with the communication base station, a broadcasting device capable of communicating with the information providing device, An asynchronous positioning system between communication base stations having a terminal device capable of receiving broadcast radio waves from a broadcast device, wherein the communication base station transmits a frame including transmission time information indicating a transmission time by communication radio waves The information providing apparatus includes: satellite time information generating means for generating satellite time information indicating a satellite time which is a time of the positioning satellite based on satellite radio waves from the positioning satellite; and the communication base station Frame receiving means for receiving the frame from, the satellite time at which the frame was received, base station position information indicating the fixed position of the communication base station, and the position of the information providing device Transmission satellite time information generating means for generating transmission satellite time information indicating the satellite time at which the frame was transmitted from the communication base station, based on the position information of the information providing device indicating the transmission, and the communication base station measures the transmission satellite time information A frequency shift indicating a shift of the fundamental frequency based on a fundamental frequency that is a basis of transmission time, information indicating a relationship between the fundamental frequency and a reference frequency of the communication radio wave, and a reception frequency of the communication radio wave A frequency shift information generating means for generating information; and a time information transmitting means for transmitting time information including the transmission satellite time information and the frequency shift information to the broadcast apparatus, and the broadcast apparatus Comprises time information receiving means for receiving the time information from the information providing apparatus, and time information broadcasting means for broadcasting the time information, wherein the terminal device is the positioning satellite. Terminal-side satellite time information generating means for generating terminal-side satellite time information indicating the satellite time based on the satellite radio wave, terminal-side time information receiving means for receiving the time information from the broadcasting device, and the communication Terminal-side frame receiving means for receiving the frame from a base station; terminal-side received satellite time information generating means for generating terminal-side received satellite time information indicating the satellite time at which the frame was received; and three or more of the communications Communication radio wave positioning means for positioning the terminal device based on the base station position information of the base station, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal-side reception satellite time information; Is achieved by an asynchronous positioning system between communication base stations.

According to the configuration of the first invention, the information providing apparatus can generate the satellite time information by the satellite time information generating means. Based on the plurality of satellite radio waves, the current position is measured, and as a result, the accurate satellite time can be obtained together with the positioning position information.
In addition, since the information providing apparatus includes the transmission satellite time information generating unit, the information providing apparatus can generate the transmission satellite time information, and since the information providing apparatus includes the frequency shift information generating unit, the frequency providing information is generated. be able to.
The frequency shift information is information indicating the shift of the fundamental frequency. The basic frequency is information serving as a basis for the transmission time measured by the communication base station. Therefore, the frequency shift information can be used as information for calculating the transmission time shift. That is, like the transmission time information, the frequency shift information is information related to the time of the communication base station.
And since the said information provision apparatus has the said time information transmission means, it can transmit the time information containing the said transmission satellite time information and the said frequency shift information with respect to the said broadcast apparatus.

  And since the said broadcasting apparatus has the said time information receiving means, it can receive the said time information from the said information provision apparatus, and since it has the said time information broadcasting means, it can broadcast the said time information.

And since the said terminal device has the said terminal side time information receiving means, it can receive the said time information which the said broadcasting device broadcasted.
Moreover, since the said terminal device has the said terminal side frame receiving means, it can receive the said frame from the said communication base station.
And since the said terminal device has the said terminal side receiving satellite time information production | generation means, it can produce | generate the said terminal side receiving satellite time information.
Furthermore, since the terminal device includes the communication radio wave positioning means, the base station position information, the transmission time information, the transmission satellite time information, the frequency shift information, and the frequency shift information about three or more communication base stations Based on the terminal-side reception time information, it is possible to accurately calculate the propagation time from each communication base station until the communication radio wave reaches the terminal device, so that the position of the terminal device can be measured. .

As described above, the communication base station does not synchronize the transmission time with the satellite time, but only transmits a frame including the transmission time information. Therefore, the configuration is simple, and the communication Does not require major system changes at the base station.
Thereby, it is possible to perform positioning using communication radio waves from the communication base station without requiring a significant system change of the communication base station.

According to the second invention, the object is a terminal device capable of receiving a broadcast from a broadcasting device capable of communicating with the information providing device, and is the time of the positioning satellite based on satellite radio waves from the positioning satellite. Terminal-side satellite time information generating means for generating terminal-side satellite time information indicating the satellite time; the satellite time at which the information providing apparatus receives the frame from the communication base station; and the communication capable of communicating with the broadcasting apparatus. Transmission indicating the satellite time at which the frame was transmitted from the communication base station, generated based on base station position information indicating a fixed position of the base station and information providing apparatus position information indicating the position of the information providing apparatus Satellite time information, a basic frequency that is a basis of the transmission time generated by the communication base station, information indicating a relationship between the basic frequency and a reference frequency of the communication radio wave, and the communication A terminal side time information receiving means for receiving time information including a frequency shift information indicating a shift of the basic frequency generated based on the reception frequency of the waves, and
Terminal-side frame reception means for receiving the frame from the communication base station; terminal-side reception satellite time information generation means for generating terminal-side reception satellite time information indicating the satellite time at which the frame was received; and three or more Communication radio wave positioning for positioning the terminal device based on the base station position information, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal-side reception satellite time information of the communication base station And a terminal device characterized by comprising: means.

  According to the configuration of the second invention, as in the configuration of the first invention, positioning using the communication radio wave from the communication base station is enabled without requiring a significant system change of the communication base station. be able to.

  According to a third invention, in the configuration of the second invention, a satellite radio wave positioning means for positioning the position of the terminal device based on the satellite radio wave, the satellite radio wave, the base station position information of the communication base station, A terminal device comprising: composite positioning means for positioning the terminal device based on the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal-side reception satellite time information. It is.

If the communication radio wave can be received only from 0 to 2 communication base stations, positioning by the communication radio wave positioning means cannot be performed.
In this regard, since the terminal device has the satellite radio wave positioning means and the composite positioning means, when the communication radio wave can be received only from 0 to 2 communication base stations, the communication radio wave Positioning can be performed based on the satellite radio waves, or only based on the satellite radio waves from the plurality of positioning satellites.
Therefore, the terminal device can perform positioning even when the communication radio waves from three or more communication base stations cannot be received.
Thus, according to the configuration of the third invention, positioning is possible even when communication radio waves from three or more communication base stations cannot be received without requiring a significant system change of the communication base station. Can do.

  According to a fourth aspect of the present invention, in the configuration of the third aspect, the terminal-side time information is received from the broadcasting device prior to positioning by the broadcast radio wave positioning unit, the satellite radio wave positioning unit, or the composite positioning unit. The terminal device is configured to receive information.

The time difference between the time of the communication base station and the satellite time can be known from the transmission time information and the transmission satellite time information, and this time difference does not vary greatly for a certain period. Further, the deviation between the reference frequency and the reception frequency indicated in the frequency shift information does not vary greatly for a certain period.
For this reason, once the transmission time information or the like is acquired from the broadcasting device, it can be used for positioning by the communication radio wave positioning unit for a certain period of time.
In this regard, according to the configuration of the fourth invention, the terminal-side time information receiving means is configured to receive the time information prior to positioning by the communication radio wave positioning means or the like. There is no need to acquire the transmission time information, the transmission satellite time information, and the frequency shift information. As a result, the time required for positioning can be shortened.

  In a fifth aspect based on the third aspect, the terminal-side time information receiving means is defined based on an effective period of the transmission time information and the transmission satellite time information and / or the frequency shift information. The terminal device is configured to receive the time information from the broadcasting device at every interval time.

  According to the configuration of the fifth aspect of the invention, the terminal side time information receiving means is provided for each interval time defined based on an effective period of the transmission time information and the transmission satellite time information and / or the frequency shift information. Since the time information is received from the broadcasting device, it is not necessary to acquire the transmission time information, the transmission satellite time information, and the frequency shift information at the time of positioning. As a result, the time required for positioning can be shortened.

  According to the sixth aspect, the object is that a terminal device capable of receiving broadcast from a broadcast device capable of communicating with an information providing device is a satellite time which is the time of the positioning satellite based on satellite radio waves from the positioning satellite. A terminal-side satellite time information generation step for generating terminal-side satellite time information indicating: the terminal device is capable of communicating with the satellite device when the information providing device receives the frame from the communication base station; and the broadcasting device. The satellite time at which the frame was transmitted from the communication base station, generated based on base station position information indicating the fixed position of the communication base station and information providing apparatus position information indicating the position of the information providing apparatus. Transmission satellite time information indicating the base frequency of the transmission time generated by the communication base station, and information indicating the relationship between the basic frequency and the reference frequency of the communication radio wave. And terminal side time information receiving step for receiving time information including frequency shift information indicating a shift of the fundamental frequency generated based on the reception frequency of the communication radio wave, and the terminal device, A terminal-side frame reception step for receiving the frame from a communication base station; and a terminal-side reception satellite time information generation step for generating terminal-side reception satellite time information indicating the satellite time at which the terminal device has received the frame; The terminal device is based on the base station position information, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal side reception satellite time information of three or more communication base stations. And a communication radio wave positioning step for positioning the position of the device.

  According to the configuration of the sixth invention, similar to the configuration of the second invention, positioning using the communication radio wave from the communication base station is enabled without requiring a significant system change of the communication base station. be able to.

  According to the seventh aspect of the present invention, according to the seventh aspect, a terminal device capable of receiving a broadcast from a broadcasting device capable of communicating with the information providing device is transmitted at the time of the positioning satellite based on satellite radio waves from the positioning satellite. A terminal-side satellite time information generating step for generating terminal-side satellite time information indicating a certain satellite time, the terminal device, the satellite time when the information providing device receives the frame from the communication base station, and the broadcasting device The frame is transmitted from the communication base station generated based on base station position information indicating a fixed position of the communication base station capable of communicating with the information providing apparatus position information indicating a position of the information providing apparatus Transmission satellite time information indicating the satellite time, a basic frequency that is a basis of the transmission time generated by the communication base station, a reference frequency of the basic frequency and the communication radio wave The terminal side time information receiving step for receiving time information including information indicating the relationship between the base frequency and the frequency shift information indicating the shift of the fundamental frequency generated based on the reception frequency of the communication radio wave, A terminal side frame reception step in which the terminal apparatus receives the frame from the communication base station; and a terminal side reception satellite time in which the terminal apparatus generates terminal side reception satellite time information indicating the satellite time at which the frame is received. An information generation step, wherein the terminal device includes the base station position information of the three or more communication base stations, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal-side reception satellite time information. And a communication radio wave positioning step for measuring the position of the terminal device, based on the control program for the terminal device.

  According to an eighth aspect of the present invention, there is provided a terminal device capable of receiving a broadcast from a broadcasting device capable of communicating with an information providing device on a computer at a time of the positioning satellite based on satellite radio waves from the positioning satellite. A terminal-side satellite time information generating step for generating terminal-side satellite time information indicating a certain satellite time, the terminal device, the satellite time when the information providing device receives the frame from the communication base station, and the broadcasting device The frame is transmitted from the communication base station generated based on base station position information indicating a fixed position of the communication base station capable of communicating with the information providing apparatus position information indicating a position of the information providing apparatus Transmission satellite time information indicating the satellite time, a basic frequency that is a basis of the transmission time generated by the communication base station, a reference frequency of the basic frequency and the communication radio wave The terminal side time information receiving step for receiving time information including information indicating the relationship between the base frequency and the frequency shift information indicating the shift of the fundamental frequency generated based on the reception frequency of the communication radio wave, A terminal side frame reception step in which the terminal apparatus receives the frame from the communication base station; and a terminal side reception satellite time in which the terminal apparatus generates terminal side reception satellite time information indicating the satellite time at which the frame is received. An information generation step, wherein the terminal device includes the base station position information of the three or more communication base stations, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal-side reception satellite time information. And a communication radio wave positioning step for positioning the position of the terminal device based on the computer. It is achieved by only taking a recording medium that can be.

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 a positioning system 10 and the like according to an embodiment of the present invention.
As shown in FIG. 1, the positioning system 10 includes communication base stations 20A, 20B, and 20C (hereinafter referred to as base stations 20A, 20B, and 20C, respectively) located at fixed positions. The base station 20A and the like are an example of a plurality of communication base stations. The base station 20A can transmit the communication radio wave CS1, the base station 20B can transmit the communication radio wave CS2, and the base station 20C can transmit the communication radio wave CS3.

  The positioning system 10 also includes a time information providing device 40 (hereinafter referred to as a providing device 40) that can communicate with the base station 20A and the like. The providing device 40 is an example of an information providing device. The providing device 40 includes a GPS device 50, and is, for example, satellite radio waves S1, S2, S3, and S4, which are satellite radio waves from GPS satellites 12a, 12b, 12c, and 12d that are positioning satellites by a GPS receiving antenna 50a. Can be received. The providing device 40 also has a communication device 52, can receive the communication radio wave CS1 and the like from the base station 20A and the like by the communication antenna 52a, and transmits the communication radio wave GS to the radio broadcast station 60 described later. be able to.

The positioning system 10 also includes a radio broadcast station 60 (hereinafter referred to as a broadcast station 60) that can communicate with the providing device 40. The broadcasting station 60 is an example of a broadcasting device. The broadcasting station 60 can receive the communication radio wave GS from the providing device 40 by the broadcasting station side communication device 70. The broadcast station 60 can transmit the broadcast radio wave BS by the broadcast device 72.
The positioning system 10 also has a terminal 80. The terminal 80 is an example of a terminal device. The terminal 80 can receive the satellite radio wave S1 and the like from the GPS satellite 12a and the like by the terminal-side GPS device 90. The terminal 80 can also receive the broadcast radio wave BS from the broadcast station 60 by the broadcast receiving device 92. The terminal 80 can also receive the communication radio wave CS1 and the like from the base station 20A and the like by the terminal side communication device 94.

The providing device 40 and the terminal 80 are, for example, a mobile phone, a PHS (Personal Handy-phone System), a PDA (Personal Digital Assistance ₎ , but are not limited thereto. Further, the providing device 40 may not be movable but may be located at a fixed position.

Unlike the present embodiment, the number of GPS satellites 12a may be three, or five or more. Further, unlike the present embodiment, the number of base stations 20A and the like may be five or more, and the number of terminals 80 may be two or more.
Unlike this embodiment, a quasi-zenith satellite may be used instead of the GPS satellite 12a or the like. The quasi-zenith satellite is an artificial satellite in a system that is operated in an orbit in which at least one of a plurality of quasi-zenith satellites has a high elevation angle in Japan, for example, an elevation angle of 70 degrees or more. In detail, the quasi-zenith satellite is a satellite system that places a circular orbit with an altitude of 36,000 kilometers (km) in an orbit inclined about 45 degrees from the equator, and synchronizes at least three quasi-zenith satellites. By locating, one quasi-zenith satellite always stays near the zenith in Japan. Thus, since the quasi-zenith satellite has a high elevation angle, the radio wave received from the quasi-zenith satellite has an advantage that it is less susceptible to multipath than the satellite radio wave S1 from the GPS satellite 12a or the like.

(Main hardware configuration of base station 20A)
FIG. 2 is a schematic diagram showing the main hardware configuration of the base station 20A.
Since the main hardware configuration of the base stations 20B and 20C is the same as that of the base station 20A, description thereof is omitted.
As shown in FIG. 2, the base station 20 </ b> A has a computer, and the computer has a bus 22.
The bus 22 is connected to a CPU (Central Processing Unit) 24, a storage device 26, an external storage device 28, and the like. The storage device 26 is, for example, a RAM (Random Access Memory) or a ROM (Read Only Memory). The external storage device 28 is, for example, an HD (Hard Disk).

In addition, an input device 30 and a base station communication device 32 for inputting various information and the like are connected to the bus 22. The base station communication device 32 is configured to transmit the communication radio wave CS1.
In addition, a display device 34 and a base station clock 36 for displaying various information and the like are connected to the bus 22. The base station clock 36 is not synchronized with the base station clock 36 of the other base station 20B or the like, and is not synchronized with the time of the GPS satellite 12a or the like (hereinafter referred to as GPS time).
That is, the base stations 20A to 20C are not time synchronized.

(Main hardware configuration of providing device 40)
FIG. 3 is a schematic diagram illustrating a main hardware configuration of the providing device 40.
As illustrated in FIG. 3, the providing device 40 includes a computer, and the computer includes a bus 42.
A CPU 44, a storage device 46, an input device 48, a GPS device 50, a communication device 52, a display device 54 and a clock 56 are connected to the bus 42. The time of the clock 56 is maintained in a state that is not different from the GPS time.

(Main hardware configuration of broadcasting station 60)
FIG. 4 is a schematic diagram showing a main hardware configuration of the broadcasting station 60.
As shown in FIG. 4, the broadcasting station 60 has a computer, and the computer has a bus 62.
A CPU 64, a storage device 66, an input device 68, a broadcasting station side communication device 70, a broadcasting device 72, and a display device 74 are connected to the bus 62.

(Main hardware configuration of terminal 80)
FIG. 5 is a schematic diagram showing a main hardware configuration of the terminal 80.
As shown in FIG. 5, the terminal 80 has a computer, and the computer has a bus 82.
A CPU 84, a storage device 86, an input device 88, a terminal GPS device 90, a broadcast receiving device 92, a terminal side communication device 94, a display device 96 and a terminal clock 98 are connected to the bus 82. The time measured by the terminal clock 98 can be maintained in a state that is not different from the GPS time.

(Main software configuration of base station 20A)
FIG. 6 is a schematic diagram showing a main software configuration of the base station 20A.
Since the main software configuration of the base stations 20B and 20C is the same as that of the base station 20A, description thereof is omitted.
As shown in FIG. 6, the base station 20A includes a base station control unit 100 that controls each unit, a base station communication unit 102 corresponding to the base station communication device 32 in FIG. The base station communication unit 102 is an example of a communication radio wave transmission unit that transmits a communication radio wave CS1.
The base station 20A also includes a base station timing unit 104 corresponding to the base station clock 36 of FIG. 2, a base station first storage unit 110 that stores various programs, and a base station second storage unit 150 that stores various types of information. .

As illustrated in FIG. 6, the base station 20A stores base station identification information 151 indicating the base station ID-1 in the base station second storage unit 150. The base station identification information 151 is information for identifying the base station 20A from the other base station 20B, and the base station ID-1 is, for example, a 4-digit number.
As illustrated in FIG. 6, the base station 20 </ b> A stores base station position information 152 in the base station second storage unit 150. The base station position information 152 is information indicating the position P of the base station 20A. For example, the position P of the base station 20A is indicated by latitude, longitude, and altitude. The base station position information 152 is an example of base station position information.

As illustrated in FIG. 6, the base station 20 </ b> A stores a transmission frame generation program 112 in the base station first storage unit 110. The transmission frame generation program 112 is a program for the base station control unit 100 to generate a transmission frame 154 including base station position information 152 and transmission time information 156.
In the base station 20A, the base station timing unit 104 generates transmission time information 156 indicating the transmission time t1 of the communication radio wave CS1 and the like. The base station control unit 100 stores the transmission time information 156 in the base station second storage unit 150.

FIG. 7 is a schematic diagram illustrating an example of a transmission frame 154 transmitted by the base station communication unit 102 using the communication radio wave CS1.
As shown in FIG. 7, the transmission frame 154 includes a plurality of frames F1 and the like.
Each frame F1 to F3 is a unit of information communicated using a communication network (not shown). That is, the base station 20A transmits information in units of frames F1 and the like.
Each frame F1 and the like includes, for example, a frame number such as F1 and the like, transmission time t1 indicated by the transmission time information 156, base station ID-1 indicated by the base station identification information 151, and base station position information 152. The indicated position P is included. The transmission time t1 or the like is also called a time tag.
The base station 20A continuously transmits the communication radio wave CS1 carrying the frames F1 and the like and the timing signal TS1 by the base station communication unit 102.

(Main software configuration of providing device 40)
FIG. 8 is a schematic diagram illustrating a main software configuration of the providing device 40.
FIG. 9 is an explanatory diagram of an example of a method for generating the drift information 262.
FIG. 10 is a diagram illustrating an example of the structure of the time information 258.
As shown in FIG. 8, the providing device 40 includes a control unit 200 that controls each unit, a GPS unit 202 corresponding to the GPS device 50 in FIG. 3, a communication unit 204 corresponding to the communication device 52 in FIG. 56, a first storage unit 210 that stores various programs, and a second storage unit 250 that stores various types of information.

  As illustrated in FIG. 8, the providing device 40 stores providing device position information 251 in the second storage unit 250. The providing device position information 251 is information indicating the position Q of the providing device 40 by, for example, latitude, longitude, and altitude. The providing device position information 251 is an example of information providing device position information.

  As illustrated in FIG. 8, the providing device 40 stores satellite orbit information 252 in the second storage unit 250. The satellite orbit information 252 includes an Almanac 252a indicating an approximate orbit of all GPS satellites 12a and the like (see FIG. 1), and an ephemeris 252b indicating a precise orbit of each GPS satellite 12a and the like.

As shown in FIG. 8, the providing device 40 stores a GPS time generation program 212 in the first storage unit 210. The GPS time generation program 212 is a program for the control unit 200 to generate GPS time information 254 indicating the GPS time based on satellite radio waves S1 and the like (see FIG. 1) from the GPS satellites 12a and the like. That is, the GPS time generation program 212 and the control unit 200 are examples of satellite time information generation means.
The control unit 200 uses the satellite orbit information 252 to determine the current position based on a plurality of satellite radio waves S1 received by the GPS unit 202, and to obtain an accurate GPS time in milliseconds (ms). GPS time information 254 is generated and stored in the second storage unit 250.

As shown in FIG. 8, the providing device 40 stores a clock correction program 214 in the first storage unit 210. The clock correction program 214 is a program for the control unit 200 to maintain the time of the time measuring unit 206 in a state that is not different from the GPS time based on the GPS time information 254 described above.
Thereby, the base station 20A can maintain the time measured by the clock 56 in a state in which there is no difference from the GPS time.

  As illustrated in FIG. 8, the providing device 40 stores a base station communication radio wave reception program 216 in the first storage unit 210. The base station communication radio wave reception program 216 is a program for the control unit 200 to receive the communication radio wave CS1 or the like carrying the frame F1 or the like from the base station 20A or the like by the communication unit 204. That is, the base station communication radio wave reception program 216, the control unit 200, and the communication unit 204 are examples of frame reception means.

  As shown in FIG. 8, the providing device 40 stores a time information generation program 218 in the first storage unit 210. The time information generation program 218 includes a transmission time information generation program 220 and a drift information generation program 222.

The transmission time information generation program 218 includes a GPS time tr (not shown) when the control unit 200 receives each frame F1 and the like from the base station 20A and the like, base station position information 152 (see FIG. 6), and providing apparatus position information. 251 is a program for generating transmission GPS time information 260 indicating the GPS time ts at which each frame F1 or the like was transmitted from the base station 20A or the like. The transmission GPS time information 260 is an example of transmission satellite time information, and the time information generation program 218 and the control unit 200 are examples of transmission satellite time information generation means.
The control unit 200 measures the GPS time at which each frame F1 of the signal radio wave CS1 from the base station 20A or the like is received by the time measuring unit 206.
The control unit 200 acquires the base station position information 152 from the frame F1 and the like from the base station 20A and the like.
The control unit 200 acquires the providing device position information 251 from the second storage unit 250.
For example, the distance d (not shown) between the base station 20A and the providing device 40 can be calculated from the position P of the base station 20A and the position Q of the providing device 40. Since the propagation speed of the communication radio wave CS1 and the like carrying the frame F1 etc. is the speed of light C (not shown), the propagation time td (not shown) required for the communication radio wave CS1 to propagate the distance d is accurately determined. Can be calculated. For example, the transmission GPS time ts can be calculated by tracing the propagation time td from the GPS time tr at which the frame F1 is received, and the transmission GPS time information 260 can be generated. The transmission GPS time ts is also referred to as a bias.

In the drift information generation program 222, the control unit 200 communicates information indicating a reference frequency that is a basis of time measurement by the base station clock 36 (see FIG. 2), a relationship between the reference frequency and a reference frequency such as the communication radio wave CS1, and the like. This is a program for generating drift information 262 indicating drift h, which is a deviation of the reference frequency, based on the reception frequency of the radio wave CS1 or the like. That is, the drift information generation program 222 and the control unit 200 are examples of frequency shift information generation means.
A reference frequency H1 (see FIG. 9) that serves as a reference for the base station clock 36 (see FIG. 2) such as the base station 20A is generated by, for example, a crystal oscillator (not shown). The frequency of this crystal oscillator changes with temperature, and the frequency of the crystal oscillator becomes H1 + h. Here, the deviation h due to the temperature of the frequency of the crystal oscillator is called drift.

An example of a method for generating the drift information 262 will be described with reference to FIG.
First, the reference frequency H2 of the communication radio wave CS1 is a times (a is a constant) the reference frequency H1. The providing apparatus 40 stores base station reference frequency information 256 indicating the reference frequency H1 and a constant a in the second storage unit 250. The above-described reference frequency H1 is an example of a basic frequency. The reference frequency H2 is an example of the reference frequency.
As shown in FIG. 9A, the frequency of the communication radio wave CS transmitted by the base station 20A or the like when the drift h is not generated is the reference frequency H2, and the reception frequency of the communication radio wave CS received by the providing device 40 H3 is equal to H2 = H1 × a. The reception frequency H3 is an example of the reception frequency. Here, there is no relative movement between the base station 20A or the like and the providing device 40, and the Doppler effect need not be considered.
On the other hand, as shown in FIG. 9B, when the drift h occurs, the transmission frequency H2A from the base station 20A is (H1 + h) × a, and the communication radio wave CS received by the providing device 40 The reception frequency H3 is H2A = (H1 + h) × a.
Here, the providing device 40 can measure the reception frequency H3 and stores the base station reference frequency information 256 indicating the reference frequency H1 and the constant a in advance, and thus can calculate the drift h.
That is, the control unit 200 can calculate the drift h that is only one unknown by solving the equation H3 = (H1 + h) × a.

Since the drift h is a shift in the reference frequency H1 of the base station clock 36 such as the base station 20A, it also indicates a shift in the time of the base station clock 36.
When the drift h does not occur, for example, 1 second which is a basic unit of the base station clock 36 is H / H.
On the other hand, when the drift h occurs, the base station clock 36 is H / H + h for 1 second.
By using the drift h, the time lag of the base station clock 36 can be calculated in nanosecond (ns) units.
That is, by correcting the transmission time information 260 with the drift information 262, it is possible to calculate a transmission time with higher accuracy for each frame F1 and the like.

The transmission time information 260 and the drift information 262 described above constitute time information 258.
As shown in FIG. 10, the time information 258 includes a frame number, a base station ID, a time tag, a bias, and a drift.
For example, the frame F1 includes a base station ID-1, Timetab-1 indicating the transmission time t1, Bias-1 indicating the transmission GPS time ts, and Drift-1 indicating the drift h. The time tag is used as a search key for searching for bias and drift together with the frame number and base station ID.

  As shown in FIG. 8, the providing device 40 stores a time information transmission program 224 in the first storage unit 210. The time information transmission program 224 is a program for the control unit 200 to transmit the time information 258 to the broadcast station 60 by the communication unit 204. That is, the time information transmission program 224, the control unit 200, and the communication unit 204 are examples of time information transmission means.

(About broadcasting station 60 main software configuration)
FIG. 11 is a schematic diagram showing a main software configuration of the broadcasting station 60.
As shown in FIG. 11, the broadcasting station 60 includes a broadcasting station control unit 300 that controls each unit, a broadcasting station communication unit 302 that corresponds to the broadcasting station side communication device 70 in FIG. 4, and a broadcasting that corresponds to the broadcasting device 72 in FIG. Unit 304, broadcast station first storage unit 310 for storing various programs, and broadcast station second storage unit 350 for storing various types of information.

As shown in FIG. 11, the broadcast station 60 stores a time information reception program 312 in the broadcast station first storage unit 310. The time information reception program 312 is a program for the broadcast station control unit 300 to receive the time information 258 (see FIG. 8) from the providing device 40. That is, the time information receiving program 312 and the broadcast station control unit 300 are examples of time information receiving means.
The broadcast station control unit 300 stores the received time information 258 in the broadcast station second storage unit 350 as broadcast station side time information 352.

  As shown in FIG. 11, the broadcast station 60 stores a time information broadcast program 314 in the broadcast station first storage unit 310. The time information broadcast program 314 is a program for the broadcast station control unit 300 to broadcast the broadcast station side time information 352. That is, the time information broadcast program 314 and the broadcast station control unit 300 are examples of time information transmission means.

(About main software configuration of terminal 80)
FIG. 12 is a schematic diagram showing a main software configuration of the terminal 80.
12, the terminal 80 includes a terminal control unit 400 that controls each unit, a terminal GPS unit 402 corresponding to the terminal GPS device 90 of FIG. 5, a terminal communication unit 404 corresponding to the terminal side communication device 94 of FIG. 5 includes a terminal timing unit 406 corresponding to the terminal clock 98 in FIG. 5, a broadcast receiving unit 408 corresponding to the broadcast receiving apparatus 92 in FIG.
The terminal 80 also includes a terminal first storage unit 410 that stores various programs and a terminal second storage unit 450 that stores various information.

  As illustrated in FIG. 12, the terminal 80 stores terminal-side satellite orbit information 452 in the terminal second storage unit 250. The terminal-side satellite orbit information 452 is information including, for example, almanac and ephemeris.

  As illustrated in FIG. 12, the terminal 80 stores a terminal-side GPS time information generation program 412 in the terminal first storage unit 410. The terminal-side GPS time information generation program 412 is used for the terminal control unit 400 to generate terminal-side GPS time information 454 indicating the GPS time based on satellite radio waves S1 and the like (see FIG. 1) from the GPS satellites 12a and the like. It is a program. The terminal-side GPS time information 454 is an example of terminal-side satellite time information, and the terminal-side GPS time information generation program 412 and the terminal control unit 400 are examples of terminal-side satellite time information generation means.

As illustrated in FIG. 12, the terminal 80 stores a terminal clock correction program 414 in the terminal first storage unit 410. The terminal clock correction program 414 is a program for the terminal control unit 400 to correct the time of the terminal clock unit 406 based on the terminal-side GPS time information 454.
Thereby, the terminal 80 can make the time of the terminal clock 98 not different from the GPS time.

As illustrated in FIG. 12, the terminal 80 stores a time information reception program 416 in the terminal first storage unit 410. The time information reception program 416 is a program for the terminal control unit 400 to receive the broadcast of the broadcast station side time information 352 from the broadcast station 60 by the broadcast reception unit 408. That is, the time information receiving program 416, the terminal control unit 400, and the broadcast receiving unit 408 are examples of terminal side time information receiving means.
The terminal control unit 400 is connected to the broadcasting station 60 from the broadcasting station 60 at the time of positioning by a base station positioning program 428 described later (hereinafter referred to as base station positioning) and positioning by a hybrid positioning program 430 (hereinafter referred to as hybrid positioning). A broadcast of time information 352 is received.
The terminal control unit 400 stores the received broadcast station side time information 352 as terminal side time information 456 in the terminal second storage unit 450.

As illustrated in FIG. 12, the terminal 80 stores an aerial satellite number determination program 418 in the terminal first storage unit 410. The sky satellite number determination program 418 is a program for the terminal control unit 400 to determine the number of GPS satellites 12a and the like that are located above the terminal 80 and can be observed.
Specifically, the terminal control unit 400 uses the almanac included in the terminal-side satellite orbit information 452 and is positioned above the terminal 80 at the current time measured by the terminal time measuring unit 406, and is an observable GPS. The number of satellites 12a etc. is determined. Then, the terminal control unit 400 stores the sky satellite number information 462 indicating the number of GPS satellites 12a and the like located in the sky in the terminal second storage unit 450.

As illustrated in FIG. 12, the terminal 80 stores a satellite positioning program 420 in the terminal first storage unit 410. The satellite positioning program 420 is a program for the terminal control unit 400 to measure the position of the terminal 80 based on satellite radio waves S1 and the like (see FIG. 1) from three or more GPS satellites 12a and the like. That is, the satellite positioning program 420 and the terminal control unit 400 are examples of satellite radio wave positioning means.
Specifically, the terminal control unit 400 calculates the difference between the time when the satellite radio wave S1 etc. is transmitted from each GPS satellite 12a and the time when the satellite radio wave S1 etc. is received, and the speed of the satellite radio wave S1 etc. Is the speed of light, the distance between each GPS satellite 12a and the like and the terminal 80 (referred to as a pseudorange) is calculated. On the other hand, the position of each GPS satellite 12a or the like on the satellite orbit at the current time measured by the terminal timer 406 is calculated by the ephemeris included in the terminal-side satellite orbit information 452.
Then, the current position is measured based on the above-described pseudo distance and the position of each GPS satellite 12a or the like on the satellite orbit.
The terminal control unit 400 stores the satellite positioning position information 464 generated by positioning in the terminal second storage unit 450.
Note that positioning performed by the terminal control unit 400 using the satellite positioning program 420 is referred to as satellite positioning.

As illustrated in FIG. 12, the terminal 80 stores a communication radio wave reception program 422 in the terminal first storage unit 410. The communication radio wave reception program 422 is a program for the terminal control unit 400 to receive the communication radio wave CS1 or the like carrying the frame F from the base station 20A or the like by the terminal communication unit 404. That is, the communication radio wave reception program 422, the terminal control unit 400, and the terminal communication unit 404 are examples of terminal-side frame reception means.
The communication radio wave reception program 422 includes a base station information extraction program 422a. The base station information extraction program 422a is a program for the terminal control unit 400 to extract the base station identification information 151, the base station position information 152, and the transmission time information 154 (see FIG. 6) from the communication radio wave CS1 and the like.
The terminal control unit 400 stores the extracted base station identification information 151, base station position information 152, and transmission time information 154 in the terminal second storage unit 450 as terminal-side base station information 466. The terminal-side base station information 466 includes base station identification information 466a, base station position information 466b, and transmission time information 466c.

As illustrated in FIG. 12, the terminal 80 stores a reception time information generation program 424 in the terminal first storage unit 410. The reception time information generation program 424 is a program for the terminal control unit 400 to generate reception GPS time information 468 indicating the GPS time when the communication radio wave CS1 or the like is received. The reception GPS time information 468 is an example of terminal-side reception satellite time information, and the reception time information generation program 424 and the terminal control unit 400 are examples of terminal-side reception satellite time information generation means.
Specifically, the terminal control unit 400 measures the GPS time when the communication radio wave CS1 is received by the terminal timing unit 406, and generates reception GPS time information 468.
The terminal control unit 400 stores the generated reception GPS time information 468 in the terminal second storage unit 450.

  As illustrated in FIG. 12, the terminal 80 stores a base station positioning program 428 in the terminal first storage unit 410. The base station positioning program 428 is based on the base station position information 466b, transmission time information 466c, transmission GPS time information 458, drift information 460, and reception GPS time information 468 of the three or more base stations 20A. The program for measuring the position of the terminal 80. That is, the base station positioning program 428 and the terminal control unit 400 are examples of communication radio wave positioning means.

FIG. 13 is an explanatory diagram of an example of a base station positioning method.
FIG. 13A shows the position of each base station 20A and the like. The position of the base station 20A or the like is known from the base station position information 466b.
FIG. 13B is a diagram showing the propagation time tb01 and the like of the communication radio wave CS1 and the like from each base station 20A and the like. The propagation time tb01 and the like are unknown numbers. Here, the propagation time tb01 and the like of the communication radio wave CS1 are synonymous with the propagation time of the frame F1 and the like.
FIG. 13C is a diagram showing the transmission time t1 and the like of each communication radio wave CS1 and the like. The transmission time t1 and the like are known from the transmission time information 466c. Here, the transmission item t1 and the like of the communication radio wave CS1 and the like are synonymous with the transmission time t1 and the like of the frame F1 and the like. In addition, since time synchronization is not performed between the base stations 20A and the like, t1, t2, and t3 are not necessarily the same time.
FIG. 13D is a diagram illustrating the time difference ta1 and the like of each base station 20A and the like. Time difference ta1 etc.
It can be calculated as a precise difference between the time indicated by the transmission time information 466c and the precise transmission time such as the communication radio wave CS1 calculated from the terminal-side time information 456. The terminal-side time information 456 includes transmission GPS time information 458 indicating the transmission time of each frame F1 and the like of the communication radio wave S1 in milliseconds (ms), and the transmission time of each frame F1 and the like in nanoseconds (ns). Since the drift information 460 serving as a basis for calculation is included, the terminal 80 can accurately calculate the transmission time of each frame F1 and the like.
FIG. 13 (e) is a diagram showing the propagation speed of the communication radio wave CS1 and the like. Since the communication radio wave CS1 and the like are carried on the radio wave, the propagation speed is the speed of light C.
FIG. 13 (f) is a diagram showing a time difference td01 between the transmission time t1 and the like of the communication radio wave CS1 and the time when the terminal 80 receives the communication radio wave CS1 and the like. As shown in FIG. 13G, the time at which the terminal 80 receives the communication radio wave CS1 or the like is assumed to be t0.
The position (X, Y, Z) of the terminal 80 shown in FIG. 13 (h) is an unknown number.

Based on the above, the equations (1) to (9) shown in FIGS. 13 (i) to 13 (k) will be described.
First, the distance between each base station 20A and the terminal 80 and the terminal 80 is equal to the propagation time of the communication radio wave CS1 and the like multiplied by the speed of the radio wave (light speed C). (3) holds.
Next, since the transmission time t1 includes the time difference ta1 from the GPS time, the equations (4) to (6) in FIG.
Further, the time difference td01 in FIG. 13F is based on the transmission time t1 in FIG. 13C, the propagation time tb01 in FIG. 13B, and the time t0 in FIG. Equations (7) to (9) of k) hold.
Here, since there are six unknowns indicating the position of the terminal 80, that is, X, Y, Z, propagation times tb01, tb02, and tb03, the equations (1), (2), (3), (7), ( All unknowns can be calculated by calculating 8) and 9) simultaneously.
The terminal control unit 400 stores the base station positioning position information 470 generated in this way in the terminal second storage unit 450.
Note that the terminal control unit 400 extracts corresponding information from the terminal-side time information 456 using each frame F1, etc., the frame number, the base station ID, and the time tag as search keys.

As illustrated in FIG. 12, the terminal 80 stores a hybrid positioning program 430 in the terminal first storage unit 410. The hybrid positioning program 430 is based on the base station position information 466b of the base station 20A, transmission time information 466c, transmission GPS time information 458, drift information 460, and reception GPS time information 468. The program for measuring the position of the terminal 80. That is, the hybrid positioning program 430 and the terminal control unit 400 are an example of composite positioning means.
Positioning performed by the terminal control unit 400 based on the hybrid positioning program 430 is performed by positioning one or two base stations 20A in the positioning method performed based on the above-described base station positioning program 428 described using FIG. This is performed in place of the satellite 12a.
Note that positioning performed by the terminal control unit 400 based on the hybrid positioning program 430 is referred to as hybrid positioning.
The terminal control unit 400 stores the hybrid positioning position information 472 generated by the hybrid positioning in the terminal second storage unit 450.

As illustrated in FIG. 12, the terminal 80 stores a positioning method selection program 432 in the terminal first storage unit 410. The positioning method selection program 432 is used for the terminal control unit 400 to select either satellite positioning, base station positioning, or hybrid positioning based on the number of GPS satellites 12a and the like indicated in the sky satellite number information 462. It is a program.
Specifically, the terminal controller 400 selects satellite positioning when the number of GPS satellites 12a and the like indicated in the sky satellite number information 462 is three or more. And the terminal control part 400 selects a hybrid positioning, when the number of the GPS satellites 12a etc. which are shown by the number information 462 of aerial satellites is one or two. Then, when the number of GPS satellites 12a and the like indicated in the sky satellite number information 462 is zero, the terminal control unit 400 selects base station positioning.

In general, the positioning accuracy based on the satellite radio wave S1 from the GPS satellite 12a or the like is higher than the positioning accuracy based on the communication radio wave CS1 or the like. One of the causes is that the base station 20A or the like has a small mediating device called a repeater. Since the repeater transmits the same communication radio wave CS1 and the like as the base station 20A and the like, the terminal 80 that has received the communication radio wave CS1 and the like received via the repeater is the distance (pseudo distance) between the base station 20A and the terminal 80. ) Is calculated longer than when the communication radio wave CS1 or the like is received as a direct wave from the base station 20A or the like, and as a result, the positioning error may increase. On the other hand, the GPS satellite 12a and the like do not have a problem due to the repeater, and therefore the positioning accuracy is not degraded by the repeater.
For example, in the case of satellite positioning, the positioning error is 0 meter (m) to 20 meters (m), whereas in the case of base station positioning, the positioning error is 5 meters (m) to 400 meters (m). ).
In this regard, the terminal 80 can perform positioning using only the signal S1 or the like, or using the signal S1 or the like and the communication radio wave CS1 or the like as long as the signal S1 or the like can be received from the GPS satellite 12a or the like.
For this reason, the terminal 80 can perform positioning with the highest positioning accuracy according to the number of GPS satellites 12a and the like that can be observed.
Satellite positioning also has the advantage that it is not necessary to communicate with the base station 20A or the like for positioning.
In contrast, in hybrid positioning or base station positioning, for example, in an environment where three or more GPS satellites 12a or the like cannot be observed, such as indoors, positioning can be performed using the communication radio wave CS1 that can be received indoors. There is an advantage.

  As illustrated in FIG. 12, the terminal 80 stores a positioning position information display program 434 in the terminal first storage unit 410. The positioning position information display program 434 causes the terminal control unit 400 to display any one of the satellite positioning position information 464, the base station positioning position information 470, or the hybrid positioning position information 472 on the display device 96 (see FIG. 5). It is a program.

The positioning system 10 is configured as described above.
As described above, the providing device 40 can generate time information 258 (see FIG. 8) for each frame F1 and the like transmitted from the base station 20A and the like, and can transmit the time information 258 to the broadcast station 60.
The broadcasting station 60 can broadcast the broadcasting station side time information 352.
The terminal 80 can receive the broadcast station side time information 352 (see FIG. 11) from the broadcast station 60, and can store it as the terminal side time information 456 (see FIG. 12).
The terminal 80 receives the communication radio wave CS1 from three or more base stations 20A and the like, and based on the terminal side base station information 466 and the terminal side time information 456 acquired from the communication radio wave CS1 etc., the communication radio wave CS1 It is possible to perform base station positioning using, for example.

As described above, the base station 20A or the like does not synchronize the transmission time with the GPS time, but only transmits the frame F1 including the transmission time information 154 (see FIG. 6) by the communication radio wave CS1 or the like. The configuration is simple and does not require significant system changes such as the base station 20A.
Thereby, it is possible to perform positioning using communication radio waves from the communication base station without requiring a significant system change of the communication base station.

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 with reference to FIG.
FIG. 14 is a schematic flowchart showing an operation example of the positioning system 10 according to the present embodiment.

The base station 20A and the like continuously transmit the communication radio wave CS1 and the like (step ST1 in FIG. 14).
Subsequently, the providing device 40 receives the communication radio wave CS1 and the like from the base station 20A and the like (step ST2).
Subsequently, the providing device 40 generates time information 258 (see FIG. 8) (step ST3).
Subsequently, the providing device 40 transmits time information 258 to the broadcast station 60 (step ST4).

Subsequently, the broadcasting station 60 receives time information 258 from the providing device 40 (step ST5). The broadcast station 60 stores the time information 258 as the broadcast station side time information 352 in the broadcast station second storage unit 350.
Subsequently, the broadcasting station 60 broadcasts the broadcasting station side time information 352 (step ST6).

On the other hand, the terminal 80 generates the terminal-side GPS time information 454 periodically, for example, every 3 minutes (step ST1A). This step ST1A is an example of a satellite time information generation step.
And at the time of positioning, the broadcast station side time information 352 is received from the broadcast station 60 (step ST8). This step ST8 is an example of a time information receiving step.

Subsequently, the terminal 80 determines the number of GPS satellites 12a and the like that are located above the terminal 80 and can be observed (step ST9).
When the terminal 80 determines that the number of observable GPS satellites 12a and the like is three or more, the terminal 80 performs satellite positioning (step ST101) and generates satellite positioning position information 464 (see FIG. 12). .
Then, terminal 80 displays satellite positioning position information 464 on display device 96 (see FIG. 5) (step ST102).

In step ST9, when the terminal 80 determines that the number of observable GPS satellites 12a or the like is one or two, hybrid positioning is performed (step ST201), and hybrid positioning position information 472 (FIG. 12).
Then, terminal 80 displays hybrid positioning position information 472 on display device 96 (see FIG. 5) (step ST202).

In step ST9, if the terminal 80 determines that the number of observable GPS satellites 12a and the like is zero, the terminal 80 performs base station positioning (step ST301), and base station positioning position information 470 (FIG. 12). Reference). In base station positioning, the terminal 80 receives communication radio waves CS1 and the like from the base station 20A and the like, generates reception GPS time information 468 (see FIG. 12), and base station position information of three or more base stations 20A and the like. Based on 466b, transmission time information 466c, transmission GPS time information 458, drift information 460, and reception GPS time information 468, the position of the terminal 80 is measured. That is, step ST301 is an example of a terminal-side communication radio wave reception step, a terminal-side reception time information generation step, and a terminal-side communication radio wave positioning step.
Then, terminal 80 displays base station positioning position information 470 on display device 96 (see FIG. 5) (step ST302).

As described above, according to the positioning system 10, it is possible to perform positioning using communication radio waves from the communication base station without requiring a significant system change of the communication base station.
Unlike the present embodiment, in step ST9 described above, hybrid positioning may be performed even if the number of GPS satellites 12a and the like is three or more. In hybrid positioning, both the satellite radio wave S1 from the GPS satellite 12a and the like and the communication radio wave CS1 from the base station 20A and the like can be used, and the number of radio waves that can be used for the positioning calculation increases. The positioning accuracy can be stably increased.

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

FIG. 15 is a schematic diagram illustrating a main software configuration of the terminal 80A according to the second embodiment.
As illustrated in FIG. 15, the terminal 80 </ b> A stores a time information reception program 416 </ b> A in the terminal first storage unit 410.
The terminal control unit 400 receives the broadcast station side time information 352 from the broadcast station 60 prior to satellite positioning, base station positioning, or hybrid positioning by the time information reception program 416A.

The terminal 80A can know the time difference between the time of the base station 20A and the GPS time from the transmission time information 466c and the transmission GPS time information 458, and this time difference varies greatly for a certain period, for example, 10 minutes. do not do. In addition, the drift h indicated by the drift information 460 does not vary greatly for a certain period, for example, 10 minutes.
For this reason, once the transmission time information 466c and the like are acquired, it can be used for positioning using the transmission frame F received from the base station 20A or the like thereafter for a certain period.
That is, since the terminal 80A is configured to receive the broadcast station side time information 352 prior to positioning, it is necessary to acquire the transmission time information 466c, the transmission GPS time information 458, and the drift information 460 at the time of positioning. Absent. As a result, the time required for positioning can be shortened.

(Third embodiment)
Next, a third embodiment will be described. Since the configuration of the positioning system 10B according to the third embodiment is similar to the configuration of the positioning system 10 according to the first embodiment described above, common portions are denoted by the same reference numerals, and the description thereof is omitted. The difference will be mainly described.

FIG. 16 is a schematic diagram illustrating a main software configuration of the terminal 80B according to the third embodiment.
As illustrated in FIG. 16, the terminal 80B stores a time information reception program 416B in the terminal first storage unit 410.
The terminal control unit 400 uses the time information reception program 416B to transmit the time information from the broadcast station 60 to the broadcast station side at intervals defined by the transmission time information 466c, the transmission GPS time information 458, and the valid period of the drift information 460. 352 is received.

As described above, the time difference between the time of the base station 20A and the GPS time from the transmission time information 466c and the transmission GPS time information 458 does not vary greatly for a certain period, for example, 10 minutes. In addition, the drift h indicated by the drift information 460 does not vary greatly for a certain period, for example, 10 minutes. That is, the time of 10 minutes is an effective period of the transmission time information 466c, the transmission GPS time information 458, and the drift information 460.
Therefore, once the transmission time information 466c and the like are acquired, the transmission time information 466c and the like can be used for positioning using the transmission frame F1 and the like received from the base station 20A and the like thereafter for a certain period. .
That is, since the terminal 80B is configured to receive the broadcast station side time information 352 at intervals of, for example, 10 minutes, the transmission time information 466c, the transmission GPS time information 458, and the drift information 460 are determined during positioning. No need to get. As a result, the time required for positioning can be shortened.

(About programs and computer-readable recording media)
A terminal device for causing a computer to execute a satellite time information generation step, a time information reception step, a terminal side communication radio wave reception step, a terminal side reception time information generation step, a communication radio wave positioning step, etc. It can be a control program.
Moreover, it can also be set as the computer-readable recording medium etc. which recorded the control program etc. of such a terminal device.

  A program storage medium used for installing the control program of the terminal device in the computer and making it executable by the computer is, for example, a floppy 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-rewriteable), 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 communication base station. It is the schematic which shows the main hardware constitutions of a time information provision apparatus. It is the schematic which shows the main hardware constitutions of a radio broadcasting station. It is the schematic which shows the main hardware constitutions of a terminal. It is the schematic which shows the main software structures of a base station. It is the schematic which shows the transmission frame F etc. It is the schematic which shows the main software structures of a time information provision apparatus. It is explanatory drawing of an example of the production | generation method of drift information. It is a figure which shows an example of time information. It is the schematic which shows the main software structures of a radio broadcasting station. It is the schematic which shows the main software structures of a terminal. It is explanatory drawing which shows an example of the base station positioning method. It is a schematic flowchart which shows the operation example of a positioning system. It is the schematic which shows the main software structures of a terminal. It is the schematic which shows the main software structures of a terminal.

Explanation of symbols

  10, 10A, 10B ... positioning system, 12a, 12b, 12c, 12d ... GPS satellite, 20A, 20B, 20C ... base station, 102 ... base station communication unit, 104 ... base station timing 112: Transmission frame generation program, 212 ... GPS time generation program, 214 ... Time correction program, 216 ... Base station communication radio wave reception program, 218 ... Time information generation program, 220 ..Transmission time information generation program, 222 ... Drift information generation program, 224 ... Time information transmission program, 312 ... Time information reception program, 314 ... Time information broadcast program, 412 ... Terminal side GPS time information generation program, 414... Terminal clock correction program, 416, 416A, 416B. Time information reception program, 418 ... Sky satellite number judgment program, 420 ... Satellite positioning program, 422 ... Communication radio wave reception program, 422a ... Base station information extraction program, 424 ... Reception time information generation Program, 428 ... Base station positioning program, 430 ... Hybrid positioning program, 432 ... Positioning method selection program, 434 ... Positioning position information display program

Claims (8)

A plurality of communication base stations located at fixed positions;
An information providing apparatus capable of communicating with the communication base station;
A broadcasting device capable of communicating with the information providing device;
A terminal device capable of receiving broadcast radio waves from the broadcast device;
An asynchronous positioning system between communication base stations having
The communication base station is
Frame transmission means for transmitting a frame including transmission time information indicating a transmission time by a communication radio wave;
The information providing apparatus includes:
Satellite time information generating means for generating satellite time information indicating the satellite time, which is the time of the positioning satellite, based on satellite radio waves from the positioning satellite;
Frame receiving means for receiving the frame from the communication base station;
Based on the satellite time at which the frame is received, base station position information indicating the fixed position of the communication base station, and information providing apparatus position information indicating the position of the information providing apparatus, the frame is transmitted from the communication base station. Transmission satellite time information generating means for generating transmission satellite time information indicating the transmitted satellite time;
Based on the fundamental frequency that is the basis of the transmission time measured by the communication base station, information indicating the relationship between the fundamental frequency and a reference frequency of the communication radio wave, and the reception frequency of the communication radio wave, the basic frequency Frequency shift information generating means for generating frequency shift information indicating the shift of
Time information transmitting means for transmitting time information including the transmission satellite time information and the frequency shift information to the broadcasting device;
Have
The broadcasting device is:
Time information receiving means for receiving the time information from the information providing device;
Time information broadcasting means for broadcasting the time information;
Have
The terminal device
Terminal-side satellite time information generating means for generating terminal-side satellite time information indicating the satellite time based on the satellite radio wave from the positioning satellite;
Terminal-side time information receiving means for receiving the time information from the broadcasting device;
Terminal side frame receiving means for receiving the frame from the communication base station;
Terminal-side received satellite time information generating means for generating terminal-side received satellite time information indicating the satellite time at which the frame was received;
Based on the base station position information, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal side reception satellite time information of three or more communication base stations, the position of the terminal device is determined. Communication radio wave positioning means,
An asynchronous positioning system between communication base stations, comprising: A terminal device capable of receiving a broadcast from a broadcasting device capable of communicating with the information providing device,
Terminal-side satellite time information generating means for generating terminal-side satellite time information indicating the satellite time, which is the time of the positioning satellite, based on satellite radio waves from the positioning satellite;
The satellite time at which the information providing apparatus receives the frame from the communication base station, base station position information indicating a fixed position of the communication base station capable of communicating with the broadcasting apparatus, and information indicating the position of the information providing apparatus Transmission satellite time information indicating the satellite time at which the frame is transmitted from the communication base station, generated based on the providing device position information, and a basis serving as a basis for the transmission time generated by the communication base station Information indicating the relationship between the frequency, the basic frequency and the reference frequency of the communication radio wave, and frequency shift information indicating the shift of the basic frequency generated based on the reception frequency of the communication radio wave. A terminal-side time information receiving means for receiving time information;
Terminal side frame receiving means for receiving the frame from the communication base station;
Terminal-side received satellite time information generating means for generating terminal-side received satellite time information indicating the satellite time at which the frame was received;
Based on the base station position information, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal side reception satellite time information of three or more communication base stations, the position of the terminal device is determined. Communication radio wave positioning means,
The terminal device characterized by having. Satellite radio wave positioning means for positioning the terminal device based on the satellite radio wave;
Based on the satellite radio wave, the base station position information of the communication base station, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal-side reception satellite time information, the position of the terminal device is measured. Combined positioning means,
The terminal device according to claim 2, comprising:   The terminal side time information reception is configured to receive the time information from the broadcasting device prior to positioning by the broadcast radio wave positioning means, the satellite radio wave positioning means, or the composite positioning means. The terminal device according to claim 3.   The terminal-side time information receiving means receives the time information from the broadcasting apparatus at intervals defined by the transmission time information and the transmission satellite time information and / or the effective period of the frequency shift information. The terminal device according to claim 3, wherein the terminal device is configured as described above. A terminal device capable of receiving a broadcast from a broadcasting device capable of communicating with the information providing device generates terminal-side satellite time information indicating a satellite time that is a time of the positioning satellite, based on satellite radio waves from the positioning satellite A satellite time information generation step;
Base station position information indicating the satellite time at which the information providing apparatus received the frame from the communication base station, and a fixed position of the communication base station capable of communicating with the broadcast apparatus, and the information providing apparatus The transmission satellite time information indicating the satellite time when the frame is transmitted from the communication base station, and the transmission time generated by the communication base station, generated based on the information providing device position information indicating the position of the communication base station A frequency deviation indicating a deviation of the fundamental frequency generated based on a fundamental frequency serving as a basis of the information, information indicating a relationship between the fundamental frequency and a reference frequency of the communication radio wave, and a reception frequency of the communication radio wave A terminal-side time information receiving step for receiving time information including information,
A terminal-side frame receiving step in which the terminal device receives the frame from the communication base station;
A terminal-side receiving satellite time information generating step for generating terminal-side receiving satellite time information indicating the satellite time at which the terminal device received the frame;
The terminal device is based on the base station position information, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal side reception satellite time information of three or more communication base stations. A communication radio wave positioning step for positioning the position of the device;
A control method for a terminal device, comprising: On the computer,
A terminal device capable of receiving a broadcast from a broadcasting device capable of communicating with the information providing device generates terminal-side satellite time information indicating a satellite time that is a time of the positioning satellite, based on satellite radio waves from the positioning satellite A satellite time information generation step;
Base station position information indicating the satellite time at which the information providing apparatus received the frame from the communication base station, and a fixed position of the communication base station capable of communicating with the broadcast apparatus, and the information providing apparatus The transmission satellite time information indicating the satellite time when the frame is transmitted from the communication base station, and the transmission time generated by the communication base station, generated based on the information providing device position information indicating the position of the communication base station A frequency deviation indicating a deviation of the fundamental frequency generated based on a fundamental frequency serving as a basis of the information, information indicating a relationship between the fundamental frequency and a reference frequency of the communication radio wave, and a reception frequency of the communication radio wave A terminal-side time information receiving step for receiving time information including information,
A terminal-side frame receiving step in which the terminal device receives the frame from the communication base station;
A terminal-side receiving satellite time information generating step for generating terminal-side receiving satellite time information indicating the satellite time at which the terminal device received the frame;
The terminal device is based on the base station position information, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal side reception satellite time information of three or more communication base stations. A communication radio wave positioning step for positioning the position of the device;
A control program for a terminal device, characterized in that On the computer,
A terminal device capable of receiving a broadcast from a broadcasting device capable of communicating with the information providing device generates terminal-side satellite time information indicating a satellite time that is a time of the positioning satellite, based on satellite radio waves from the positioning satellite A satellite time information generation step;
Base station position information indicating the satellite time at which the information providing apparatus received the frame from the communication base station, and a fixed position of the communication base station capable of communicating with the broadcast apparatus, and the information providing apparatus The transmission satellite time information indicating the satellite time when the frame is transmitted from the communication base station, and the transmission time generated by the communication base station, generated based on the information providing device position information indicating the position of the communication base station A frequency deviation indicating a deviation of the fundamental frequency generated based on a fundamental frequency serving as a basis of the information, information indicating a relationship between the fundamental frequency and a reference frequency of the communication radio wave, and a reception frequency of the communication radio wave A terminal-side time information receiving step for receiving time information including information,
A terminal-side frame receiving step in which the terminal device receives the frame from the communication base station;
A terminal-side receiving satellite time information generating step for generating terminal-side receiving satellite time information indicating the satellite time at which the terminal device received the frame;
The terminal device is based on the base station position information, the transmission time information, the transmission satellite time information, the frequency shift information, and the terminal side reception satellite time information of three or more communication base stations. A communication radio wave positioning step for positioning the position of the device;
A computer-readable recording medium storing a control program for a terminal device.

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