JP2006300707A - Positioning system, terminal, terminal control method, terminal control program, and computer-readable storage medium storing terminal control program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning system in an asynchronous communications net or the like which can perform positioning using a communications signal from a relay station. <P>SOLUTION: The relay station 30 comprises a relay-station position information generation means for generating relay-station position information indicating the position of the relay station 30 and a timing-signal difference information generation means for generating timing-signal difference information indicating the difference between a transmission timing signal included in a communications signal CS2 transmitted by the relay station 30 and a standard timing signal. The terminal 60 comprises a terminal-side relay-station information acquisition means for acquiring relay-station information including the relay-station position information and the timing-signal difference information from the relay station 30, a communications-signal receiving means for receiving the communications signal CS2 from the relay station 30, a reception-time information generation means for generating reception-time information indicating a time at which the communications signal has been received, and a communications-signal positioning means for positioning the terminal on the basis of the relay-station position information, the timing-signal difference information, transmission-time information, and the reception-time information. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

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

Conventionally, for example, in a so-called digital mobile communication system based on CDMA (Code Division Multiple Access), reception between a plurality of communication base stations and mobile radio terminal apparatuses on the premise of ensuring time synchronization between a plurality of base stations. A method for measuring the position of a mobile radio terminal apparatus based on a difference in arrival times of signals is known (for example, Japanese Patent Laid-Open No. 7-181242).
Furthermore, in order to expand the coverage of communication base stations, communication base stations are not installed in depopulated areas where direct waves from the base communication base station cannot be received. In some cases, a relay station (also called a repeater) is installed that re-radiates after receiving a signal once.
In contrast, a technique has been proposed in which a position is determined using a relay station by identifying a communication signal from a communication base station and a communication signal of the relay station (for example, Patent Document 1).
JP 2003-35762 A (FIG. 11 etc.)

  However, the technology for positioning using the relay station by identifying the communication signal from the communication base station and the communication signal of the relay station is the relay between the communication base stations and the communication base station which is the parent station. It is assumed that the time is synchronized between stations. For this reason, for example, the burden of the cost for constructing and maintaining a system for synchronizing communication base stations and relay stations arranged in a wide range such as all over Japan is large.

  Therefore, the present invention provides a position positioning system, a terminal device, a terminal device control method, a terminal device control program, and a terminal device in an asynchronous communication network capable of positioning using a communication signal from a relay station. An object of the present invention is to provide a computer-readable recording medium on which the control program is recorded.

  The object is according to the first invention, a communication base station, a relay station that receives a communication signal from the communication base station, transmits the communication signal, and a terminal that receives the communication signal from the relay station And a relay station position that generates relay station position information indicating the position of the relay station based on a satellite signal that is a signal from a positioning satellite. An information generating means; a satellite time information generating means for generating satellite time information indicating a satellite time which is a time of the positioning satellite based on the satellite signal; a reference timing of the relay station based on the satellite time information; Reference timing signal correction means for correcting a signal, and timing signal difference information indicating a difference between a transmission timing signal included in the communication signal transmitted by the relay station and the reference timing signal. Timing signal difference information generating means for generating, and communication signal generating means with transmission time information for putting transmission time information indicating a transmission time on the communication signal transmitted by the relay station, and the terminal device includes the satellite Based on the signal, terminal side satellite time information generating means for generating terminal side satellite time information indicating the satellite time, and relay station information including the relay station position information and the timing signal difference information are acquired from the relay station. Terminal side relay station information acquisition means, communication signal reception means for receiving the communication signal from the relay station, reception time information generation means for generating reception time information indicating the time when the communication signal was received, Communication signal positioning means for positioning the terminal device based on relay station position information, the timing signal difference information, the transmission time information, and the reception time information; Based on the satellite signal, satellite signal positioning means for positioning the terminal device, and based on the satellite signal, the relay station position information, the timing signal difference information, the transmission time information, and the reception time information, Based on the composite positioning means for positioning the terminal device, the number of sky satellites for determining the number of sky satellites that are the positioning satellites located above the terminal device, and the number of sky satellites, This is achieved by an asynchronous position positioning system comprising satellite signal positioning means, communication signal positioning means, or positioning means selection means for selecting any of the composite positioning means.

According to the configuration of the first invention, the relay station can generate the relay station position information by the relay station position information generation means. The relay station can generate the satellite time information by the satellite time information generation means. For example, the current position can be measured based on a plurality of the satellite signals, and as a result, the accurate satellite time can be acquired together with the positioning position information.
And the said relay station can correct | amend the said reference timing signal based on the said satellite time information by the said reference timing signal correction | amendment means.
The relay station can generate timing signal difference information by the timing signal difference information generating means.
Furthermore, the relay station can place transmission time information indicating a transmission time on the communication signal transmitted by the relay station by the communication signal generating means with transmission time information.
That is, since the relay station does not synchronize the transmission time with the satellite time, but only generates the timing signal difference information, the configuration is simple, and the system change of the relay station is significant. Do not need. Further, since the relay station generates the timing signal difference information, it is not necessary to change the system of the communication base station with respect to the generation of the timing signal difference information.
In addition, there is an internal delay in the communication base station from when the communication signal is generated in the communication base station until it is transmitted from the communication base station, and a transmission delay from the communication base station to the relay station. Even if there is, since the relay station generates the timing signal difference information for the communication signal transmitted by the relay station itself, it is not affected by the internal delay or transmission delay described above. In other words, the relay station generates the timing signal difference information for the communication signal transmitted by the relay station itself, thereby eliminating the influence of the internal delay and the transmission delay, and transmitting the communication transmitted by the relay station. Accurate timing signal difference information about the signal can be generated.

And the said terminal device can acquire the said relay station information from the said relay station by the said terminal side relay station information acquisition means.
Then, the terminal device can receive the communication signal from the relay station by the communication signal receiving means, and generate reception time information indicating the time when the communication signal is received by the reception time information generating means. can do. Here, since the terminal device can generate the satellite time information by the terminal side satellite time information generating means, the time indicated in the reception time information is set to a state that is not different from the satellite time. Can do.
And, when the terminal device can receive the relay station information from three or more relay stations and can receive the communication signal from the three or more relay stations, Since the propagation time until the communication signal reaches the terminal device from the relay station can be accurately calculated, the position of the position can be measured by the communication signal positioning means.
Thereby, the terminal device can measure the position using the communication signal from the relay station.

However, when the communication signal can be received only from 0 to 2 relay stations, positioning by the communication signal positioning means cannot be performed.
In this regard, since the terminal device has the composite positioning means, when the communication signal can be received only from one or two relay stations, the terminal device is based on the communication signal and the satellite signal. , Can measure the position.
Thereby, even if the terminal apparatus can receive the communication signal only from one or two of the relay stations, it uses the communication signal and the satellite signal from the relay station. The position can be measured.
Further, since the terminal device has the satellite positioning means, when it cannot receive even one communication signal from the relay station, it measures the position based only on the plurality of satellite signals. be able to.

  According to the second invention, the object is a terminal device that receives a communication signal from a communication base station and can communicate with a relay station that transmits the communication signal, and is a satellite signal that is a signal from a positioning satellite. Based on the terminal side satellite time information generating means for generating terminal side satellite time information indicating the satellite time, and relay station position information acquisition for acquiring relay station position information indicating the position of the relay station from the relay station A timing signal difference indicating timing signal difference information indicating a difference between a transmission timing signal included in the communication signal transmitted by the relay station and a reference timing signal corrected by a satellite time that is a time of the positioning satellite Based on the satellite signal, information acquisition means, sky satellite number determination means for determining the number of sky satellites that are the positioning satellites located above the terminal device, and the terminal device Satellite signal positioning means for positioning the position, communication signal receiving means for receiving the communication signal from the relay station, reception time information generating means for generating reception time information indicating the time when the communication signal was received, Based on the relay station position information, the timing signal difference information, the transmission time information and the reception time information, communication signal positioning means for positioning the position of the terminal device, the satellite signal, the relay station position information, the Based on the timing signal difference information, the transmission time information and the reception time information, composite positioning means for positioning the position of the terminal device, and based on the number of the above-mentioned satellites, the satellite signal positioning means, the communication signal positioning Or a positioning means selecting means for selecting any one of the combined positioning means. This is achieved by a terminal device.

  According to the configuration of the second invention, similarly to the configuration of the first invention, the position can be measured using the communication signal from the relay station.

  According to a third aspect, in the configuration of the second aspect, the positioning means selection means selects the satellite signal positioning means when the number of the sky satellites is three or more, and the number of the sky satellites is The terminal is configured to select the composite positioning means when the number is one or two, and to select the communication signal positioning means when the number of the sky satellites is zero. Device.

In general, the positioning accuracy based on the satellite signal is higher than the positioning accuracy based on the communication signal.
In this regard, the positioning means selection means of the terminal device selects the satellite signal positioning means when the number of the above-mentioned satellites is three or more, and the number of the above-mentioned satellites is one or two. In this case, the composite positioning means is selected, and when the number of the above-mentioned satellites is 0, the communication signal positioning means is selected, so that the satellite signal is received from the positioning satellite. As far as possible, positioning can be performed based only on the satellite signal or based on both the satellite signal and the communication signal.
For this reason, the terminal device can measure the position using the positioning means with the highest positioning accuracy according to the number of the sky satellites.

  According to the fourth aspect of the present invention, the terminal device capable of communicating with a relay station that receives a communication signal from a communication base station and transmits the communication signal to the terminal device is a signal from a positioning satellite. A terminal-side satellite time information generation step for generating terminal-side satellite time information indicating the satellite time based on a satellite signal; and the terminal device receives relay station position information indicating the position of the relay station from the relay station. The difference between the relay station position information acquisition step to be acquired, the transmission timing signal included in the communication signal transmitted by the relay station by the terminal device, and the reference timing signal corrected by the satellite time that is the time of the positioning satellite A timing signal difference information acquisition step for acquiring timing signal difference information indicating the position of the sky satellite that is the positioning satellite positioned above the terminal device; Determining the number of above-mentioned satellites, satellite signal positioning means for positioning the terminal device based on the satellite signal, the satellite signal, the relay station position information, and the timing signal difference Information, the transmission time information and the reception time information based on the composite positioning means for positioning the terminal device, and the relay station position information, the timing signal difference information, the transmission time information and the reception time information Communication signal positioning means for measuring the position of the terminal device based on the number of the satellites, and selecting one of the satellite signal positioning means, the composite positioning means, or the communication signal positioning means based on the number of the above-mentioned satellites. And a positioning means selection step. This is achieved by a method for controlling a terminal device.

  According to the configuration of the fourth invention, as in the configuration of the second invention, the position can be measured using the communication signal from the relay station.

  According to a fifth aspect of the present invention, there is provided a terminal device capable of communicating with a relay station that receives a communication signal from a communication base station and transmits the communication signal to the terminal device from a positioning satellite. A terminal-side satellite time information generating step for generating terminal-side satellite time information indicating the satellite time based on a satellite signal as a signal, and a relay station in which the terminal device indicates the position of the relay station from the relay station A relay station position information acquisition step for acquiring position information, a transmission timing signal included in the communication signal transmitted from the relay station by the terminal device, and a reference timing corrected by a satellite time that is a time of the positioning satellite A timing signal difference information acquisition step for acquiring timing signal difference information indicating a signal difference; and the positioning satellite in which the terminal device is located above the terminal device. An aerial satellite number determining step for determining the number of aerial satellites; satellite signal positioning means for determining the position of the terminal device based on the satellite signal; and the satellite signal and the relay station position information. Composite positioning means for measuring the position of the terminal device based on the timing signal difference information, the transmission time information and the reception time information, and the relay station position information, the timing signal difference information, the transmission time information, and Communication signal positioning means for positioning the position of the terminal device based on the reception time information, and based on the number of the sky satellites, the satellite signal positioning means, the composite positioning means, or the communication signal positioning means. It is achieved by a control program for a terminal device, characterized in that a positioning means selecting step for selecting one of them is executed.

  According to the sixth aspect of the present invention, a terminal device capable of communicating with a relay station that receives a communication signal from a communication base station and transmits the communication signal to the terminal device is received from a positioning satellite. A terminal-side satellite time information generating step for generating terminal-side satellite time information indicating the satellite time based on a satellite signal as a signal, and a relay station in which the terminal device indicates the position of the relay station from the relay station A relay station position information acquisition step for acquiring position information, a transmission timing signal included in the communication signal transmitted from the relay station by the terminal device, and a reference timing corrected by a satellite time that is a time of the positioning satellite A timing signal difference information acquisition step for acquiring timing signal difference information indicating a signal difference; and the positioning satellite in which the terminal device is located above the terminal device. An aerial satellite number determining step for determining the number of aerial satellites; satellite signal positioning means for determining the position of the terminal device based on the satellite signal; and the satellite signal and the relay station position information. Composite positioning means for measuring the position of the terminal device based on the timing signal difference information, the transmission time information and the reception time information, and the relay station position information, the timing signal difference information, the transmission time information, and Communication signal positioning means for positioning the position of the terminal device based on the reception time information, and based on the number of the sky satellites, the satellite signal positioning means, the composite positioning means, or the communication signal positioning means. A computer-readable recording of a control program for a terminal device, characterized in that: It is achieved by the ability of the recording medium.

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 position positioning system 10 according to a first embodiment of the present invention.
As shown in FIG. 1, the position positioning system 10 has a parent base station 20. The parent base station 20 is an example of a communication base station.

The positioning system 10 also receives the communication signal CS1 from the parent base station 20, and puts the information indicating the transmission time from the relay station 30 on the communication signal CS1 and transmits the relay station 30 as the communication signal CS2. Have. The relay station 30 is an example of a relay station.
The positioning system 10 also includes a terminal 60 that receives the communication signal CS2 from the relay station 30. The terminal 60 is an example of a terminal device.
The positioning system 10 also includes a management server 80 (hereinafter referred to as a server 80) that can communicate with the parent base station 20 via a dedicated network 75, for example, which is a communication network.

  The terminal 60 has a structure capable of receiving the communication signal CS1 from the parent base station 20, but since the mountain 15 exists, the terminal 60 cannot directly receive the communication signal CS1 from the parent base station 20. However, the terminal 60 can receive the communication signal CS2 from the relay station 30 located near the top of the mountain 15. Therefore, the terminal 60 can communicate with other terminals (not shown) or the like via the relay station 30, the parent base station 20, and the dedicated line network 75. The communication between the parent base station 20 and the relay station 30 may be wired (for example, a wired system using an optical fiber cable or a coaxial cable) or may be wireless (for example, a wireless system using a microwave). .

A plurality of parent base stations 20 and relay stations 30 exist. When distinguishing a plurality of relay stations 30, they are described as relay stations 30A, 30B, and 30C. Then, relay stations 30A, 30B, and 30C receive communication signal CS1 from parent base station 20, and transmit as communication signals CS2A, CS2B, and CS3C, respectively.
And time synchronization is not taken between the plurality of parent base stations 20. In addition, time synchronization is not achieved between a plurality of relay stations 30. Further, time synchronization is not established between the parent base station 20 and the relay station 30. That is, the position positioning system 10 is a time asynchronous communication system.

  The relay station 30 and the terminal 60 can receive signals S1, S2, S3, and S4 from GPS satellites 12a, 12b, 12c, and 12d that are positioning satellites, for example. The signal S1 and the like are examples of satellite signals.

The terminal 60 is, for example, a mobile phone, a PHS (Personal Handy-phone System), a PDA (Personal Digital Assistance _), or the like, but is not limited thereto.

  Unlike the present embodiment, the number of GPS satellites 12a may be three, or five or more.

(Main hardware configuration of relay station 30)
FIG. 2 is a schematic diagram showing the main hardware configuration of the relay station 30.
As shown in FIG. 2, the relay station 30 has a computer, and the computer has a bus 32.
A CPU (Central Processing Unit) 34, a storage device 36, and the like are connected to the bus 32. The storage device 36 is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), or the like.

Also connected to the bus 32 are an input device 38 for inputting various information and the like, and a relay station communication device 40 for receiving the communication signal CS1 from the parent base station 20 and transmitting the communication signal CS2. .
Also connected to the bus 32 are a relay station display device 42 for displaying various information, a relay station GPS device 44 for receiving a signal S1 and the like from the GPS satellite 12a, and a relay station clock 46. . The relay station clock 46 is not synchronized with the clock (not shown) of the parent base station 20, is not synchronized with the relay station clock 46 of the other relay station 30, and further, the time of the GPS satellite 12a and the like ( Hereinafter, it is not synchronized with GPS time).

Further, a relay station second clock 48 is connected to the bus 32. As will be described later, the time measured by the relay station second clock 48 can be maintained in a state that is not different from the GPS time.
Further, the relay station second communication device 50 is connected to the bus 32. As will be described later, the base station second communication device 50 is configured to transmit the relay station position information 154 and the time difference information 160 (see FIG. 5).

(Main hardware configuration of terminal 60)
FIG. 3 is a schematic diagram illustrating a main hardware configuration of the terminal 60.
As illustrated in FIG. 3, the terminal 60 includes a computer, and the computer includes a bus 62.
A CPU 64, a storage device 66, an input device 68, a terminal communication device 70, a terminal display device 72, a terminal GPS device 74, and a terminal clock 76 are connected to the bus 62. As will be described later, the time measured by the terminal clock 76 can be maintained in a state that is not different from the GPS time.

(Main hardware configuration of the management server 80)
FIG. 4 is a schematic diagram showing the main hardware configuration of the server 80.
As shown in FIG. 4, the server 80 has a computer, and the computer has a bus 82.
A CPU 84, a storage device 86, an external storage device 88, an input device 90, a server communication device 92, and a server display device 94 are connected to the bus 82. The external storage device 88 is, for example, an HD (Hard Disk).

(Main software configuration of relay station 30)
FIG. 5 is a schematic diagram illustrating a main software configuration of the relay station 30.
As shown in FIG. 5, the relay station 30 includes a relay station control unit 100 that controls each unit, a relay station GPS unit 102 that corresponds to the relay station GPS device 44 in FIG. 2, and relay station communication that corresponds to the relay station communication device 40. Part 104 and the like.
The relay station 30 also corresponds to the relay station timing unit 106 corresponding to the relay station clock 46 of FIG. 2, the relay station second timing unit 108 corresponding to the relay station second clock 48, and the relay station second communication device 50. The relay station second communication unit 110 and the like are included.
The relay station 30 further includes a relay station first storage unit 120 that stores various programs and a relay station second storage unit 150 that stores various types of information.

As shown in FIG. 5, the relay station 30 stores satellite orbit information 152 in the relay station second storage unit 150. The satellite orbit information 152 includes, for example, almanac that is general orbit information of all GPS satellites 12a and the like and ephemeris that is precise orbit information of each GPS satellite 12a and the like. The satellite orbit information 152 is used for positioning based on the signal S1 from the GPS satellite 12a and the like.
The relay station control unit 100 periodically receives the signal S1 and the like from the GPS satellite 12a by the relay station GPS unit 102, and extracts the almanac and ephemeris from the signal S1 and the like. Almanac is updated every 7 days, for example, and ephemeris is updated every 4 hours, for example.

As illustrated in FIG. 5, the relay station 30 stores a relay station position information generation program 122 in the relay station first storage unit 120. The relay station position information generation program 122 is a program for the relay station control unit 100 to generate relay station position information 154 indicating the position of the relay station 30 based on the signal S1 and the like.
Specifically, the relay station control unit 100 refers to the almanac included in the satellite orbit information 152, and identifies the GPS satellites 12a and the like that can be observed at the current time measured by the relay station clock unit 106. Then, the relay station control unit 100 receives, for example, signals S1 and the like from three or more GPS satellites 12a by the relay station GPS unit 102, and relays the time when the signals S1 and the like are transmitted from each GPS satellite 12a and the like. A pseudo distance that is a distance between each GPS satellite 12a and the like and the relay station 30 is obtained based on a delay time that is a difference from the time when the station 30 is reached. Then, using the ephemeris included in the satellite orbit information 152 and the pseudo distance described above, the positioning calculation of the current position is performed.
The relay station position information 154 is an example of relay station position information, and is information indicating the position of the relay station 30 by, for example, latitude, longitude, and altitude.
The relay station control unit 100 stores the generated relay station position information 154 in the relay station second storage unit 150.

The relay station 30 generates the transmission time information 156 indicating the transmission time of the communication signal CS2 by the relay station timer 106. The relay station control unit 100 stores the transmission time information 156 in the relay station second storage unit 150.
As illustrated in FIG. 5, the relay station 30 stores a transmission frame generation program 124 in the relay station first storage unit 120. The transmission frame generation program 124 is a program for the relay station control unit 100 to place the transmission time information 156 on the signal CS2. That is, the transmission frame generation program 124 and the relay station control unit 100 are examples of communication signal generation means with transmission time information.

FIG. 6 is a schematic diagram illustrating an example of a transmission frame FR transmitted by the relay station communication unit 104. Here, the transmission frame FR is synonymous with the communication signal CS2.
As shown in FIG. 6, the transmission frame FR is composed of, for example, subframes SF1 to SF7, and each subframe SF1 etc. includes information indicating transmission times t1 to t7 of each subframe SF1 etc. ing. The transmission time t1 and the like are measured by the relay station timer 106.
The relay station 30 continuously transmits the signal CS2 including the timing signal TS1 by the relay station communication unit 104. The timing signal TS1 is generated by the relay station timer 106.

As illustrated in FIG. 5, the relay station 30 stores a GPS time generation program 126 in the relay station first storage unit 120. The GPS time generation program 126 is a program for the relay station control unit 100 to generate GPS time information 158 indicating the GPS time based on the signal S1 from the GPS satellite 12a or the like (see FIG. 1). That is, the GPS time generation program 126 and the relay station control unit 100 are examples of satellite time information generation means.
The relay station control unit 100 uses the satellite orbit information 152 to perform positioning of the current position and generate accurate GPS time information 158 based on a plurality of signals S1 and the like received by the relay station GPS unit 102. And stored in the relay station second storage unit 150.

  Unlike the present embodiment, the relay station 30 may not perform position positioning, and may generate the GPS time information 158 based on the signal S1 from one GPS satellite 12a, for example. If the coordinates of the position of the relay station 30 are clear, the GPS time can be acquired based on the signal S1 from one GPS satellite 12a.

As shown in FIG. 5, the relay station 30 stores a relay station second clock correction program 128 in the relay station first storage unit 120. The relay station second clock correction program 128 allows the relay station control unit 100 to maintain the time of the relay station second clock unit 108 in a state that is not different from the GPS time based on the GPS time information 158 described above. It is a program.
Thereby, the relay station 30 maintains the time of the relay station second time measuring unit 108 in a state in which there is no difference from the GPS time. The relay station second timer 108 generates a reference timing signal for the relay station 30. Therefore, the relay station second clock correction program 128 is determined by the relay station controller 100.
It can be said that the program corrects the reference timing signal of the relay station 30 so that there is no difference from the GPS time. That is, the relay station second clock correction program 128 and the relay station control unit 100 are examples of reference timing signal correction means.

As illustrated in FIG. 5, the relay station 30 stores a time difference information generation program 130 in the relay station first storage unit 120. The time difference information generation program 130 causes the relay station control unit 100 to generate time difference information 160 indicating the time difference between the transmission time indicated by the transmission time information 156 and the time difference between the relay station second time counting unit 108 at the transmission time of the communication signal CS2. It is a program.
Specifically, as illustrated in FIG. 6, the relay station control unit 100 determines the time difference between the time t1 when the transmission frame FR generated by the relay station communication unit 104 is received and the time t1a of the relay station second time counting unit 108. Time difference information 160 indicating dt is generated. Specifically, the time difference dt is measured based on the timing difference between the timing signal TS1 generated by the relay station timing unit 106 and the timing signal TS2 generated by the relay station second timing unit 108. Here, since the propagation delay time of the transmission frame FR in the relay station 30 is extremely short, it is regarded as not present.
As described above, since the time of the relay station second timer 108 is maintained in a state where there is no difference from the GPS time, the time difference information 160 indicates the time difference between the transmission time t1 and the GPS time.
The relay station control unit 100 stores the generated time difference information 160 in the relay station second storage unit 150.
The time difference information 160 is an example of timing signal difference information. The time difference information generation program 130 and the relay station control unit 100 are an example of timing signal difference information generation means.

As illustrated in FIG. 5, the relay station 30 stores a relay station information transmission program 132 in the relay station first storage unit 120. The relay station information transmission program 132 is a program for the relay station control unit 100 to transmit the relay station position information 154 and the time difference information 160 to the parent base station 20 by the relay station second communication unit 110.
Specifically, when relay station position information 154 and time difference information 160 are generated, relay station control unit 100 places the signal radio wave in a system different from communication signal CS2 described above and transmits it to parent base station 20. The parent base station 20 transmits the received relay station position information 154 and time difference information 160 to the server 80. Then, the server 80 holds the relay station position information 154 and the time difference information 160.
When the relay station control unit 100 transmits the relay station position information 154 and the time difference information 160 to the parent base station 20, the relay station control unit 100 deletes the relay station position information 154 and the time difference information 160 from the relay station second storage unit 150. That is, the relay station 30 holds the relay station position information 154 and the time difference information 160 immediately after the generation of the relay station position information 154 and the time difference information 160, but the relay station position information 154 and the time difference information 160 are stored in the parent base station. After transmitting to 20, the relay station position information 154 and the time difference information 160 are not held. Thereby, the burden of the storage capacity of the relay station second storage unit 150 is reduced.

As illustrated in FIG. 5, the relay station 30 stores a relay station information request program 134 in the relay station first storage unit 120. The relay station information request program 134 requests the server side relay station information 354 (see FIG. 7) from the server 80 via the parent base station 20 and the dedicated line network 75 in response to a request from the terminal 60. It is a program for.
Specifically, the relay station control unit 100 requests information for requesting server-side relay station information 354 (see FIG. 7) together with information for identifying the relay station 30 based on the relay station information request program 134. Send.

  As described above, the relay station 30 does not synchronize the transmission time measured by the relay station timing unit 106 with the GPS time, but generates the time difference information 160 so that the signal is different from the communication signal CS2. Since it is carried and transmitted to the parent base station 20, its configuration is simple and does not require a significant system change of a general relay station of an asynchronous system.

(Main software configuration of management server 80)
FIG. 7 is a schematic diagram showing a main software configuration of the server 80.
As illustrated in FIG. 7, the server 80 includes a server control unit 300 that controls each unit, a server communication unit 302 corresponding to the server communication device 92 in FIG. 4, and the like.
The server 80 further includes a server first storage unit 310 that stores various programs and a server second storage unit 350 that stores various types of information.

The server 80 receives the relay station position information 154 and the time difference information 160 from the relay station 30 via the leased line network 75 and the parent base station 20 by the server communication unit 302.
The server control unit 300 stores the received relay station position information 154 and time difference information 160 as server side relay station information 354 in the relay station information database 352 of the server second storage unit 350. The server side relay station information 354 includes server side relay station position information 356 corresponding to the relay station position information 154 and server side time difference information 358 corresponding to the time difference information 160.
The relay station information database 352 stores server side relay station information 354 such as a plurality of relay stations 30A.
Unlike the present embodiment, the parent base station 20 generates information indicating the position of the parent base station 20 and time difference information indicating the difference between the reference timing of the parent base station 20 and the timing signal based on the GPS time. If so, the relay station information database 352 also stores information about the parent base station 20.

As illustrated in FIG. 7, the server 80 stores a relay station identification program 312 in the server first storage unit 310. The relay station identification program 312 is a program for the server control unit 300 to identify, for example, the relay station 30A with which the terminal 60 is communicating.
For example, when the terminal 60 is communicating with the relay station 30A, the server control unit 300 communicates with the terminal 60 based on information for identifying the relay station 30A included in the request from the relay station 30A. An intermediate relay station 30A is specified.

  As illustrated in FIG. 7, the server 80 stores a relay station information transmission program 314 in the server first storage unit 310. In the relay station information transmission program 314, the server control unit 300 acquires, from the relay station information database 352, server side relay station information 354 corresponding to, for example, the relay station 30 A with which the terminal 60 is communicating, and the dedicated line network 75. This is a program for transmitting to the terminal 60 via the parent base station 20 and the relay station 30A.

(Main software configuration of terminal 60)
FIG. 8 is a schematic diagram showing a main software configuration of the terminal 60.
As shown in FIG. 8, the terminal 60 includes a terminal control unit 200 that controls each unit, a terminal GPS unit 202 corresponding to the terminal GPS device 74 in FIG. 3, a terminal communication unit 204 corresponding to the terminal communication device 70 in FIG. 3 has a terminal timer unit 206 corresponding to the terminal clock 76 of FIG.
The terminal 60 also includes a terminal first storage unit 210 that stores various programs and a terminal second storage unit 250 that stores various information.

As illustrated in FIG. 8, the terminal 60 stores terminal-side satellite orbit information 252 in the terminal second storage unit 250. The terminal-side satellite orbit information 252 is information including, for example, almanac and ephemeris.
The terminal control unit 200 periodically receives the signal S1 and the like from the GPS satellite 12a by the terminal GPS unit 202, and extracts the almanac from the signal S1 and the like every 7 days, for example, and the ephemeris every 4 hours, for example. It is designed to keep it valid.
Unlike the present embodiment, terminal control unit 200 may acquire satellite orbit information 152 (see FIG. 5) including almanac and ephemeris from relay station 30 by terminal communication unit 204. Thereby, compared with the case where terminal 60 itself acquires almanac and ephemeris from GPS satellite 12a etc., almanac and ephemeris can be acquired in a short time.

  As illustrated in FIG. 8, the terminal 60 stores a terminal-side GPS time information generation program 212 in the terminal first storage unit 210. The terminal-side GPS time information generation program 212 is a program for the terminal control unit 200 to generate terminal-side GPS time information 254 indicating the GPS time based on a signal S1 or the like (see FIG. 1) from the GPS satellite 12a or the like. It is. The terminal-side GPS time information 254 is an example of terminal-side satellite time information, and the terminal-side GPS time information generation program 212 and the terminal control unit 200 are examples of terminal-side satellite time information generation means.

As illustrated in FIG. 8, the terminal 60 stores a terminal clock correction program 214 in the terminal first storage unit 210. The terminal clock correction program 214 is a program for the terminal control unit 200 to correct the time of the terminal clock unit 206 based on the terminal-side GPS time information 254.
Thereby, the terminal 60 can make the time of the terminal time measuring unit 206 not different from the GPS time.

As illustrated in FIG. 8, the terminal 60 stores a relay station information acquisition program 216 in the terminal first storage unit 210. The relay station information acquisition program 216 is a program for the terminal control unit 200 to acquire the relay station information 162 (see FIG. 5) from the relay station 30. That is, the relay station information acquisition program 216 and the terminal control unit 200 are examples of relay station information acquisition means.
The terminal control unit 200 acquires the relay station information 162 of the relay station 30A from, for example, the relay station 30A that is communicating at the time of positioning. Then, the terminal 60 can determine the position using the acquired relay station information 162. The position positioning method will be described later.

The terminal control unit 200 stores the acquired relay station information 162 as terminal-side relay station information 255 in the terminal second storage unit 250. The terminal side relay station information 255 includes terminal side relay station position information 256 and terminal side relay station time difference information 258.
In addition, the terminal control unit 200 acquires the relay station information 162 based on the relay station information acquisition program 216, for example, when the terminal leaves the communication area of the relay station 30A and enters the communication area of the relay station 30B. It has become.

Furthermore, the terminal control unit 200 receives the relay station information 162 from the relay station 30 periodically, for example, every 30 minutes based on the relay station information acquisition program 216. In general, for example, a crystal oscillator that generates a reference frequency for measuring time changes in frequency due to a temperature change. Therefore, the time difference indicated in the relay station time difference information 162b also changes in accordance with the temperature change. Since the server 80 continuously receives the relay station information 162 (see FIG. 5) including the time difference information 162b from the relay station 30, server-side time difference information 358 (see FIG. 7) reflecting changes due to temperature changes. Have. Then, the relay station 30 can acquire the server-side time difference information 358 reflecting the change due to the temperature change in response to a request from the terminal 60 and transmit the server-side time difference information 162b to the terminal 60 as the relay station time difference information 162b.
Therefore, the terminal 60 can acquire the relay station time difference information 162b after changing due to a temperature change by periodically receiving the relay station information 162.

As illustrated in FIG. 8, the terminal 60 stores an aerial satellite number determination program 220 in the terminal first storage unit 210. The sky satellite number determination program 220 is a program for the terminal control unit 200 to determine the number of GPS satellites 12a and the like located above the terminal 60. That is, the sky satellite number determination program 220 and the terminal control unit 200 are examples of the sky satellite number determination means.
Specifically, the terminal control unit 200 uses the almanac included in the terminal-side satellite orbit information 252 and is located above the terminal 60 and can be observed at the current time measured by the terminal timing unit 206. The number of satellites 12a etc. is determined. And the terminal control part 200 stores the sky satellite number information 260 which shows the number of the GPS satellites 12a etc. which are located in the sky in the terminal 2nd memory | storage part 250. FIG.

As illustrated in FIG. 8, the terminal 60 stores a satellite positioning program 222 in the terminal first storage unit 210. The satellite positioning program 222 is a program for the terminal control unit 200 to measure the position of the terminal 60 based on signals S1 and the like (see FIG. 1) from three or more GPS satellites 12a and the like. That is, the satellite positioning program 222 and the terminal control unit 200 are examples of satellite signal positioning means.
Specifically, the terminal control unit 200 calculates the difference between the time when the signal S1 and the like are transmitted from each GPS satellite 12a and the time when the signal S1 and the like are received, and the speed of the signal S1 and the like is the speed of light. Based on the fact, the distance between each GPS satellite 12a and the like and the terminal 60 (referred to as a pseudorange) is calculated. On the other hand, the position on the satellite orbit of each GPS satellite 12a or the like at the current time measured by the terminal timer 206 is calculated by the ephemeris included in the terminal-side satellite orbit information 252.
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 200 stores the satellite positioning position information 262 generated by positioning in the terminal second storage unit 250.
The position positioning performed by the terminal control unit 200 using the satellite positioning program 222 is referred to as satellite positioning.

As illustrated in FIG. 8, the terminal 60 stores a communication signal reception program 224 in the terminal first storage unit 210. The communication signal reception program 224 is a program for the terminal control unit 200 to receive the signal CS2 from the relay station 30. That is, the communication signal receiving program 224 and the terminal control unit 200 are examples of communication signal receiving means.
The communication signal reception program 224 includes a transmission time information extraction program 224a. The transmission time information extraction program 224a is a program for the terminal control unit 200 to extract the transmission time information 156 (see FIG. 5) from the communication signal CS2.
The terminal control unit 200 stores the extracted transmission time information 156 in the terminal second storage unit 250 as terminal-side transmission time information 264.

As illustrated in FIG. 8, the terminal 60 stores a reception time information generation program 226 in the terminal first storage unit 210. The reception time information generation program 226 is a program for the terminal control unit 200 to generate reception time information 266 indicating the time when the communication signal CS2 is received. The reception time information 266 is an example of reception time information, and the reception time information generation program 226 and the terminal control unit 200 are examples of reception time information generation means.
Specifically, terminal control unit 200 measures the time at which communication signal CS1 is received by terminal timing unit 206, and generates reception time information 266.
The terminal control unit 200 stores the generated reception time information 266 in the terminal second storage unit 250.

As illustrated in FIG. 8, the terminal 60 stores a relay station positioning program 228 in the terminal first storage unit 210. The relay station positioning program 228 allows the terminal control unit 200 to determine the position of the terminal 60 based on the terminal-side relay station position information 256, the terminal-side relay station time difference information 258, the terminal-side transmission time information 264, and the reception time information 266. It is a program to do. That is, the relay station positioning program 228 and the terminal control unit 200 are examples of communication signal positioning means.
Hereinafter, the positioning performed by the terminal control unit 200 using the relay station positioning program 228 is referred to as relay station positioning.

FIG. 9 is an explanatory diagram of an example of a relay station positioning method.
The following description will be made on the assumption that the terminal 60 has received the communication signals CS2A, CS2B, and CS2C from the relay stations 30A, 30B, and 30C, respectively.
FIG. 9A shows the position of each relay station 30A and the like. The position of the relay station 30A or the like is known from the terminal-side relay station position information 256.
FIG. 9B is a diagram showing the propagation time tb01 and the like of the communication signal CS2A from each relay station 30A and the like. The propagation time tb01 and the like are unknown numbers.
FIG. 9C is a diagram showing the transmission time t1 of each communication signal CS2A and the like. The transmission time t1 and the like are known from the terminal-side transmission time information 264. Here, since the time is not synchronized between the relay stations 30A and the like, t1, t2, and t3 are not necessarily the same time.
FIG. 9D is a diagram illustrating the time difference ta1 and the like of each relay station 30A and the like. The time difference ta1 and the like are known from the terminal side relay station time difference information 258.
FIG. 9E is a diagram illustrating the propagation speed of the communication signal CS2A and the like. Since the communication signal CS2A and the like are carried on radio waves, the propagation speed is the speed of light C.
FIG. 9F is a diagram illustrating a time difference td01 between the transmission time t1 of the communication signal CS2A and the like and the time when the terminal 60 receives the communication signal CS2A and the like. As shown in FIG. 9G, the time when the terminal 60 receives the communication signal CS2A and the like is assumed to be t0.
The position (X, Y, Z) of the terminal 60 shown in FIG. 9 (h) is an unknown number.

Based on the above, the equations (1) to (9) shown in FIGS. 9 (i) to 9 (k) will be described.
First, since the distance between each relay station 30A and the terminal 60 and the terminal 60 is equal to the propagation time of the communication signal CS2A and the like multiplied by the speed of the radio wave (the speed of light C), the expressions (1) to (1) in FIG. (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, for the time difference td01 in FIG. 9F, the transmission time t1 in FIG. 9C, the propagation time tb01 in FIG. 9B, and the time t0 in FIG. Equations (7) to (9) of k) hold.
Here, since there are six unknowns indicating X, Y, Z, propagation times tb01, tb02, and tb03 indicating the position of the terminal 60, the equations (1), (2), (3), (7), ( All unknowns can be calculated by calculating 8) and 9) simultaneously.
The terminal control unit 200 stores the relay station positioning position information 268 generated in this way in the terminal second storage unit 250.
In addition, since the relay station positioning described above is based on the premise that the terminal 60 can communicate with the relay station 30A and the like, the terminal 50 is located within the communication range of the relay station 30A and the like. For this reason, when the undulation in the area where the terminal 60 is located is small and the altitude components Z1 and the like (see FIG. 9A) at the positions of the relay station 30A and the like are substantially equal, for example, It is also possible to perform the above-mentioned relay station positioning using the value as the altitude component Z of the position of the terminal 60.

  Note that the terminal 60 can receive the communication signal CS2A only from one relay station 30, for example, the relay station 30A, and cannot receive two or more signals S1 from the GPS satellite 12a or the like. The terminal control unit 200 generates relay station positioning position information 268 indicating the position of the relay station 20A indicated by the terminal-side relay station position information 256 based on the relay station positioning program 228. The range reached by the communication signal CS2 of the relay station 30 is, for example, a range within a circle with a radius of 5 kilometers (km), and the range reached by the communication signal CS1 of the parent base station 20 is, for example, a radius of 30 kilometers (km). is there. For this reason, the position of the relay station 30 is closer to the true current position than the position of the parent base station 20.

As illustrated in FIG. 8, the terminal 60 stores a hybrid positioning program 230 in the terminal first storage unit 210. In the hybrid positioning program 230, the terminal control unit 200 sets the signal S1 from the GPS satellite 12a and the like, the terminal-side relay station position information 256, the terminal-side relay station time difference information 258, the terminal-side transmission time information 264, and the reception time information 266. This is a program for measuring the position of the terminal 60 based on the above. That is, the hybrid positioning program 230 and the terminal control unit 200 are examples of composite positioning means.
The positioning performed by the terminal control unit 200 based on the hybrid positioning program 230 is one or two relay stations 30A in the positioning method performed based on the above-described relay station positioning program 228 described with reference to FIG. Is replaced with the GPS satellite 12a or the like.
In general, positioning using satellites, positioning using mobile communication information, acceleration sensors using gyros, etc., and a positioning method that combines two or more sensors such as vehicle speed pulses are called hybrid positioning. In the embodiment, position positioning performed by the terminal control unit 200 based on the hybrid positioning program 230, which combines information on the relay station 30A and the like and information on the GPS satellites 12a and the like, is referred to as hybrid positioning.
The terminal control unit 200 stores the hybrid positioning position information 270 generated by the hybrid positioning in the terminal second storage unit 250.

As illustrated in FIG. 8, the terminal 60 stores a positioning method selection program 232 in the terminal first storage unit 210. The positioning method selection program 232 allows the terminal control unit 200 to select one of satellite positioning, relay station positioning, or hybrid positioning based on the number of GPS satellites 12a and the like indicated in the number of satellites 260 above. It is a program. That is, the positioning method selection program 232 and the terminal control unit 200 are examples of positioning means selection means.
Specifically, the terminal control unit 200 selects satellite positioning when the number of GPS satellites 12a and the like indicated in the sky satellite number information 260 is three or more. And the terminal control part 200 selects hybrid positioning, when the number of the GPS satellites 12a etc. which are shown in the number information 260 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 260 is zero, the terminal control unit 200 selects relay station positioning.

In general, the positioning accuracy based on the signal S1 from the GPS satellite 12a or the like is higher than the positioning accuracy based on the communication signal CS2. For example, in the case of satellite positioning, the positioning error is 0 meter (m) to 20 meters (m), whereas in the case of relay station positioning, the positioning error is 5 meters (m) to 400 meters (m). ).
In this regard, as long as the terminal 60 can receive the communication signal S1 or the like from the GPS satellite 12a or the like, the terminal 60 can perform position measurement using only the signal S1 or the like, or the signal S1 or the like and the communication signal CS2.
Therefore, the terminal 60 can select a positioning method with the highest positioning accuracy according to the number of GPS satellites 12a and the like that are located in the sky and can be observed.
On the other hand, for example, in an environment where three or more GPS satellites 12a or the like cannot be observed, such as indoors, hybrid positioning or relay station positioning can be performed using the communication signal CS2 that can be received indoors.

  As illustrated in FIG. 8, the terminal 60 stores a positioning position information display program 234 in the terminal first storage unit 210. In the positioning position information display program 234, the terminal control unit 200 displays either the satellite positioning position information 262, the relay station positioning position information 268, or the hybrid positioning position information 270 on the terminal display device 72 (see FIG. 3). It is a program for.

The above is the configuration of the position positioning system 10 according to the present embodiment.
As described above, the relay station 30 can generate the relay station position information 154. Then, the relay station 30 can generate the GPS time information 158. Further, the relay station 30 can correct the reference timing signal of the relay station second timekeeping unit based on the GPS time information 158.
Then, the relay station 30 can generate the time difference information 160.
Further, the relay station 30 can place the transmission time information 156 on the communication signal CS2.
That is, since the relay station 30 does not synchronize the transmission time with the GPS time, but only generates the time difference information 160, the configuration is simple and does not require a significant system change of the relay station 30. . Further, since the relay station 30 generates the time difference information 160, it is not necessary to change the system of the parent base station 20 with respect to the generation of the time difference information 160.
In addition, there is an internal delay in the parent base station 20 from the generation of the communication signal CS1 in the parent base station 20 to the transmission from the parent base station 20, and a transmission delay from the parent base station 20 to the relay station 30. Even if there is, the relay station 30 generates the time difference information 160 for the communication signal CS2 transmitted by the relay station 30 itself, and thus is not affected by the internal delay or the transmission delay. In other words, the relay station 30 generates the time difference information 160 for the communication signal CS2 transmitted by the relay station 30 itself, thereby eliminating the influence of the above-described internal delay and transmission delay, and for the communication signal CS2 transmitted by the relay station 30. Accurate time difference information 160 can be generated.

Then, the terminal 60 can acquire the relay station information 162 from the relay station 30.
Then, the terminal 60 can receive the communication signal CS2 from the relay station 30, and can generate reception time information 266 indicating the time when the communication signal CS2 is received. Here, since the terminal 60 can generate the terminal-side GPS time information 254, the time indicated by the reception time information 266 can be in a state where there is no difference from the GPS time.
When the terminal 60 can receive the relay station information 162 from three or more relay stations 30A and the like, and can receive the communication signal CS2A and the like from the three or more relay stations 30A and the like. Since the propagation time until the communication signal CS2A or the like reaches the terminal 60 from each relay station 30A or the like can be accurately calculated, the above-mentioned relay station positioning is possible.
Thereby, the terminal 60 can measure the position using the communication signal CS2 from the relay station 30.

However, when the communication signal CS2 can be received only from 0 to 2 relay stations 30, the relay station positioning cannot be performed.
In this regard, since the terminal 60 can perform hybrid positioning, when the communication signal CS2A or the like can be received only from one or two relay stations 30A or the like, the communication signal CS2A or the like and the GPS satellite 12a. The position can be measured based on the signal S1 from the signal.
Thereby, even when the terminal 60 can receive the communication signal CS2A only from one or two relay stations 30A or the like, the terminal 60 uses the communication signal CS2A or the like from the relay station 30A or the like and the signal S1 or the like. To measure the position.
Furthermore, since the terminal 60 can perform satellite positioning, when it cannot receive even one communication signal CS2 from the relay station 30, it is based only on signals S1 from a plurality of GPS satellites 12a and the like. , Positioning can be done.

  Note that unlike the present embodiment, the positioning system 10 does not have to include the server 80. In this case, the parent base station 20 has the function of the server 80.

Hereinafter, an operation example of the position positioning system 10 will be described mainly with reference to FIGS. 10, 11, 12, and 13.
10 to 13 are schematic flowcharts showing an operation example of the position positioning system 10 according to the present embodiment.

First, the relay station 30 receives the signal S1 and the like from the GPS satellite 12a and the like (step ST1 in FIG. 10).
On the other hand, the terminal 60 continuously generates terminal-side GPS time information 254 (see FIG. 8) (step ST1A). This step ST1A is an example of a terminal side satellite time information generation step.

Subsequently, the relay station 30 performs position positioning, and generates relay station position information 154 (see FIG. 5) (step ST2).
Subsequently, the relay station 30 generates GPS time information 158 (see FIG. 5) (step ST3).
Subsequently, the relay station 30 corrects the reference timing signal by correcting the relay station second clock based on the GPS time (step ST4).

Subsequently, parent base station 20 transmits communication signal CS1 to the relay station (step ST5).
Subsequently, relay station 30 receives communication signal CS1 from the parent base station and transmits it as communication signal CS2 (step ST6).
Subsequently, the relay station 30 generates time difference information 160 (see FIG. 5) (step ST7).

Subsequently, the relay station 30 transmits the relay station position information 154 and the time difference information 160 to the parent base station 20 (step ST8 in FIG. 11).
Subsequently, parent base station 20 transmits relay station position information 154 and time difference information 160 to server 80 (step ST9).
Subsequently, the server 80 receives the relay station position information 154 and the time difference information 160 from the parent base station 20 (step ST10). The server 80 stores the received relay station position information 154 and time difference information 160 in the server second storage unit 350 as server-side relay station information 354 (see FIG. 7).

Subsequently, for example, when it is determined that the terminal 60 has left the communication area of the relay station 30A that is currently communicating, the terminal 60 determines the relay station position of the relay station 30B with respect to the relay station 30B that is newly communicable. Information 162a and relay station time difference information 162b are requested (step ST11).
The relay station 30 that has received the request from the terminal 60 requests relay station position information and time difference information from the parent base station 20 (step ST12). The relay station 20 requests the relay station position information and time difference information from the parent base station 20 because the relay station 30 sends the relay station position information 154 and time difference information 160 to the parent base station 20 as described above. This is because the relay station position information 154 and the time difference information 160 are deleted from the relay station second storage unit after transmission.
Subsequently, parent base station 20 requests relay station position information and time difference information from server 80 (step ST13).
The server 80 that has received the request from the parent base station 20 transmits server-side relay station information 354 (see FIG. 7) to the parent base station 20 (step ST14).

Subsequently, the parent base station 20 transmits server-side relay station information 354 to the relay station 30 (step ST15 in FIG. 12).
Subsequently, the relay station 20 stores the received server-side relay station information 354 as the relay station information 162 (see FIG. 5) in the relay station second storage unit 150, and the relay station information 162 is transmitted to the terminal 60. Transmit (step ST16).

Subsequently, terminal 60 receives relay station information 162 from relay station 30 (step ST17). This step ST17 is an example of a relay station position information acquisition step, and is also an example of a timing signal difference information acquisition step.
Subsequently, the terminal 60 performs position positioning (step ST18).
Details of step ST18 will be described with reference to FIG.

First, the terminal 60 determines the number of observable GPS satellites 12a and the like (step ST100 in FIG. 13). This step ST100 is an example of a step for determining the number of sky satellites.
If the terminal 60 determines that the number of observable GPS satellites 12a and the like is three or more, the terminal 60 performs satellite positioning (step ST101) and generates satellite positioning position information 262 (see FIG. 8). . This step ST101 is an example of a positioning means selection step.
Then, terminal 60 displays satellite positioning position information 262 on terminal display device 72 (see FIG. 3) (step ST102).

In step ST100, when the terminal 60 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 270 (FIG. 8). This step ST201 is also an example of a positioning means selection step.
Then, the terminal 60 displays the hybrid positioning position information 270 on the terminal display device 72 (see FIG. 3) (step ST202).

In step ST100, when the terminal 60 determines that the number of observable GPS satellites 12a and the like is 0, relay station positioning is performed (step ST301), and relay station positioning position information 268 (FIG. 8). Reference). This step ST301 is also an example of a positioning means selection step.
Then, terminal 60 displays relay station positioning position information 268 on terminal display device 72 (see FIG. 3) (step ST302).

  As described above, according to the position positioning system 10, it is possible to perform position positioning using a communication signal from a relay station.

  Unlike the present embodiment, in steps ST101, ST201, and ST301 described above, the terminal 60 uses the pseudo-range between the GPS satellite 12a and / or the relay station 30 and the orbit of the GPS satellite 12a and the like. Information on the upper coordinates may be provided to the server 80 via the relay station 30 or the like, and the server 80 may perform the positioning calculation of the position of the terminal 60. The terminal 60 may receive position information as a result of the positioning calculation from the server 80.

(About programs and computer-readable recording media)
A terminal device control program for causing a computer to execute a terminal side satellite time information generation step, a relay station information acquisition step, an aerial satellite number determination step, a positioning means selection step, and the like in the above-described operation example. .
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 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-Rewritable), 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 position positioning system which concerns on embodiment of this invention. It is the schematic which shows the main hardware constitutions of a relay station. It is the schematic which shows the main hardware constitutions of a terminal. It is the schematic which shows the main hardware constitutions of a management server. It is the schematic which shows the main software structures of a relay station. It is the schematic which shows the transmission frame FR etc. It is the schematic which shows the main software structures of a management server. It is the schematic which shows the main software structures of a terminal. It is explanatory drawing of an example of a relay station positioning method. It is a schematic flowchart which shows the operation example of a position positioning system. It is a schematic flowchart which shows the operation example of a position positioning system. It is a schematic flowchart which shows the operation example of a position positioning system. It is a schematic flowchart which shows the operation example of a position positioning system.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Positioning system, 12a, 12b, 12c, 12d ... GPS satellite, 20 ... Parent base station, 30, 30A, 30B, 30C ... Relay station, 60 ... Terminal, 80 ... Management server 104 ··· Relay station communication unit 106 ··· Relay station timing unit 108 ··· Relay station second timing unit 110 · · · Relay station second communication unit · 122 · · · Relay station position information generation program 124 ... Transmission frame generation program, 126 ... GPS time generation program, 128 ... Relay station second clock correction program, 130 ... Time difference information generation program, 132 ... Relay station information transmission program, 134: relay station information request program, 212: terminal side GPS time information generation program, 214: terminal clock correction program, 216: relay station information acquisition program Ram, 220 ... satellite determination program, 222 ... satellite positioning program, 224 ... communication signal reception program, 226 ... reception time information generation program, 228 ... relay station positioning program, 230 ..Hybrid positioning program, 232 ... Positioning method selection program, 234 ... Positioning position information display program, 312 ... Relay station identification program, 314 ... Relay station information transmission program

Claims (6)

A communication base station;
A relay station that receives a communication signal from the communication base station and transmits the communication signal;
A terminal device that receives the communication signal from the relay station;
An asynchronous positioning system having
The relay station is
Relay station position information generating means for generating relay station position information indicating the position of the relay station based on a satellite signal which is a signal from a positioning satellite;
Satellite time information generating means for generating satellite time information indicating a satellite time which is a time of the positioning satellite based on the satellite signal;
Reference timing signal correction means for correcting the reference timing signal of the relay station based on the satellite time information;
Timing signal difference information generating means for generating timing signal difference information indicating a difference between a transmission timing signal included in the communication signal transmitted by the relay station and the reference timing signal;
A communication signal generating means with transmission time information for putting transmission time information indicating a transmission time on the communication signal transmitted by the relay station;
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 signal;
From the relay station, terminal-side relay station information acquisition means for acquiring relay station information including the relay station position information and the timing signal difference information;
Communication signal receiving means for receiving the communication signal from the relay station;
Reception time information generating means for generating reception time information indicating a time at which the communication signal is received;
Communication signal positioning means for positioning the terminal device based on the relay station position information, the timing signal difference information, the transmission time information, and the reception time information;
Satellite signal positioning means for positioning the terminal device based on the satellite signal;
Based on the satellite signal, the relay station position information, the timing signal difference information, the transmission time information, and the reception time information, composite positioning means for positioning the terminal device;
Sky satellite number determination means for determining the number of sky satellites which are the positioning satellites located above the terminal device;
Positioning means selecting means for selecting one of the satellite signal positioning means, the communication signal positioning means, or the combined positioning means based on the number of the above-mentioned satellites;
An asynchronous position measurement system characterized by comprising: A terminal device that receives a communication signal from a communication base station and can communicate with a relay station that transmits the communication signal,
Terminal-side satellite time information generating means for generating terminal-side satellite time information indicating the satellite time based on a satellite signal which is a signal from a positioning satellite;
Relay station position information acquisition means for acquiring relay station position information indicating the position of the relay station from the relay station;
Timing signal difference information acquisition means for acquiring timing signal difference information indicating a difference between a transmission timing signal included in the communication signal transmitted by the relay station and a reference timing signal corrected by a satellite time that is a time of the positioning satellite When,
Sky satellite number determination means for determining the number of sky satellites which are the positioning satellites located above the terminal device;
Satellite signal positioning means for positioning the terminal device based on the satellite signal;
Communication signal receiving means for receiving the communication signal from the relay station;
Reception time information generating means for generating reception time information indicating a time at which the communication signal is received;
Communication signal positioning means for positioning the terminal device based on the relay station position information, the timing signal difference information, the transmission time information, and the reception time information;
Based on the satellite signal, the relay station position information, the timing signal difference information, the transmission time information, and the reception time information, composite positioning means for positioning the terminal device;
Positioning means selecting means for selecting one of the satellite signal positioning means, the communication signal positioning means, or the combined positioning means based on the number of the above-mentioned satellites;
The terminal device characterized by having.   The positioning means selecting means selects the satellite signal positioning means when the number of the above-mentioned satellites is 3 or more, and the composite positioning means when the number of the above-mentioned satellites is one or two. The terminal device according to claim 2, wherein the communication signal positioning means is selected when the number of the above-mentioned satellites is zero. A terminal device that can communicate with a relay station that receives a communication signal from a communication base station and transmits the communication signal to the terminal device, and indicates the satellite time based on a satellite signal that is a signal from a positioning satellite Terminal side satellite time information generation step for generating side satellite time information;
A relay station location information acquisition step in which the terminal device acquires relay station location information indicating the location of the relay station from the relay station;
Timing at which the terminal apparatus acquires timing signal difference information indicating a difference between a transmission timing signal included in the communication signal transmitted by the relay station and a reference timing signal corrected by a satellite time that is a time of the positioning satellite A signal difference information acquisition step;
The terminal device determines the number of sky satellites that determine the number of sky satellites that are the positioning satellites located above the terminal device; and
Satellite signal positioning means for positioning the terminal device based on the satellite signal, and the satellite signal, the relay station position information, the timing signal difference information, the transmission time information, and the reception time. Compound positioning means for positioning the terminal device based on information, and positioning the terminal device based on the relay station position information, the timing signal difference information, the transmission time information, and the reception time information A communication signal positioning means, and a positioning means selection step for selecting any of the satellite signal positioning means, the composite positioning means, or the communication signal positioning means based on the number of the above-mentioned satellites;
A control method for a terminal device, comprising: On the computer,
A terminal device that can communicate with a relay station that receives a communication signal from a communication base station and transmits the communication signal to the terminal device, and indicates the satellite time based on a satellite signal that is a signal from a positioning satellite Terminal side satellite time information generation step for generating side satellite time information;
A relay station location information acquisition step in which the terminal device acquires relay station location information indicating the location of the relay station from the relay station;
Timing at which the terminal apparatus acquires timing signal difference information indicating a difference between a transmission timing signal included in the communication signal transmitted by the relay station and a reference timing signal corrected by a satellite time that is a time of the positioning satellite A signal difference information acquisition step;
The terminal device determines the number of sky satellites that determine the number of sky satellites that are the positioning satellites located above the terminal device; and
Satellite signal positioning means for positioning the terminal device based on the satellite signal, and the satellite signal, the relay station position information, the timing signal difference information, the transmission time information, and the reception time. Compound positioning means for positioning the terminal device based on information, and positioning the terminal device based on the relay station position information, the timing signal difference information, the transmission time information, and the reception time information A communication signal positioning means, and a positioning means selection step for selecting any of the satellite signal positioning means, the composite positioning means, or the communication signal positioning means based on the number of the above-mentioned satellites;
A control program for a terminal device, characterized in that On the computer,
A terminal device that can communicate with a relay station that receives a communication signal from a communication base station and transmits the communication signal to the terminal device, and indicates the satellite time based on a satellite signal that is a signal from a positioning satellite Terminal side satellite time information generation step for generating side satellite time information;
A relay station location information acquisition step in which the terminal device acquires relay station location information indicating the location of the relay station from the relay station;
Timing at which the terminal apparatus acquires timing signal difference information indicating a difference between a transmission timing signal included in the communication signal transmitted by the relay station and a reference timing signal corrected by a satellite time that is a time of the positioning satellite A signal difference information acquisition step;
The terminal device determines the number of sky satellites that determine the number of sky satellites that are the positioning satellites located above the terminal device; and
Satellite signal positioning means for positioning the terminal device based on the satellite signal, and the satellite signal, the relay station position information, the timing signal difference information, the transmission time information, and the reception time. Compound positioning means for positioning the terminal device based on information, and positioning the terminal device based on the relay station position information, the timing signal difference information, the transmission time information, and the reception time information A communication signal positioning means, and a positioning means selection step for selecting any of the satellite signal positioning means, the composite positioning means, or the communication signal positioning means based on the number of the above-mentioned satellites;
A computer-readable recording medium on which a control program for a terminal device is recorded.

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