JP2008164508A - Positioning point estimating apparatus and positioning point estimation method, and program thereof, and recording medium - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning point estimating apparatus which accurately and easily estimates the present, future and past positional information regarding a certain positioning point. <P>SOLUTION: The positioning point estimating apparatus transforms the coordinates of an electronic reference point obtained by basic analysis by using the coordinate of an IGS point, and calculates the moving speed of the electronic reference point per interval unit at a different calculation time point. The apparatus calculates the electronic reference point transform value of a plurality of different electronic reference points calculated at a certain calculation time point, and an electronic reference point transform value, after the correction on the same time point at each of the plurality of the different electronic points, by using information of combination of moving speed calculated regarding the coordinates indicated by the electronic reference point turning value. The apparatus also calculates the electronic reference point turning value after correction and the moving speed in each electronic reference point, at the same time point at each of the plurality of the different electronic reference point, and the estimation value of high-accuracy coordinates and a new moving speed by four-dimensional integral net average calculation equation, by using the moving speed in the coordinates of the IGS point and in the coordinates. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a positioning point estimation device, a positioning point estimation method, a program thereof, and a recording medium for forming coordinates of positioning points on the ground.

Arbitrary positioning points on the ground move year by year in an orthogonal coordinate system with the center of the earth as the origin by the plate movement of the earth. For this reason, it is necessary to detect positioning point information with high accuracy. By the way, the Geospatial Information Authority of Japan sets an electronic reference point at a certain position in Japan and manages the coordinates of the electronic reference point. The electronic reference point is a reference for calculating the position of other arbitrary positioning points. A technique for measuring the coordinates of an arbitrary positioning point using signals received from a plurality of GPS (Global Positioning System) satellites instead of an electronic reference point has been disclosed.
JP 2005-69754 A

  By the way, it has been proposed in the future to use accurate position information about an arbitrary positioning point for various processes. For example, since it is dangerous to use position information that has become inaccurate due to terrain fluctuations based on plate movements etc. if the car is running automatically, countless number of position information accurately updated according to terrain fluctuations on the ground It is necessary to read from each position information storage device arranged in the automatic running process. As described above, the positional information of a certain positioning point needs to be continuously updated and managed in accordance with the terrain fluctuation due to the plate motion or the like.

  However, for example, if an infinite number of position information storage devices are arranged on the ground and an attempt is made to update the position information stored in the position information storage, the measurement, calculation, and writing process will take enormous time. Become. Therefore, in the future, a mechanism that can easily update the location information stored in each of the location information storage devices arranged innumerably on the ground is indispensable. In addition, a mechanism for estimating accurate position information from incorrect position information stored in the position information storage device is indispensable without updating the position information stored in the position information storage device. In addition, a large-scale device is required to detect signals by receiving signals from GPS satellites, and detect and manage position information by receiving signals from GPS satellites at all position information storage devices. That is inefficient.

  Accordingly, an object of the present invention is to provide a positioning point estimation device, a positioning point estimation method, a program thereof, and a recording medium capable of accurately and easily estimating future and past position information at a certain positioning point. Yes.

  In order to achieve the above object, the present invention provides coordinates for reading coordinates of an IGS (International Global Navigation Satellite System Service) point and a moving speed per unit period, and coordinates of an electronic reference point disclosed by the Geospatial Information Authority of Japan, The change rate reading means, the electronic reference point formation means for calculating the electronic reference point formation value by forming the coordinates of the electronic reference point obtained by the baseline analysis using the coordinates of the IGS point, and the electrons having different calculation time points Based on the difference between the electronic reference point formation values of the reference points, the moving speed calculation means for calculating the moving speed of the electronic reference point per interval unit at the different calculation time points, and a plurality of different the calculated at a certain calculation time point The electronic reference point formation value of the electronic reference point and the moving speed calculated for the coordinates indicated by the electronic reference point formation value are read, and the electronic reference point formation value and the moving speed are read. Electronic reference point formation value correcting means for calculating the corrected electronic reference point formation value at the same time for each of the plurality of different electronic reference points, and the same for each of the plurality of different electronic reference points The corrected electronic reference point formation value at the time point, the moving speed at each of the electronic reference points, the coordinates of the IGS point and the moving speed at the coordinates are used to calculate the plurality of different electrons. A positioning point estimation device comprising: an electronic reference point estimation unit that calculates an estimated value of coordinates at the same time point for each reference point and a new moving speed at the coordinates with high accuracy.

  According to the present invention, the positioning point estimation apparatus described above is configured such that the regenerated value of the corrected electronic reference point formed value at the same time for each of the plurality of different electronic reference points, the new moving speed at the coordinates, Using the past coordinate value and movement speed of the survey reference point, the coordinate value and the movement speed at the current or past or future at the survey reference point are calculated with high accuracy by the four-dimensional integrated network average calculation formula. Surveying reference point estimating means.

  Further, according to the present invention, the positioning point estimation device described above uses the coordinates at the same time for each of the plurality of different surveying reference points and the movement speed at the coordinates, and the past coordinate value and movement speed of the arbitrary positioning point, Arbitrary positioning point estimation means for calculating the coordinate value and the moving speed of the arbitrary positioning point in the present or in the past or the future with high accuracy by a four-dimensional integrated network average calculation formula.

  The present invention also relates to a positioning point estimation method in a positioning point estimation apparatus, wherein the coordinates and change rate reading means of the positioning point estimation apparatus are coordinates of IGS (International Global Navigation Satellite System Service) points and movement per unit period. The speed and the coordinates of the electronic reference point published by the Geospatial Information Authority of Japan are read, and the electronic reference point forming means of the positioning point estimation device uses the coordinates of the IGS point to determine the electronic reference point obtained by baseline analysis. The coordinates are formed, the electronic reference point formation value is calculated, and the moving speed calculation means of the positioning point estimation device determines the different calculation time points based on the difference of the electronic reference point formation values of the electronic reference points at different calculation time points. The movement speed of the electronic reference point per unit of interval is calculated, and the electronic reference point formation value correcting means of the positioning point estimating device calculates a plurality of different electrons calculated at a certain calculation time point. Read the electronic reference point formation value of the quasi-point and the moving speed calculated for the coordinates indicated by the electronic reference point formation value, and use the information of the combination of the electronic reference point formation value and the moving speed to The electronic reference point formation value after correction at the same time for each electronic reference point is calculated, and the electronic reference point estimation means of the positioning point estimation device is the corrected electronic reference at the same time for each of the plurality of different electronic reference points. The point conversion values, the movement speeds at the respective electronic reference points, the coordinates of the IGS points and the movement speeds at the coordinates, and the four-dimensional integrated network average calculation formula, are used at the same time for each of the plurality of different electronic reference points. A positioning point estimation method characterized in that an estimated value of coordinates and a new moving speed at the coordinates are calculated with high accuracy.

  Further, the present invention provides the above-described positioning point estimation method, wherein the surveying reference point estimating means of the positioning point estimating device re-corrects the electronic reference point formation value after correction at the same time for each of the plurality of different electronic reference points. And the new movement speed at the coordinates and the past coordinate values and movement speeds of the plurality of survey reference points, the current, past or future at the survey reference point is calculated by a four-dimensional integrated network average calculation formula. The coordinate value and the moving speed in the sword are calculated with high accuracy.

  Further, the present invention provides the positioning point estimation method described above, wherein the arbitrary positioning point estimation means of the positioning point estimation device includes coordinates at the same time for each of the plurality of different surveying reference points, a moving speed at the coordinates, and an arbitrary positioning point. Using the past coordinate values and movement speeds of the above, the coordinate values and movement speeds at the present, past or future at the arbitrary positioning point are calculated with high accuracy by a four-dimensional integrated network average calculation formula. And

  Moreover, this invention is a positioning point estimation program for functioning a computer as the above-mentioned positioning point estimation apparatus.

  The present invention is also a computer-readable recording medium that stores the above-described positioning point estimation program.

  According to the present invention, the coordinates of a plurality of positioning points created on the same day are further estimated by a four-dimensional integrated network average, so the coordinates and movement speed of the current electronic reference point with high accuracy can be obtained. It is possible to calculate the position, and it is possible to measure the position with high accuracy even in various apparatuses that read and process information from the position information writing apparatus installed at the electronic reference point.

  Hereinafter, a positioning point estimation apparatus according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a positioning point estimation apparatus according to the embodiment. In this figure, reference numeral 1 denotes a positioning point estimation device. The positioning point indicates an electronic reference point, a survey reference point, or an arbitrary positioning point, and the positioning point estimation device uses the current, past, or future coordinates of the electronic reference point, the survey reference point, or an arbitrary positioning point. The movement speed per unit period is accurately calculated.

  In the positioning point estimation apparatus 1, reference numeral 11 denotes an information reading unit that reads various information. Also, 12 is an information reading unit (coordinate and change rate reading means) that reads the coordinates of IGS (International Global Navigation Satellite System Service) points, the movement speed per unit period, and the coordinates of electronic reference points published by the Geospatial Information Authority of Japan. It is. Reference numeral 12 is an electronic reference point first forming unit (electronic reference point forming means) for forming the electronic reference point formation value by forming the coordinates of the electronic reference point obtained by the baseline analysis using the coordinates of the IGS point. . Further, 13 is a movement speed calculation unit (movement speed calculation) that calculates the movement speed of the electronic reference point per period interval of the different calculation time points based on the difference of the electronic reference point formation values of the electronic reference points at different calculation time points. Means).

  Further, 14 reads the electronic reference point formation values of a plurality of different electronic reference points calculated at a certain calculation time point and the movement speed calculated for the coordinates indicated by the electronic reference point formation values. An electronic reference point formation value correction unit (electronic reference point formation value correction means) that calculates an electronic reference point formation value after correction at the same point in time for each of a plurality of different electronic reference points using information on a combination of moving speeds. . Further, 15 is a correction using the corrected electronic reference point formation value at the same point in time for a plurality of different electronic reference points, the past moving speed at each electronic reference point, the coordinates of the IGS point, and the moving speed at the coordinates. An electronic reference point estimation unit (electronic reference point estimation means) that calculates an estimated value of coordinates at the same time for each of a plurality of different electronic reference points and a new moving speed at the coordinates by a four-dimensional integrated network average calculation formula is there.

  Reference numeral 16 denotes a re-formed value of the corrected electronic reference point formation value at the same time for a plurality of different electronic reference points, a new movement speed at the coordinates, a past coordinate value and a movement speed of the survey reference point. It is a surveying reference point generating unit (surveying reference point generating means) that calculates the coordinate value and moving speed of the current surveying point or the current or past or future at the surveying reference point using a four-dimensional integrated network average calculation formula. Reference numeral 17 denotes a re-formed value of the corrected electronic reference point formation value at the same time for a plurality of different electronic reference points, a new moving speed at the coordinates, a past coordinate value and a moving speed of an arbitrary positioning point, Is an arbitrary positioning point formation unit (arbitrary positioning point formation means) that calculates the current or past or future coordinate values and movement speeds at the arbitrary positioning point using a four-dimensional integrated network average calculation formula. 18 also writes the coordinates and movement speed calculated by the electronic reference point estimation unit 15, surveying reference point formation unit 16, and arbitrary positioning point formation unit 17 to a position information storage device such as an IC tag, and from the position information storage device. It is a reader / writer that reads information. Reference numeral 19 is used in the processing of the positioning point estimation apparatus, such as information on coordinates and moving speed calculated by the electronic reference point estimation unit 15, surveying reference point formation unit 16, and arbitrary positioning point formation unit 17, and information on IGS points. It is a database that stores various information. Then, by the processing of each of these processing units, the positioning point estimation device 1 performs processing for accurately estimating current or future and past position information at a certain positioning point (electronic reference point, surveying reference point, or arbitrary positioning point). .

FIG. 2 is a diagram showing a processing flow of chemical conversion processing of an electronic reference point.
Next, the processing flow of the conversion process of the electronic reference point in the positioning point estimation apparatus 1 will be described with reference to FIG.
First, an instruction to start processing is given to the positioning point estimation apparatus 1, and the information reading unit 11 reads the coordinates of a plurality of IGS points close to the electronic reference point managed by the Geographical Survey Institute and the movement speed per unit period. . The coordinates of the IGS point and the moving speed per unit period are obtained by accessing a server or the like that stores IGS point data. IGS points are points set over 300 points all over the world. In Japan, they are set in Tsukuba and Usuda, and in Korea, China and Russia, one or more points are set. In addition, the information reading unit 11 reads information on the coordinates of the electronic reference point by accessing a server storing the coordinate information of the electronic reference point. The coordinates of the electronic reference point are coordinate values determined on January 1, 1997 by the Geospatial Information Authority of Japan (usually called “geodetic result 2000”).

  Next, the electronic reference point first conversion unit 12 uses a base line analysis by using the coordinates of the electronic reference point, the coordinates of three or more IGS points in the vicinity (periphery) and the moving speed per unit period thereof. The coordinates of the electronic reference point are formed, and the electronic reference point formation value is calculated (step S1). Here, the baseline analysis is a well-known technique as described in, for example, “Tatsuya Tatsumi, one outside,“ Easy GPS Survey ”, Japan Surveying Association, October 5, 1991, p.238-305”. Can be used. In addition, about 1200 electronic reference points are defined throughout Japan, and the electronic reference point formation values (coordinates) are calculated for the selected electronic reference points. Then, the electronic reference point first conversion unit 12 calculates the electronic reference point formation values (coordinates) for all of Japan or predetermined electronic reference points every predetermined period (for example, every year or every month). (Excluding periods with rapid fluctuations due to earthquakes, etc.) The calculation date and time of the electronic reference point formation value (coordinates) may be different at each electronic reference point. Then, the electronic reference point first conversion unit 12 writes the electronic reference point formation values (coordinates) calculated for each electronic reference point in association with the calculation date and time into the database 19.

  Next, the moving speed calculation unit 13 calculates a difference between the electronic reference point formation value (coordinates) calculated in the past and the newly calculated electronic reference point formation value (coordinates), and the difference is calculated from the electronic reference point formation value (coordinates). Using the period interval for which the chemical value (coordinates) is calculated, the moving speed in a certain period unit, that is, the ratio of how much the coordinate moves in a certain period unit is calculated (step S2). For example, when the calculation period of the electronic reference point formation value (coordinates) is every month and the linear unit of the period unit is one year, if there is no large fluctuation such as an earthquake, it is calculated every month. By multiplying the difference between the two electronic reference point formation values (coordinates) calculated during the two consecutive months by 12 times, the movement speed in one year can be increased. Can be calculated. Then, the movement speed calculation unit 13 further associates the movement speed with the electronic reference point formation value (coordinates) for each electronic reference point written in the database 19 by the electronic reference point first formation unit 12 and the calculation date / time. Write. Then, the moving speed calculation unit 13 calculates the moving speeds for all the electronic reference points for which the electronic reference point formation values (coordinates) have been calculated by the electronic reference point first conversion unit 12 and writes them into the database 19. That is, according to the processing of the electronic reference point first formation unit 12 and the movement speed calculation unit 13 described above, the electronic reference point formation values (coordinates) calculated at the same or different date and time for a plurality of electronic reference points in the database 19. The movement speed and the calculation date / time are recorded in association with each other.

  Then, the processing result is recorded in the database 19 by the processing of the electronic reference point first formation unit 12 and the movement speed calculation unit 13 described above, and then the positioning point estimation device at the timing of the re-formation processing of a certain electronic reference point. When 1 receives the input of the re-formation instruction (step S3), the information reading unit 11 accepts identification information of a plurality of specific electronic reference points to be converted. Then, based on the identification information of the plurality of electronic reference points received, the electronic reference point formation value correcting unit 14 calculates the electronic reference point formation values (coordinates) calculated at the same or different date and time for these electronic reference points. The latest information on the moving speed is read from the database 19 (step S4). Further, the electronic reference point formation value correcting unit 14 acquires identification information of a plurality of IGS points in the vicinity of the plurality of electronic reference points read by the information reading unit 11 (step S5). Then, the electronic reference point formation value correction unit 14 calculates the electronic reference point formation values (coordinates) for the respective electronic reference points calculated at the same or different dates and the respective movement speeds corresponding to the electronic reference point formation values. By using this, the coordinate value of the day on which this processing is performed is corrected (step S6). For example, the electronic reference point formation value of a certain electronic reference point and the movement speed (Vx, Vy, Vz) per unit period (1 year) in the coordinates (X, Y, Z) are calculated on January 1. If the date of the conversion process is April 1 of that year, there are 90 days from January 1 to April 1, so the coordinate correction value H in the electronic reference point formation value of the electronic reference point is , H = (X, Y, Z) + (Vx, Vy, Vz) × (90/365). By this processing, the electronic reference point formation value correction unit 14 corrects the electronic reference point formation value so that it becomes the coordinates of each electronic reference point on the day when this processing is performed.

  When the correction of the electronic reference point formation value is completed, the electronic reference point estimation unit 15 then acquires the coordinates of the acquired plurality of IGS points and the movement speed at the coordinates from the server or the like via the information reading unit 11 ( Step S7). Then, using the corrected electronic reference point formation value at each electronic reference point and the moving speed thereof, the coordinates of the plurality of IGS points and the moving speed at the coordinates, the electronic reference point is calculated by a four-dimensional integrated network average calculation formula. Estimated values of the coordinates at the same time point and the movement speed at the coordinates are calculated (step S8). The four-dimensional integrated network average is a calculation method of an integrated network average meter that uses four-dimensional information of three-dimensional coordinates and speed. Here, the four-dimensional integrated network average calculation formula is a formula expressed by Formula (1).

  In this equation (1), the vector V is the residual, the vector X is the coordinates of the unknown positioning point, the vector S is the rate of change (moving speed) of the coordinates of the unknown positioning point, and L is the observed value (the coordinates of the known positioning point). , A is a design matrix, and G is a coefficient matrix. The positioning point is an electronic reference point. And solving equation (1) with least square collocation,

The estimated values X ^, S ^, V ^ (^ represents the estimated value) of X, S, V are

Can be calculated. Then, the electronic reference point estimation unit 15 records the estimated value X ^ of the coordinates obtained by the above calculation and the new movement speed S ^ (regeneration value) at the coordinates in the database 19 in association with the calculation date / time. (Step S9). When the positioning point estimation device 1 is downsized and the user holds it and is at the position of the electronic reference point, the electronic reference point estimation unit 15 uses the estimated coordinate value X ^ obtained by the above calculation, The new moving speed S ^ (regeneration value) at the coordinates may be transferred to the reader / writer 18 and written to a position information storage device such as an IC tag in accordance with a user instruction. In this case, the reader / writer 18 having a reader / writer function of reading and writing information stored in the position information storage device and the coordinate estimated value X ^ acquired from the electronic reference point estimating unit 15 and the new movement at the coordinate. The speed S ^ is written in the position information storage device.

  According to the above processing, since the values are estimated by means of a four-dimensional integrated network average using the coordinates of a plurality of electronic reference points created (formed) uniformly on the same day, the current electron with high accuracy can be obtained. The coordinates and moving speed of the reference point can be calculated, and the position can be measured with high accuracy even in various devices that read and process information from the position information writing device installed at the electronic reference point. become able to.

FIG. 3 is a diagram showing an outline of the electronic reference point estimation process.
In this figure, using four IGS points (IGS points 1 to 4) and four electronic reference points (electronic reference points A to D), each of the four electronic reference points is estimated and the latitude and moving speed thereof are calculated. It shows how they are seeking. In this way, it is possible to calculate coordinates and moving speeds with high accuracy by the processing that is created on the same day and the average of the four-dimensional integrated network shown in the figure.

FIG. 4 is a diagram showing a process flow of the estimation process of the survey reference point.
Next, processing for estimating a surveying reference point using information on the electronic reference point estimated by the above-described processing will be described.
After the estimation of the electronic reference point is completed, the positioning point estimation device 1 accepts input of identification information of a plurality of survey reference points and input of instructions for estimation processing of these survey reference points (step S201). Then, the information reading unit 11 reads the coordinates calculated in the past and the moving speed at the coordinates for each of the accepted surveying reference points from the database 19 (step S202). Then, the information reading unit 11 transfers the read information to the surveying reference point estimation unit 16.

  The surveying reference point estimation unit 16 identifies a plurality of predetermined electronic reference points near the surveying reference point via the information reading unit 11 by comparing the coordinates of the surveying reference point and the electronic reference point, and The coordinates of the reference point and the moving speed at the coordinates are acquired (step S203). Then, the coordinates of each survey reference point are corrected to the coordinates integrated on the same day as the day when the coordinate of the electronic reference point is calculated (the day on which this processing is performed) (step S204). This process is the same process as the correction of the electronic reference point formation value at the electronic reference point described above. Then, using the coordinates and movement speeds of the respective survey reference points created (formed) on the same day, the coordinates of the plurality of electronic reference points calculated on the same day and the movement speeds at the coordinates are used. Then, the estimated values (coordinates and moving speed) at the same time for each surveying reference point are calculated by the four-dimensional integrated network average calculation formula (step S205). The calculation of the four-dimensional integrated network average is the same as the estimation process at the electronic reference point described above. In this calculation, vector V is the residual, vector X is the coordinates of the unknown positioning point, vector S is the rate of change (moving speed) of the coordinates of the unknown positioning point, and L is the observed value (the coordinates of the known positioning point and the electron The length of the base line connecting the reference point and its vector), A is a design matrix (design matrix), G is a coefficient matrix, and the positioning point is a survey reference point.

  Then, the surveying reference point estimation unit 16 associates a value X ^ obtained by estimating the coordinates of the surveying reference point obtained by the above calculation with a new moving speed S ^ (estimated value) at the coordinates in the database. 19 (step S206). When the positioning point estimation apparatus 1 is downsized and the user holds it and is at the position of the survey reference point, the survey reference point estimation unit 16 estimates the coordinates of the survey reference point coordinates obtained by the above calculation. X ^ and the new moving speed S ^ (estimated value) at the coordinates may be transferred to the reader / writer 18 and written to a position information storage device such as an IC tag in accordance with a user instruction. In this case, the calculated information acquired by the reader / writer 18 from the surveying reference point estimation unit 16 is written in the position information storage device. According to the above processing, since the values are estimated by a four-dimensional integrated network average using the coordinates of a plurality of electronic reference points and survey reference points created (formed) on the same day, the accuracy of It is possible to calculate the coordinates and movement speed of a high current survey reference point, and to measure the position with high accuracy even in various devices that read and processed information from the position information writing device installed at this survey reference point Will be able to do.

FIG. 5 is a diagram showing an outline of the survey reference point estimation process.
In this figure, using five electronic reference points (electronic reference points A to E) and four surveying reference points, the coordinates and movement speeds of the four surveying reference points are estimated, and new coordinates and movements are obtained. It shows how the speed is being sought. In this way, the accuracy of the surveying reference point is obtained by the process of creating (forming) the coordinates calculated in the past of each positioning point on the same day by the estimation process and the four-dimensional integrated network average shown in FIG. High coordinates and moving speed can be calculated.

FIG. 6 is a diagram illustrating a processing flow of an arbitrary positioning point estimation process.
Next, a process for estimating an arbitrary positioning point using the information of the survey reference point estimated by the above process will be described.
After the estimation of the survey reference point is completed, the positioning point estimation apparatus 1 accepts input of identification information of one arbitrary positioning point and input of an instruction for estimation processing of the arbitrary positioning point (step S301). Then, the information reading unit 11 uses the coordinates calculated in the past for the received arbitrary positioning point and the moving speed at the coordinates (this moving speed is a speed determined from the rate of change by the internal ratio of the baseline length as a first approximation. .) Is read from the database 19 (step S302). Then, the information reading unit 11 transfers the read information to the arbitrary positioning point estimation unit 17.

  The arbitrary positioning point estimation unit 17 specifies the coordinates of a plurality of surveying reference points near the arbitrary positioning point via the information reading unit 11 by comparing the coordinates of the surveying reference point and the coordinates of the arbitrary positioning point, and The coordinates of the reference point and the moving speed at the coordinates are acquired (step S303). Then, the coordinates of the arbitrary positioning point are corrected to the coordinates integrated on the same day as the day when the coordinate of the surveying reference point is calculated (the day on which this processing is performed) (step S304). This process is the same process as the correction of the electronic reference point formation value at the electronic reference point described above. Then, using the coordinates at the arbitrary positioning points and their movement speeds created in a unified manner on the same day, the coordinates of the plurality of survey reference points calculated on the same day and the movement speeds at those coordinates, By using the integrated network average calculation formula, an estimated value of coordinates and moving speed for an arbitrary positioning point is calculated (step S305). The calculation of the four-dimensional integrated network average is the same as the re-estimation process at the electronic reference point. In this calculation, the vector V is the residual, the vector X is the coordinates of the unknown positioning point, the vector S is the rate of change (moving speed) of the coordinates of the unknown positioning point, and L is the observed value (the coordinates of the arbitrary positioning point and the survey) The length of the base line connecting to the reference point and its vector), A is a design matrix (design matrix), G is a coefficient matrix, and the positioning point is an arbitrary positioning point.

  Then, the arbitrary positioning point estimation unit 17 associates the value X ^ obtained by estimating the coordinates of the arbitrary positioning point obtained by the above calculation and the new moving speed S ^ (estimated value) at the coordinates with the calculation date and time. 19 (step S306). When the positioning point estimation apparatus 1 is downsized and the user holds it and is at the position of the arbitrary positioning point, the arbitrary positioning point estimation unit 17 estimates the coordinates of the arbitrary positioning point obtained by the above calculation. X ^ and the new moving speed S ^ (estimated value) at the coordinates may be transferred to the reader / writer 18 and written to a position information storage device such as an IC tag in accordance with a user instruction. In this case, the calculated information acquired by the reader / writer 18 from the arbitrary positioning point estimation unit 17 is written in the position information storage device. According to the above processing, using the coordinates of a plurality of arbitrary positioning points and survey reference points created (formed) on the same day, the value of the arbitrary positioning point is further estimated by a four-dimensional integrated network average. Therefore, it is possible to calculate the coordinates and movement speed of the current arbitrary positioning point with high accuracy, and it is highly accurate even in various devices that read and process information from the position information writing device installed at this arbitrary positioning point. It becomes possible to perform measurement of a correct position.

FIG. 7 is a diagram showing an outline of the estimation process of the electronic reference point.
In this figure, using the information of three surveying reference points (surveying reference points A to C) and one arbitrary positioning point, the coordinates and moving speed of the arbitrary positioning point are estimated, and new coordinates and moving speed are obtained. It shows how they are seeking. As described above, it is possible to calculate coordinates and moving speeds with high accuracy at an arbitrary positioning point by the processing (formation) that is unified (formed) on the same day and the four-dimensional integrated network average shown in FIG.

  In the present embodiment, the function and processing of the positioning point estimation apparatus 1 including each processing unit and database as shown in FIG. 1 have been described. However, each processing unit and database are provided in a plurality of devices and communicate with each other. As a result, the above-described processing may be performed. For example, the database 19 may be provided in the server. Further, the terminal includes an electronic reference point chemical value correction unit 14, an electronic reference point estimation unit 15, a surveying reference point estimation unit 16, an arbitrary positioning point estimation unit 17, and a reader / writer 18, and the server includes other processing units and a database 18. Thus, the above-described processing may be performed while communicating between the terminal and the server. Further, the function of the positioning point estimation device 1 of FIG. 1 is provided in a server, and the processing result of the server is distributed to the location information storage device via a wired or wireless communication network, and provided in the location information storage device. The information may be written in the position information storage device when the received receiving device receives the distributed information.

  In this embodiment, four-dimensional integrated network average calculation is performed using information (coordinates) created in a unified manner on the day of processing. Similarly, it is created in a unified manner on future and past days. The estimated values in the past and the future may be calculated by performing the four-dimensional integrated network average calculation using the information (coordinates).

  In addition, by installing position information storage devices at countless arbitrary positioning points, for example, information can be read from the position information storage device and used for automatic driving systems such as automobiles and detection systems such as lost children.

  In addition, the above-mentioned positioning point estimation apparatus has a computer system inside. The process described above is stored in a computer-readable recording medium in the form of a program, and the above process is performed by the computer reading and executing this program. Here, the computer-readable recording medium means a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.

  The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, and what is called a difference file (difference program) may be sufficient.

It is a block diagram which shows the structure of a positioning point estimation apparatus. It is a figure which shows the processing flow of an estimation process of an electronic reference point. It is a figure which shows the outline | summary of the estimation process of an electronic reference point. It is a figure which shows the processing flow of the estimation process of a surveying reference point. It is a figure which shows the outline | summary of the estimation process of a surveying reference point. It is a figure which shows the processing flow of the estimation process of arbitrary positioning points. It is a figure which shows the outline | summary of the estimation process of an electronic reference point.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Positioning point estimation apparatus 11 ... Information reading part 12 ... Electronic reference point 1st formation part 13 ... Movement distance change rate calculation part 14 ... Electronic reference point formation value correction | amendment part 15 ... Electronic reference point estimation unit 16 ... Surveying reference point estimation unit 17 ... Arbitrary positioning point estimation unit 18 ... Reader / writer 19 ... Database

Claims (8)

IGS (International Global Navigation Satellite System Service) coordinates and rate of change reading means to read the coordinates and movement speed per unit period, and the coordinates of the electronic reference point published by the Geospatial Information Authority of Japan,
An electronic reference point formation means for forming an electronic reference point formation value by forming the coordinates of the electronic reference point obtained by baseline analysis using the coordinates of the IGS point;
A moving speed calculating means for calculating a moving speed of the electronic reference point per interval unit of the different calculation time points based on a difference between the electronic reference point formation values of the electronic reference points of different calculation time points;
The electronic reference point formation value of a plurality of different electronic reference points calculated at a certain calculation time point and the movement speed calculated for the coordinates indicated by the electronic reference point formation value are read, and the electronic reference point formation value and the movement speed are read. Electronic reference point formation value correcting means for calculating an electronic reference point formation value after correction at the same time for each of the plurality of different electronic reference points, using the combination information of,
A four-dimensional integrated network using the corrected electronic reference point formation value at the same time for each of the plurality of different electronic reference points, the moving speed at each electronic reference point, the coordinates of the IGS point, and the moving speed at the coordinates. Electronic reference point estimation means for calculating the estimated value of the coordinate at the same point in time for each of the plurality of different electronic reference points and the new movement speed at the coordinates with an average calculation formula,
A positioning point estimation device comprising: The re-formation value of the corrected electronic reference point formation value at the same time for each of the plurality of different electronic reference points, the new movement speed at the coordinates thereof, and the past coordinate values and movement speeds of the plurality of survey reference points. Using the four-dimensional integrated network average calculation formula, the survey reference point estimation means for calculating the coordinate value and the moving speed at the present survey past or future in the survey reference point with high accuracy,
The positioning point estimation apparatus according to claim 1, comprising: Using the coordinates at the same time for each of the plurality of different surveying reference points and the movement speed at the coordinates, and the past coordinate value and movement speed of the arbitrary positioning point, the arbitrary positioning point according to the four-dimensional integrated network average calculation formula Arbitrary positioning point estimation means for calculating the coordinate value and the moving speed in either the present or the past or the future with high accuracy,
The positioning point estimation apparatus according to claim 1, comprising: A positioning point estimation method in a positioning point estimation device,
The coordinates and change rate reading means of the positioning point estimation device read the coordinates of the IGS (International Global Navigation Satellite System Service) point, the movement speed per unit period, and the coordinates of the electronic reference point published by the Geospatial Information Authority of Japan. ,
The electronic reference point formation means of the positioning point estimation device forms the coordinates of the electronic reference point obtained by baseline analysis using the coordinates of the IGS point, calculates the electronic reference point formation value,
The moving speed calculation means of the positioning point estimation device calculates the moving speed of the electronic reference point per interval unit at the different calculation time points based on the difference between the electronic reference point formation values of the electronic reference points at different calculation time points. And
The electronic reference point formation value correcting means of the positioning point estimation device calculates the electronic reference point formation values of a plurality of different electronic reference points calculated at a certain calculation time point and the coordinates indicated by the electronic reference point formation values. Read the moving speed, using the information of the combination of the electronic reference point formation value and the moving speed, calculate the corrected electronic reference point formation value at the same time for each of the plurality of different electronic reference points,
The electronic reference point estimator of the positioning point estimation device includes a corrected electronic reference point formation value at the same time for each of the plurality of different electronic reference points, a moving speed at each electronic reference point, coordinates of the IGS point, and The estimated value of the coordinate at the same time for each of the plurality of different electronic reference points and the new movement speed at the coordinate are calculated with high accuracy by the four-dimensional integrated network average calculation formula using the movement speed at the coordinate. A positioning point estimation method characterized by that. The surveying reference point estimation means of the positioning point estimation device includes a plurality of different electronic reference points at the same time, a re-formed value of the corrected electronic reference point formed value and the new movement speed at the coordinates, Using the past coordinate value and movement speed of the survey reference point, the coordinate value and the movement speed at the current or past or future at the survey reference point are calculated with high accuracy by the four-dimensional integrated network average calculation formula. The positioning point estimation method according to claim 4, wherein: Arbitrary positioning point estimation means of the positioning point estimation device, using the coordinates at the same time for each of the plurality of different surveying reference points and the movement speed at the coordinates, and the past coordinate value and movement speed of the arbitrary positioning point, The positioning point estimation method according to claim 4, wherein the coordinate value and the moving speed at the present, past or future at the arbitrary positioning point are calculated with high accuracy by a four-dimensional integrated network average calculation formula.   A positioning point estimation program for causing a computer to function as the positioning point estimation device according to claim 1.   A computer-readable recording medium storing the positioning point estimation program according to claim 7.

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