JP2009243940A - Gnss receiving device and positioning method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To raise measurement precision by performing positioning calculation by masking a GNSS satellite transmitting a positioning signal being under influence of mountains. <P>SOLUTION: A GNSS receiving device 100 which performs positioning calculation based on the positioning signal transmitted from a GNSS satellite 200 includes a GNSS satellite selecting means selecting a GNSS satellite which transmits the positioning signal being under influence of mountains and a first positioning calculation means performing positioning calculation by masking the GNSS satellite selected by the GNSS satellite selecting means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a GNSS receiver and a positioning method for receiving a signal from a GNSS orbiting satellite and measuring the position and velocity.

  The Global Navigation Satellite System (GNSS) is a system that obtains the distance from each GNSS satellite by capturing three navigation satellites (GNSS orbiting satellites) (hereinafter referred to as GNSS satellites) from the aircraft. It is a navigation system that can obtain the flight position in three dimensions of the aircraft by adjusting the time with the signal from the eye navigation satellite. This satellite navigation includes the Global Positioning System (GPS), Galileo, etc.

For example, a GNSS receiver is mounted on a moving body and measures the position and speed of the moving body. For example, the GNSS receiving device measures the distances from the plurality of GNSS satellites to the own GNSS receiving device by receiving radio waves from a plurality of GNSS satellites, and based on these measured values, the GNSS receiving device Performs positioning of the mounted mobile unit. The signal emitted by the GNSS satellite arrives at the GNSS receiver with a delay of the time that the radio wave propagates the distance between the GNSS satellite and the GNSS receiver. Therefore, if the time required for radio wave propagation is obtained for a plurality of GNSS satellites, the position of the GNSS receiver can be obtained by positioning calculation. For example, for radio waves emitted by a plurality of GNSS satellites, the distance from each GNSS satellite to the GNSS receiver is determined by the distance measuring unit of the GNSS receiver. Then, the positioning calculation unit obtains the position of the GNSS receiver based on the distance obtained by the ranging unit.
JP 2000-75010 A JP 2006-242911 A

  However, the background art described above has the following problems.

  It is known that signals emitted by GNSS satellites located in the low elevation area are noisy. To avoid using signals emitted by GNSS satellites located in this low elevation area for positioning, the following methods are available.

  For example, as shown in FIG. 1, the mask angle threshold value is determined in advance. A GNSS satellite located in an area below the threshold value of the mask angle is not used (masked). For example, a method for efficiently determining the line-of-sight range between space and the ground has been proposed (see, for example, Patent Document 1).

  Further, a method has been proposed in which a C / N of a signal emitted from a GNSS satellite is estimated in a GNSS receiver and a signal transmitted from a GNSS satellite having a good C / N is used (for example, Patent Document 2). reference).

  However, in the above method, unnecessary GNSS satellites may be employed. In some cases, GNSS satellites that do not need to be masked are masked. As a result, the FIX rate may decrease. Here, the FIX rate indicates that the position can be specified with high accuracy. The FIX rate may be referred to as a high accuracy solution.

  In addition, when a vehicle equipped with a GNSS receiver passes between buildings, the transit time is short, so positioning can be performed based on signals emitted by GNSS satellites located in low elevation angles. The impact is limited. However, when the vehicle passes in the vicinity of a mountain, since the passing time takes a long time, the influence becomes large.

  The present invention has been made in view of the above points, and an object thereof is to provide a GNSS receiver and a positioning method that can improve positioning accuracy.

In order to solve the above problems, the GNSS receiver
A GNSS receiver that performs a positioning operation based on a positioning signal transmitted by a GNSS satellite, and a GNSS satellite selecting means for selecting a GNSS satellite that transmits a positioning signal affected by a mountain;
First positioning calculation means for performing positioning calculation by masking the GNSS satellite selected by the GNSS satellite selection means.

  With this configuration, it is possible to perform a positioning calculation by masking a GNSS satellite that transmits a positioning signal affected by a mountain.

This GNSS receiver
A GNSS receiver that performs a positioning operation based on a positioning signal transmitted by a GNSS satellite, and a GNSS satellite selecting means for selecting a GNSS satellite that transmits a positioning signal affected by a mountain;
Second positioning calculation means for performing positioning calculation such that weighting for the GNSS satellite selected by the GNSS satellite selection means is different from weighting for GNSS satellites other than the selected GNSS satellite.

  With this configuration, it is possible to perform the positioning calculation so that the weighting for the GNSS satellite that transmits the positioning signal affected by the mountain is different from the weighting for the GNSS satellite other than the GNSS satellite.

In another example,
The second positioning calculation means performs positioning calculation by masking some GNSS satellites among the selected GNSS satellites.

  With this configuration, one of the selected GNSS satellites is masked, and the positioning calculation is performed so that the weight for the other GNSS satellite is different from the weight for the unselected GNSS satellite. be able to.

In other examples,
The GNSS satellite selection means monitors the selected GNSS satellite, and cancels the selection of the GNSS satellite when it is determined that the positioning signal transmitted from the GNSS satellite is not affected by the mountain.

  With this configuration, when it is determined that the positioning signal transmitted from the GNSS satellite is not affected by the mountain, the positioning signal transmitted by the GNSS satellite can be added to the positioning calculation.

In other examples,
A reception quality measuring means for measuring the reception quality of the positioning signal;
The GNSS satellite selection means is based on the reception quality measured by the reception quality measurement means, and includes at least the amount of change in reception quality at a predetermined time, the number of changes in reception quality at a predetermined time, and the number of interruptions at a predetermined time Based on one, a GNSS satellite that transmits a positioning signal affected by the mountain is selected.

  With this configuration, it is possible to select a GNSS satellite that transmits a positioning signal whose positioning signal is affected by a mountain.

In other examples,
A reception quality measuring means for measuring the reception quality of the positioning signal;
The GNSS satellite selection unit determines whether to mask the satellite or change the weight for the satellite based on the reception quality measured by the reception quality measurement unit and the elevation angle corresponding to the satellite.

  With this configuration, it is possible to determine whether to mask the satellite or change the weight for the satellite based on the measured reception quality and the elevation angle corresponding to the satellite. For example, in the relationship between the elevation angle and the reception quality, the range of the reception quality of the satellite to be masked for each elevation angle and the range of the reception quality of the satellite whose weighting is changed are determined in advance.

In other examples,
The reception quality measuring means measures the reception quality of the correction signal transmitted from the reference station,
The GNSS satellite selection means masks the satellite or changes the weight for the satellite based on the reception quality of the positioning signal and the correction signal measured by the reception quality measurement means and the elevation angle corresponding to the satellite. Determine whether.

  With this configuration, it is possible to determine whether to mask the satellite or change the weighting for the satellite based on the measured reception quality and correction signal and the elevation angle corresponding to the satellite.

In other examples,
Depending on the elevation angle, the condition of reception quality for determining whether to mask the satellite or change the weighting for the satellite is different.

In other examples,
A reception quality measuring means for measuring the reception quality of the positioning signal;
The GNSS satellite selection means masks the satellite based on the correlation between the reception quality of the positioning signal calculated for each satellite and whether or not the positioning solution calculated by the positioning signal is a high-precision solution. Determine whether or not.

  By configuring in this way, the reception value of the positioning signal calculated for each satellite and the correlation value as to whether the positioning solution calculated by the positioning signal is a high-precision solution are obtained, and the correlation value Whether or not to mask the satellite can be determined.

In other examples,
A reception quality measuring means for measuring the reception quality of the positioning signal;
The first positioning calculation means determines that the positioning signal corresponding to the satellite determined to be masked is used when the number of usable positioning signals is less than the number required for the positioning calculation, and the satellite determined to be masked. Positioning calculation is performed using the positioning signal including the positioning signal corresponding to, and the positioning signal corresponding to the satellite determined to be masked is corrected based on the positioning value when the high-accuracy solution is obtained.

  With this configuration, even when the number of usable positioning signals is less than the number necessary for the positioning calculation, the positioning calculation can be performed.

In other examples,
The reception quality is a carrier-to-noise ratio.

  With this configuration, the positioning calculation can be performed based on the carrier-to-noise ratio.

In other examples,
The predetermined time is not less than 1 epoch and not more than a time interval for performing baseline analysis.

  With this configuration, it is possible to obtain the amount of change in reception quality, the number of reception quality fluctuations, and the number of interruptions in a predetermined time that is one epoch or more and less than the time interval for performing baseline analysis.

This positioning method is
A positioning method in a GNSS receiver that performs a positioning calculation based on a positioning signal transmitted by a GNSS satellite,
A GNSS satellite selection step for selecting a GNSS satellite that transmits a positioning signal affected by a mountain;
A positioning calculation step of performing positioning calculation by masking the GNSS satellite selected in the GNSS satellite selection step.

  By doing in this way, it is possible to perform the positioning calculation while masking the GNSS satellite that transmits the positioning signal affected by the mountain.

This positioning method is
A positioning method in a GNSS receiver that performs a positioning calculation based on a positioning signal transmitted by a GNSS satellite,
A GNSS satellite selection step for selecting a GNSS satellite that transmits a positioning signal affected by a mountain;
A positioning calculation step for performing a positioning calculation such that the weighting for the GNSS satellite selected in the GNSS satellite selection step is different from the weighting for the GNSS satellites other than the selected GNSS satellite.

  With this configuration, it is possible to perform the positioning calculation so that the weighting for the GNSS satellite that transmits the positioning signal affected by the mountain is different from the weighting for the GNSS satellite other than the GNSS satellite.

In another example,
The positioning calculation step performs positioning calculation by masking some of the selected GNSS satellites.

  With this configuration, one of the selected GNSS satellites is masked, and the positioning calculation is performed so that the weight for the other GNSS satellite is different from the weight for the unselected GNSS satellite. be able to.

  According to the embodiment of the present invention, a GNSS receiver and a positioning method that can improve positioning accuracy can be realized.

  Next, the best mode for carrying out the present invention will be described based on the following embodiments with reference to the drawings.

  In all the drawings for explaining the embodiments, the same reference numerals are used for those having the same function, and repeated explanation is omitted.

(First embodiment)
A GNSS (Global Navigation Satellite System) according to the present embodiment will be described with reference to FIG.

  The GNSS according to this embodiment includes a GNSS receiver 100.

  The GNSS receiver 100 according to the present embodiment includes a receiving unit 102. The receiving unit 102 receives the positioning signal transmitted from the GNSS satellite 200 and inputs it to the positioning processing unit 104. The GNSS satellite 200 includes, for example, a GPS (Global Positioning System) satellite, Glonas (GLONASS), Galileo (GALILEO), and the like. In the present embodiment, a case where a GPS satellite is applied will be described as an example, but another satellite may be applied.

  In this embodiment, as an example of the positioning technique applied to the GNSS receiver 100, a case where relative positioning is applied will be described, but the present invention can also be applied to single positioning. For example, RTK-GPS (realtime kinematic GPS) is applied as an example of relative positioning. In RTK-GPS, GNSS receivers for precision measurement are installed at both the reference point and the positioning point. In RTK-GPS, the observation data at the reference point and the positioning point are analyzed, and the relative positional relationship between the reference point and the positioning point, that is, the baseline vector is determined with high accuracy.

  In RTK-GPS, the reference station 300 is installed at a fixed position. This reference station 300 may be called a base station. In RTK-GPS, a relative positioning technique for obtaining a baseline solution using the carrier phase integrated value in the reference station 300 and the GNSS receiver 100 is applied. The reference station 300 receives the positioning signal transmitted from the GNSS satellite 200, and calculates the carrier phase integrated value based on the positioning signal. Then, the reference station 300 transmits a correction signal including the calculated carrier phase signal.

  The GNSS receiver 100 according to the present embodiment includes a positioning processing unit 104. The positioning processing unit 104 receives the correction signal transmitted from the reference station 300. Further, the positioning processing unit 104 obtains the reception quality of the positioning signal input by the receiving unit 102. Then, the positioning processing unit 104 selects a satellite based on the obtained reception quality. Then, the positioning processing unit 104 obtains a positioning solution of the GNSS receiving apparatus 100 based on the positioning signal received from the selected satellite and the correction information received from the reference station 300.

  The GNSS receiver 100 according to the present embodiment includes a reception quality measuring unit 1042. The reception quality measuring unit 1042 measures the reception quality of the positioning signal based on the positioning signal input by the receiving unit 102. For example, the reception quality measurement unit 1042 may obtain a carrier-to-noise ratio of the positioning signal. The carrier-to-noise ratio is also called C / N or CNR. Reception quality measurement section 1042 inputs the measured reception quality information to satellite selection section 1046 described later.

  The GNSS receiver 100 according to the present embodiment includes a satellite selection unit 1046. The satellite selection unit 1046 selects a satellite based on the reception quality input by the reception quality measurement unit 1042. For example, the satellite selection unit 1046 selects a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain. In this embodiment, a case will be described in which a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain is masked. For example, the satellite selection unit 1046 selects a satellite to be masked based on the reception quality input by the reception quality measurement unit 1042. For example, reception quality is input to the satellite selection unit 1046 for each epoch by the reception quality measurement unit 1042. Here, the epoch (EPOCH) is a measurement interval or a data cycle in which observation is performed. The satellite selection unit 1046 may select a satellite to be masked based on the input reception quality. The satellite selection unit 1046 determines that a satellite having a C / N change amount ΔC / N equal to or greater than a predetermined threshold for a predetermined time T is masked. The satellite selection unit 1046 inputs information indicating the satellite determined to be masked to the positioning calculation unit 1044 described later. Here, the predetermined time T is not less than the time during which the change amount C / N of C / N can be observed, preferably not less than 1 epoch, and not more than the time interval for performing the baseline analysis. ΔC / N is preferably equal to or greater than the amount of change in C / N when a bad positioning result is obtained. For example, the C / N for the epoch is input to the satellite selection unit 1046 as shown in FIG.

  The satellite selection unit 104 may monitor the satellite to be masked. For example, the satellite selection unit 104 keeps the selected satellite masked for a predetermined time and continues to select the satellite to be masked. In other words, the satellite selection unit 104 performs a process of selecting a satellite to be masked at a predetermined cycle. Here, the predetermined period is determined based on the load on the process of selecting the satellite performed in the satellite selection unit 104. Moreover, it is preferable that the predetermined period is a time enough to confirm the selected satellite. For example, it is preferably about several seconds.

  The GNSS receiver 100 according to the present embodiment includes a positioning calculation unit 1044. The positioning calculation unit 1044 receives the positioning signal transmitted by the satellite other than the satellite determined to be masked and the reference station 300 based on the information indicating the satellite determined to be masked input by the satellite selection unit 1046. Based on the correction information, a positioning solution of the GNSS receiver 100 is obtained. For example, the positioning calculation unit 1044 obtains position information based on a positioning signal corresponding to a satellite other than the satellite selected when masked by the satellite selection unit 1046 among the positioning signals input by the receiving unit 102. Then, the positioning calculation unit 1044 corrects the error included in the position information based on the received correction information. As a result, a positioning solution is obtained.

  More specifically, the positioning calculation unit 1044 obtains position information based on positioning signals corresponding to satellites other than the satellite selected when the satellite selection unit 1046 masks the positioning signals input by the receiving unit 102. Ask. For example, as shown in FIG. 4, a mask line is formed so as to mask a satellite determined to be masked. The positioning calculation unit 1044 calculates the carrier phase integrated value of each positioning signal based on the positioning signal corresponding to the satellite other than the satellite selected when the satellite selection unit 1046 masks the positioning signal input by the receiving unit 102. calculate. Then, the positioning processing unit 104 calculates a double phase difference between the carrier phase integrated value of each positioning signal and the received correction information. For example, integer bias determination may be performed by an OTF (on-the-fly) method. In the OTF method, the integer part (integer value bias) of the phase difference is determined. And the positioning calculating part 1044 correct | amends the error contained in the calculated | required positional information based on the calculated double phase difference. The exact location of the reference station 300, such as latitude, longitude and altitude, is known. Also, the exact orbit of each satellite is known. For example, the orbit of each satellite can be known from satellite orbit information such as almanac and ephemeris. For this reason, the error contained in the position information detected from the positioning signal is corrected by calculating the double phase difference between the carrier phase integrated value of each positioning signal and the carrier phase integrated value obtained by the reference station 300. be able to.

  In addition, the positioning calculation unit 1044 monitors at least one of residual fluctuation, FIX fluctuation, and noise. Then, the positioning calculation unit 1044 may cause the satellite selection unit 1046 to stop the process of selecting a satellite to be masked at a predetermined cycle according to the monitoring result. For example, the positioning calculation unit 1044 may stop the process of selecting a satellite to be masked when the variation in the residual is equal to or less than the residual when the positioning result is bad. For example, the satellite selection unit 1046 performs a regression analysis of C / N with respect to time, and obtains a difference between the measured C / N and a value predicted as a result of the regression analysis as a residual. Further, for example, the positioning calculation unit 1044 causes the satellite selection unit 1046 to stop the process of selecting the satellite to be masked when the FIX variation is equal to or less than the FIX variation when the positioning result is poor. May be. Further, for example, the satellite selection unit 1046 may stop the process of selecting the satellite to be masked when the noise is equal to or lower than the noise when the positioning result is bad. If the positioning calculation unit 1044 determines to stop the process of selecting the satellite to be masked, it instructs the satellite selection unit 1046 to stop the process of selecting the satellite to be masked.

  In general, C / N is the ratio of signal to noise, so the larger the C / N value, the better the communication quality, and the smaller the C / N value, the greater the influence of noise. It is said that However, regarding the positioning result, the positioning result may be deteriorated even if C / N is large. Therefore, simply focusing on the absolute value of C / N is not sufficient to determine which satellite should not be used. Therefore, in this embodiment, it is determined whether or not the corresponding satellite is masked based on the C / N fluctuation amount. By doing in this way, positioning accuracy can be improved and FIX rate can be improved.

(Second embodiment)
The configuration of the GNSS and the configuration of the receiving apparatus 100 according to the present embodiment are the same as those in the above-described embodiment.

  The GNSS receiver 100 according to the present embodiment differs from the above-described embodiment in the function of the satellite selection unit 1046.

  The satellite selection unit 1046 selects a satellite based on the reception quality input by the reception quality measurement unit 1042. For example, the satellite selection unit 1046 selects a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain. In this embodiment, a case will be described in which a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain is masked. For example, the satellite selection unit 1046 selects a satellite to be masked based on the reception quality input by the reception quality measurement unit 1042. For example, reception quality is input to the satellite selection unit 1046 for each epoch by the reception quality measurement unit 1042. Here, the epoch is a measurement interval or a data cycle in which observation is performed. The satellite selection unit 1046 selects a satellite to be masked based on the received reception quality. The satellite selection unit 1046 determines to mask a satellite whose C / N fluctuation count is equal to or greater than a predetermined threshold for a predetermined time T. The satellite selection unit 1046 inputs information indicating the satellite determined to be masked to the positioning calculation unit 1044. Here, the predetermined time T is not less than the time during which the change amount C / N of C / N can be observed, preferably not less than 1 epoch, and not more than the time interval for performing the baseline analysis. Further, the number of C / N fluctuations is preferably equal to or more than the number of C / N fluctuations when a bad positioning result is obtained. For example, the C / N for the epoch is input to the satellite selection unit 1046 as shown in FIG.

  The satellite selection unit 104 may monitor the satellite to be masked. For example, the satellite selection unit 104 keeps the selected satellite masked for a predetermined time and continues to select the satellite to be masked. In other words, the satellite selection unit 104 performs a process of selecting a satellite to be masked at a predetermined cycle. Here, the predetermined period is determined based on the load on the process of selecting the satellite performed in the satellite selection unit 104. Moreover, it is preferable that the predetermined period is a time enough to confirm the selected satellite. For example, it is preferably about several seconds.

  According to the present embodiment, it is determined whether or not to mask the corresponding satellite based on the number of C / N fluctuations. By doing in this way, positioning accuracy can be improved and FIX rate can be improved.

(Third embodiment)
The configuration of the GNSS and the configuration of the receiving apparatus 100 according to the present embodiment are the same as those in the above-described embodiment.

  The GNSS receiver 100 according to the present embodiment differs from the above-described embodiment in the function of the satellite selection unit 1046.

  The GNSS receiver 100 according to the present embodiment includes a satellite selection unit 1046. The satellite selection unit 1046 selects a satellite based on the reception quality input by the reception quality measurement unit 1042. For example, the satellite selection unit 1046 selects a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain. In this embodiment, a case will be described in which a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain is masked. For example, the satellite selection unit 1046 selects a satellite to be masked based on the reception quality input by the reception quality measurement unit 1042. For example, reception quality is input to the satellite selection unit 1046 for each epoch by the reception quality measurement unit 1042. Here, the epoch is a measurement interval or a data cycle in which observation is performed. The satellite selection unit 1046 selects a satellite to be masked based on the received reception quality. The satellite selection unit 1046 determines that a satellite whose number of interruptions occurring at the predetermined time T is greater than or equal to a predetermined threshold is masked with respect to the predetermined time T. The satellite selection unit 1046 inputs information indicating the satellite determined to be masked to the positioning calculation unit 1044 described later. Here, the predetermined time T is not less than the time during which the change amount C / N of C / N can be observed, preferably not less than 1 epoch, and not more than the time interval for performing the baseline analysis. Moreover, it is preferable that the frequency | count of interruption | blocking is more than the frequency | count of interruption | blocking when it becomes a bad positioning result. For example, the C / N for the epoch is input to the satellite selection unit 1046 as shown in FIG.

  The satellite selection unit 104 may monitor the satellite to be masked. For example, the satellite selection unit 104 keeps the selected satellite masked for a predetermined time and continues to select the satellite to be masked. In other words, the satellite selection unit 104 performs a process of selecting a satellite to be masked at a predetermined cycle. Here, the predetermined period is determined based on the load on the process of selecting the satellite performed in the satellite selection unit 104. Moreover, it is preferable that the predetermined period is a time enough to confirm the selected satellite. For example, it is preferably about several seconds.

  According to the present embodiment, it is determined whether or not the corresponding satellite is to be masked based on the number of interruptions at a predetermined time. By doing in this way, positioning accuracy can be improved and FIX rate can be improved.

(Fourth embodiment)
The configuration of the GNSS and the configuration of the receiving apparatus 100 according to the present embodiment are the same as those in the above-described embodiment.

  The GNSS receiver 100 according to the present embodiment differs from the above-described embodiments in the functions of the satellite selection unit 1046 and the positioning calculation unit 1044.

  The GNSS receiver 100 according to the present embodiment includes a satellite selection unit 1046. The satellite selection unit 1046 selects a satellite based on the reception quality input by the reception quality measurement unit 1042. For example, the satellite selection unit 1046 selects a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain. In this embodiment, a case will be described in which a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain is masked. For example, reception quality is input to the satellite selection unit 1046 for each epoch by the reception quality measurement unit 1042. Here, the epoch is a measurement interval or a data cycle in which observation is performed. The satellite selection unit 1046 may select a satellite having a C / N change amount ΔC / N equal to or greater than a predetermined threshold with respect to a predetermined time T. In addition, the satellite selection unit 1046 may select a satellite whose C / N fluctuation count is greater than or equal to a predetermined threshold with respect to the predetermined time T. The satellite selection unit 1046 may select a satellite for which the number of interruptions occurring at the predetermined time T is equal to or greater than a predetermined threshold with respect to the predetermined time T. The satellite selection unit 1046 inputs information indicating the selected satellite to the positioning calculation unit 1044 described later. Here, the predetermined time T is not less than the time during which the change amount C / N of C / N can be observed, preferably not less than 1 epoch, and not more than the time interval for performing the baseline analysis. Further, the C / N variation ΔC / N, the number of C / N fluctuations, and the number of interruptions are the same as in the above-described embodiment. For example, as shown in FIGS. 3, 5, and 6, C / N for the epoch is input to the satellite selection unit 1046.

  The positioning calculation unit 1044, based on the information indicating the satellite input by the satellite selection unit 1046, the positioning signal transmitted by the selected satellite and a satellite other than the selected satellite, and the correction received by the reference station 300 Based on the information, a positioning solution of the GNSS receiver 100 is obtained. When obtaining this positioning solution, the weights for the selected satellite and the satellites other than the selected satellite are changed.

  For example, the positioning calculation unit 1044 obtains position information based on the positioning signal input by the receiving unit 102. Then, the positioning calculation unit 1044 corrects the error included in the position information based on the received correction information. As a result, a positioning solution is obtained.

  More specifically, the positioning calculation unit 1044 obtains position information based on the positioning signal input by the receiving unit 102. The positioning calculation unit 1044 calculates the carrier phase integrated value of each positioning signal based on the positioning signal input by the receiving unit 102. Then, the positioning calculation unit 1044 calculates a double phase difference between the carrier phase integrated value of each positioning signal and the received correction information. For example, integer bias determination may be performed by an OTF (on-the-fly) method. In the OTF method, the integer part (integer value bias) of the phase difference is determined. And the positioning process part 104 correct | amends the error contained in the calculated | required positional information based on the calculated double phase difference. In this case, the double phase difference between the carrier phase integrated value of the positioning signal received from the selected satellite and the received correction information, the carrier phase integrated value of the positioning signal received from a satellite other than the selected satellite, and the reception The weighting may be changed between the double phase difference from the corrected information. For example, the double phase difference corresponding to the selected satellite may be set lower than the double phase difference corresponding to a satellite other than the selected satellite.

  According to this embodiment, a satellite is selected based on at least one of the amount of C / N fluctuation, the number of C / N fluctuations, and the number of interruptions in a predetermined time, and a weight corresponding to the selected satellite is selected. The weights corresponding to the satellites other than the selected satellite are set different from each other. By doing in this way, positioning accuracy can be improved and FIX rate can be improved. In this embodiment, the satellites are classified into a plurality based on at least one of the amount of C / N variation, the number of C / N variations, and the number of interruptions in a predetermined time, and weights are assigned to the plurality of classified satellites. It may be different. For example, the weighting for the plurality of satellites may be changed stepwise.

(Fifth embodiment)
The configuration of the GNSS and the configuration of the receiving apparatus 100 according to the present embodiment are the same as those in the above-described embodiment.

  The GNSS receiver 100 according to the present embodiment differs from the above-described embodiments in the functions of the satellite selection unit 1046 and the positioning calculation unit 1044.

  The GNSS receiver 100 according to the present embodiment includes a satellite selection unit 1046. The satellite selection unit 1046 selects a satellite based on the reception quality input by the reception quality measurement unit 1042. For example, the satellite selection unit 1046 selects a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain. In this embodiment, a case will be described in which a GNSS satellite that transmits a positioning signal that is greatly affected by a mountain is masked. For example, reception quality is input to the satellite selection unit 1046 for each epoch by the reception quality measurement unit 1042.

  Generally, C / N tends to increase as the elevation angle increases. For example, when the average of C / N measured at each elevation angle is obtained, the reference line of FIG. 7 is obtained. When the elevation angle is low, as shown in “distribution range of satellite 1”, C / N variation obtained at the elevation angle becomes large. Further, when the elevation angle is high, as shown in “Satellite 3”, the C / N variation obtained at the elevation angle is small. In the present embodiment, a reference line indicating an average of C / N with respect to the elevation angle is set in advance. Then, when a C / N is obtained that deviates greatly from the reference line, in other words, a difference from the reference line is large, it is determined that the satellite corresponding to the C / N is completely masked. It is determined that it corresponds to the “complete mask area” in FIG. If a C / N that does not deviate significantly from the reference line but is different from the reference line is obtained, it is determined that the satellites corresponding to the C / N have different weights. It is determined that it corresponds to the “region corresponding by weight” in FIG. The “complete mask area” and the “area corresponding to the weight” may be determined in advance based on variations in elevation angle. In other words, the reception quality condition for determining whether to mask the satellite or change the weighting for the satellite may be changed according to the elevation angle.

  The satellite selection unit 1046 obtains the elevation angle of the satellite corresponding to the received quality based on the received received quality. Then, the value on the reference line at the obtained elevation angle is compared with the input reception quality. When it is determined that the input reception quality is significantly different from the reference line, the satellite selection unit 1046 determines to mask the satellite corresponding to the reception quality. Also, if the input reception quality does not deviate significantly from the reference line, but it is determined that there is a difference from the reference line, the satellite selection unit 1046 assigns weights to the satellites corresponding to the reception quality to other satellites. It is determined to be different from the weighting.

  The positioning calculation unit 1044, based on the information indicating the satellite input by the satellite selection unit 1046, the positioning signal transmitted by the selected satellite and a satellite other than the selected satellite, and the correction received by the reference station 300 Based on the information, a positioning solution of the GNSS receiver 100 is obtained. Here, the information indicating the satellite may include information on the satellite determined to be masked and information on the satellite determined to correspond with the weight. When obtaining this positioning solution, the weights of the satellites determined to correspond with the weights, the satellites determined to be masked, and the satellites other than the satellites determined to correspond with the weights are changed.

  For example, the positioning calculation unit 1044 obtains position information based on the positioning signal input by the receiving unit 102. Then, the positioning calculation unit 1044 corrects the error included in the position information based on the received correction information. As a result, a positioning solution is obtained.

  More specifically, the positioning calculation unit 1044 obtains position information based on the positioning signal input by the receiving unit 102. The positioning calculation unit 1044 calculates the carrier phase integrated value of each positioning signal based on the positioning signal input by the receiving unit 102. Then, the positioning calculation unit 1044 calculates a double phase difference between the carrier phase integrated value of each positioning signal and the received correction information. For example, integer bias determination may be performed by an OTF (on-the-fly) method. In the OTF method, the integer part (integer value bias) of the phase difference is determined. And the positioning calculating part 1044 correct | amends the error contained in the calculated | required positional information based on the calculated double phase difference. In this case, the double phase difference between the carrier phase integrated value of the positioning signal received from the satellite determined to be supported by the weight and the received correction information, the satellite determined to be masked, and the satellite other than the satellite determined to be supported by the weight The weight may be changed between the carrier phase integrated value of the positioning signal received from the satellite and the double phase difference between the received correction information. For example, the double phase difference corresponding to the satellite determined to correspond with the weight is made lighter than the double phase difference corresponding to the satellite determined to be masked and the satellite other than the satellite determined to correspond with the weight. Also good.

  In addition, the positioning calculation unit 1044 monitors at least one of residual fluctuation, FIX fluctuation, and noise. Then, the positioning calculation unit 1044 may cause the satellite selection unit 1046 to stop the process of selecting a satellite to be masked at a predetermined cycle according to the monitoring result. For example, the positioning calculation unit 1044 may stop the process of selecting a satellite to be masked when the variation in the residual is equal to or less than the residual when the positioning result is bad. For example, the satellite selection unit 1046 performs a regression analysis of C / N with respect to time, and obtains a difference between the measured C / N and a value predicted as a result of the regression analysis as a residual. Further, for example, the positioning calculation unit 1044 causes the satellite selection unit 1046 to stop the process of selecting the satellite to be masked when the FIX variation is equal to or less than the FIX variation when the positioning result is poor. May be. Further, for example, the satellite selection unit 1046 may stop the process of selecting the satellite to be masked when the noise is equal to or lower than the noise when the positioning result is bad. If the positioning calculation unit 1044 determines to stop the process of selecting the satellite to be masked, it instructs the satellite selection unit 1046 to stop the process of selecting the satellite to be masked.

  In addition, the positioning calculation unit 1044 determines whether to mask a satellite that has been determined to be different from the previous determination, based on at least one monitoring result of residual variation, FIX variation, and noise. May be. For example, the case where the satellite previously determined to correspond to the “region corresponding to the weight” is determined to correspond to the “complete mask region” is applicable.

  Here, the reference line is described as an average of C / N measured at each elevation angle. The reference line may be a past average of reception quality obtained by each satellite, a function determined by the minimum value of reception quality obtained for each elevation angle, or a reference station installed in the vicinity. It is also possible to use a function that approximates the C / N relationship with respect to the elevation angle obtained in step (1). The function may be an exponential function.

  According to this embodiment, the corresponding satellite and the masking satellite can be classified by weighting, the weighting corresponding to the corresponding satellite by weighting, the weighting corresponding to the satellite corresponding to the weighting and the satellite other than the masking satellite, To be different. By doing in this way, positioning accuracy can be improved and FIX rate can be improved. In this embodiment, the satellites that are determined to be masked may be classified into a plurality, and the weights assigned to the plurality of satellites may be different. For example, the weighting for the plurality of satellites may be changed stepwise.

(Sixth embodiment)
The configuration of the GNSS according to the present embodiment is the same as the above-described embodiment.

  As shown in FIG. 8, the GNSS receiver 100 according to the present embodiment receives the correction signal transmitted from the reference station 300 in the reception quality measuring unit 1042 in the GNSS receiver 100 described with reference to FIG. 2. It is what I did.

  The reception quality measuring unit 1042 measures the reception quality of the positioning signal based on the positioning signal input by the receiving unit 102. Reception quality measuring section 1042 measures the reception quality of the correction signal based on the correction signal transmitted from reference station 300. For example, the reception quality measurement unit 1042 may obtain the carrier-to-noise ratio of the positioning signal and the correction signal. Reception quality measurement section 1042 inputs the measured reception quality information to satellite selection section 1046 described later.

  The satellite selection unit 1046 selects a satellite based on the reception quality input by the reception quality measurement unit 1042. For example, reception quality is input to the satellite selection unit 1046 for each epoch by the reception quality measurement unit 1042.

  For example, at each elevation angle, the difference between C / N measured based on the positioning signal and C / N measured based on the correction information (hereinafter referred to as positioning signal C / N−correction signal C / N) When the average is obtained, the reference line of FIG. 9 is obtained. When the elevation angle is low, as shown in “distribution range of satellite 1”, the variation of the positioning signal C / N−correction signal C / N obtained at the elevation angle becomes large. Further, when the elevation angle is high, as indicated by “Satellite 3”, the variation of the positioning signal C / N−correction signal C / N obtained at the elevation angle becomes small. In the present embodiment, a reference line indicating the average of the positioning signal C / N with respect to the elevation angle—the correction signal C / N is preset. When a positioning signal C / N-correction signal C / N that is significantly different from the reference line, in other words, has a large difference from the reference line, it corresponds to the positioning signal C / N-correction signal C / N. The satellite is judged to be completely masked. It is determined that it corresponds to the “complete mask area” in FIG. In addition, if a positioning signal C / N-correction signal C / N that is not significantly different from the reference line but has a difference from the reference line is obtained, the satellite corresponding to the positioning signal C / N-correction signal C / N Determines that the weights are different. It is determined that it corresponds to the “region corresponding by weight” in FIG. The “complete mask area” and the “area corresponding to the weight” may be determined in advance based on variations in elevation angle.

  The satellite selection unit 1046 obtains the elevation angle of the satellite corresponding to the received quality based on the received received quality. Then, the difference between the value on the reference line at the obtained elevation angle and the input reception quality and the reception quality of the correction signal is compared. If it is determined that the difference between the input reception quality and the reception quality of the correction signal is significantly different from the reference line, the satellite selection unit 1046 determines to mask the satellite corresponding to the reception quality. In addition, if the difference between the input reception quality and the reception quality of the correction signal does not greatly deviate from the reference line, but determines that there is a difference from the reference line, the satellite selection unit 1046 corresponds to the reception quality. It is determined that the weights for the satellites are different from the weights for the other satellites.

  The positioning calculation unit 1044, based on the information indicating the satellite input by the satellite selection unit 1046, the positioning signal transmitted by the selected satellite and a satellite other than the selected satellite, and the correction received by the reference station 300 Based on the information, a positioning solution of the GNSS receiver 100 is obtained. Here, the information indicating the satellite may include information on the satellite determined to be masked and information on the satellite determined to correspond with the weight. When obtaining this positioning solution, the weights of the satellites determined to correspond with the weights, the satellites determined to be masked, and the satellites other than the satellites determined to correspond with the weights are changed.

  For example, the positioning processing unit 104 obtains position information based on the positioning signal input by the receiving unit 102. Then, the positioning processing unit 104 corrects the error included in the position information based on the received correction information. As a result, a positioning solution is obtained.

  More specifically, the positioning calculation unit 1044 obtains position information based on the positioning signal input by the receiving unit 102. The positioning calculation unit 1044 calculates the carrier phase integrated value of each positioning signal based on the positioning signal input by the receiving unit 102. Then, the positioning calculation unit 1044 calculates a double phase difference between the carrier phase integrated value of each positioning signal and the received correction information. For example, integer bias determination may be performed by an OTF (on-the-fly) method. In the OTF method, the integer part (integer value bias) of the phase difference is determined. And the positioning calculating part 1044 correct | amends the error contained in the calculated | required positional information based on the calculated double phase difference. In this case, the double phase difference between the carrier phase integrated value of the positioning signal received from the satellite determined to be supported by the weight and the received correction information, the satellite determined to be masked, and the satellite other than the satellite determined to be supported by the weight The weight may be changed between the carrier phase integrated value of the positioning signal received from the satellite and the double phase difference between the received correction information. For example, the double phase difference corresponding to the satellite determined to correspond with the weight is made lighter than the double phase difference corresponding to the satellite determined to be masked and the satellite other than the satellite determined to correspond with the weight. Also good.

  In addition, the positioning calculation unit 1044 monitors at least one of residual fluctuation, FIX fluctuation, and noise. Then, the positioning calculation unit 1044 may stop the process of selecting a satellite to be masked at a predetermined cycle according to the monitoring result. For example, the positioning calculation unit 1044 may stop the process of selecting a satellite to be masked when the variation in the residual is equal to or less than the residual when the positioning result is bad. When it is determined that the process of selecting the satellite to be masked is stopped, the satellite selection unit 1044 instructs the satellite selection unit 1046 to stop the process of selecting the satellite to be masked.

  In addition, the positioning calculation unit 1044 determines whether to mask a satellite that has been determined to be different from the previous determination, based on at least one monitoring result of residual variation, FIX variation, and noise. May be. For example, the case where the satellite previously determined to correspond to the “region corresponding to the weight” is determined to correspond to the “complete mask region” is applicable.

  Here, the reference line is described as an average of C / N measured at each elevation angle. The reference line may be a past average of reception quality obtained by each satellite, a function determined by the minimum value of reception quality obtained for each elevation angle, or a reference station installed in the vicinity. A function that approximates the relationship of C / N with respect to the elevation angle obtained in 300 may be used. The function may be an exponential function.

  According to this embodiment, the corresponding satellite and the masking satellite can be classified by weighting, the weighting corresponding to the corresponding satellite by weighting, the weighting corresponding to the satellite corresponding to the weighting and the satellite other than the masking satellite, To be different. By doing in this way, positioning accuracy can be improved and FIX rate can be improved. In this embodiment, the satellites that are determined to be masked are classified into a plurality of types, and the weights for the plurality of classified satellites are different, for example, the weights for the plurality of classified satellites are changed stepwise. It may be.

(Seventh embodiment)
The configuration of the GNSS and the configuration of the receiving apparatus 100 according to the present embodiment are the same as those in the above-described embodiment.

  The reception quality of positioning signals is said to be correlated with the FIX solution. In the present embodiment, information on the satellites used when the FIX solution is obtained and when the FIX solution is obtained is stored. In this way, a GNSS satellite that transmits a positioning signal that is greatly affected by mountains is selected. For example, a noisy satellite can be identified. For example, when a positioning solution using a positioning signal received from a certain satellite is not a FIX solution, and a positioning solution not using a positioning signal received from the certain satellite is a FIX solution, the certain satellite is masked.

  The positioning calculation unit 1044 performs positioning based on the correction signal and the positioning signal corresponding to the common satellite among the satellites corresponding to the correction signal received from the reference station 300 and the satellites corresponding to the positioning signal input by the receiving unit 102. A solution is required. The positioning calculation unit 1044 accumulates whether or not the positioning solution is a FIX solution. Since the reference station 300 is installed at a position where the reception environment of radio waves is good, it is assumed that the reference station 300 can receive positioning signals from many satellites. On the other hand, since the GNSS receiver 100 is mounted on a moving body, it is affected by the radio wave environment. For example, when a mobile object equipped with the GNSS receiver 100 has not received a positioning signal transmitted from a certain satellite because it has passed by a building, a positioning signal from that satellite is obtained when a FIX solution is obtained. Can be determined to be a signal with high noise.

  That is, as shown in FIG. 10, when the positioning signal transmitted from a certain satellite (high noise satellite S) has a high noise, a FIX solution cannot be obtained when the positioning signal is received, and a FIX solution can be obtained otherwise. Can do.

  The positioning calculation unit 1044 obtains a correlation between the satellite corresponding to the positioning signal input from the receiving unit 102 and whether or not the positioning solution obtained from the positioning signal is a FIX solution. Then, the positioning calculation unit 1044 obtains a correlation value αs (s is an identifier of the satellite) as to whether the positioning solution for each satellite is a FIX solution. The positioning calculation unit 1044 determines the satellite to be masked based on the correlation value αs.

  The operation of the GNSS receiver 100 according to the present embodiment will be described with reference to FIG.

  The positioning calculation unit 1044 sets the correlation value αs = 0 (step S1002). Here, s is the identifier of the satellite as described above. For example, it may be a satellite number. The mask flag of the satellite is 0. The mask flag is a flag indicating whether or not the satellite is masked. For example, it may be 1 when masking, and 0 when not masking.

  It is determined whether or not the correlation value αs corresponding to a certain satellite s exceeds γ, which is the threshold value of the correlation coefficient (step S1004). Alternatively, it may be determined whether the mask flag of a certain satellite s is 1. Here, γ is a correlation value when the probability that a FIX solution cannot be obtained increases. In other words, it is the correlation value when the minimum possibility is obtained as the probability of obtaining the FIX solution.

  When the correlation value αs exceeds the threshold value γ (step S1004: YES), the positioning calculation unit 1044 masks the satellite s. Here, when the mask flag of a certain satellite s is 1, the satellite s may be masked.

  If the correlation value αs is not greater than the threshold value γ (step 1004: NO) and after step S1006, the positioning calculation unit 1044 performs a positioning calculation (step S1008).

  The positioning calculation unit 1044 determines whether the positioning solution is a FIX solution (step S1010).

  When it is determined that it is a FIX solution (step S1010: YES), the positioning calculation unit 1044 sets the mask flag of the satellite s used for obtaining the positioning solution to 0 (step S1012). For example, it may be returned to 0 after a predetermined time β seconds. Then, the received information from each satellite is set to zero. For example, the received information includes a positioning signal. On the other hand, if it is not determined that the solution is a FIX solution (step S1010: NO), the positioning calculation unit 1044 determines whether to initialize the satellite mask flag (step S1014). For example, the positioning calculation unit 1044 may determine whether to initialize the satellite mask flag based on the elevation angle of the satellite. Further, for example, the positioning calculation unit 1044 may determine whether or not to initialize the satellite mask flag based on the C / N corresponding to the satellite.

  The positioning calculation unit 1044 stores reception / non-reception information for each satellite (step S1016). For example, the positioning calculation unit 1044 may store reception / non-reception information in a database. Further, for example, data for the past several seconds may be stored.

  The positioning calculation unit 1044 stores past FIX success / failure information (step S1018). For example, the positioning calculation unit 1044 may store FIX success / failure information in a database. For example, data for several seconds may be stored.

  The positioning calculation unit 1044 calculates the correlation coefficient αs for each satellite and stores the correlation coefficient αs (step S1020). Thereafter, the process returns to step S1004.

  When there is a lot of noise in the positioning signal transmitted from the satellite, the reception status of the positioning signal tends to become unstable. For example, reception / non-reception may be repeated in a short time. Even if such a positioning signal is received and a positioning solution is obtained, the positioning solution does not become a FIX solution but tends to fail. In this embodiment, reception / non-reception information and FIX success / failure correlation coefficient are obtained for each satellite, and it is determined whether or not to mask the satellite based on the correlation coefficient.

  According to the present embodiment, the positioning accuracy can be improved and the FIX rate can be improved.

(Eighth embodiment)
The configuration of the GNSS and the configuration of the receiving apparatus 100 according to the present embodiment are the same as those in the above-described embodiment.

  In the above-described embodiment, the case of selecting a satellite to be masked has been described. For example, positioning accuracy can be improved by selecting a satellite to be masked based on C / N. However, it is preferable that the positioning calculation unit 1044 obtains a positioning solution based on positioning signals transmitted by at least 4-5 satellites. In particular, when RTK-GPS is applied, positioning itself may not be possible unless positioning signals transmitted by five or more satellites are obtained.

  When the received positioning signal is less than 5 satellites, the GNSS receiver 100 according to the present embodiment performs positioning by reducing noise included in the positioning signal. A FIX solution may be obtained even if the positioning signal contains a lot of noise. In the present embodiment, the received positioning signal is corrected based on the positioning signal when the FIX solution is obtained.

  The positioning calculation unit 1044 obtains the number of satellites other than the satellites determined to be masked based on the information indicating the satellites determined to be masked input by the satellite selection unit 1046. Then, the positioning calculation unit determines whether the number of satellites other than the satellite determined to be masked is a number necessary to obtain a positioning solution. For example, the number required to obtain a positioning solution may be five. If the number of satellites is not the number necessary to obtain a positioning solution, the positioning calculation unit 1044 extrapolates the positioning point from which the FIX solution was obtained from the positioning signal transmitted from the mask candidate satellite, and estimates the positioning point To do. And the positioning calculating part 1044 calculates | requires the residual with the positioning point by which the input positioning point was estimated as a corrected observation amount. For example, as shown in FIG. 12, the positioning signal from the mask candidate satellite is corrected based on the corrected observation amount. When a FIX solution is obtained, it is extrapolated including the positioning point from which the FIX solution was obtained. Then, the positioning calculation unit 1044 obtains a positioning solution corrected based on the obtained corrected observation amount with respect to the positioning signal from the mask candidate satellite.

  The operation of the GNSS receiver 100 according to the present embodiment will be described with reference to FIG.

  The positioning calculation unit 1044 determines whether there is a candidate for the satellite to be masked (step S1302).

  If there is a candidate for the satellite to be masked (step S1302: YES), the positioning calculation unit 1044 determines whether the number of satellites that can be used to obtain a positioning solution excluding the candidate for the masking mask is five or more. (Step S1304).

  When it is determined that the number of satellites that can be used to obtain the positioning solution is 5 or more (step S1304: YES), the positioning calculation unit 1044 calculates satellite mask lines based on the candidate satellites to be masked, The candidate satellites to be masked are masked (step S1306). On the other hand, when it is determined that the number of satellites that can be used to obtain the positioning solution is not five or more (step S1304: NO), the positioning calculation unit 1044 obtains a corrected observation amount, and masks based on the corrected observation amount. The positioning signal from the candidate satellite to be corrected is corrected (step S1308). Here, it is possible to select from the candidate satellites to be masked so that the number of satellites necessary for obtaining the positioning solution is obtained, or masking is performed so that the number of satellites necessary for obtaining the positioning solution is equal to or more. It may be selected from satellite candidates.

  The positioning calculation unit 1044 performs positioning calculation (step S1310).

  The positioning calculation unit 1044 determines whether the positioning solution is a FIX solution (step S1312).

  When it is determined that the positioning solution is the FIX solution (step S1312: YES), the positioning calculation unit 1044 maintains the mask line and the corrected observation amount from which the positioning solution is obtained (step S1314). On the other hand, when it is not determined that the positioning solution is the FIX solution (step S1312: NO), the process returns to step S1302.

  According to the present embodiment, when a satellite to be masked is selected, positioning calculation can be performed even when positioning calculation cannot be performed when the satellite is selected. For this reason, a positioning rate is securable. In this embodiment, the case where positioning itself cannot be performed unless positioning signals transmitted by five or more satellites are obtained is described. However, when positioning is possible using positioning signals transmitted by less than five satellites, Positioning may be performed with positioning signals transmitted by a number of satellites capable of positioning. In this case, when the number of satellites that cannot be measured is reached, the observation amount may be corrected by the residual.

(Ninth embodiment)
The configuration of the GNSS and the configuration of the receiving apparatus 100 according to the present embodiment are the same as those in the above-described embodiment.

  In the GNSS receiver 100 according to the present embodiment, when a mountain exists in the traveling direction, a satellite whose positioning signal is blocked by the mountain is determined based on the topographic map. Then, the GNSS receiver 100 makes the weight of the satellite whose positioning signal is blocked by the mountain different from the weight of the other satellite.

  As shown in FIG. 14, the GNSS receiver 100 according to the present embodiment includes a storage unit 106 in the GNSS receiver described with reference to FIG. 2. The storage unit 106 stores a topographic map.

  The positioning calculation unit 1044 acquires a topographic map around the current position from the storage unit 106 based on the positioning result. Then, the positioning calculation unit 1044 determines whether a mountain is included in the topographic map based on the acquired topographic map. When the topographic map includes a mountain, the positioning calculation unit 1044 extracts a mountain whose height is equal to or higher than the height (H) at which it is determined that the positioning signal from the satellite is blocked, as shown in FIG. To do. In FIG. 15, peaks having heights H1 and H2 are extracted. Here, H1 and H2 are H or more. Then, the positioning calculation unit 1044 sets the angle formed by the traveling direction and the mountain direction as θ. For example, θ may be a clockwise angle. In addition, the positioning calculation unit 1044 obtains an elevation angle β formed by the horizontal plane and the top of the mountain at the current position. Then, the positioning calculation unit 1044 sets α ′ + β as a new elevation angle. Here, α ′ may be determined based on the measurement error. And as shown in FIG. 16, the positioning calculating part 1044 respond | corresponds by changing the weight corresponding to the elevation angle (gamma) more than (alpha) '+ (beta). For example, this is dealt with by lowering the weight of the satellite corresponding to the elevation angle γ. For example, the positioning calculation unit 1044 may change the weight according to the rising / lowering of the satellite. For example, the weight is increased as the satellite rises, and the weight is decreased as the satellite is lowered.

  The operation of the GNSS receiver 100 according to the present embodiment will be described with reference to FIG.

  The positioning calculation unit 1044 acquires a surrounding topographic map from the current position (step S1702).

  The positioning calculation unit 1044 determines whether or not there is a mountain whose height is equal to or higher than H based on the topographic map (step S1704).

  If there is a mountain whose height is equal to or higher than H (step S1704: YES), the positioning calculation unit 1044 calculates a satellite mask line. Then, the satellite is masked (step S1706).

  on the other hand. When there is no mountain whose height is H or more (step S1704: NO) and when the process of step S1706 is performed, the positioning calculation unit 1044 calculates a weight corresponding to each satellite based on γ (step S1708). ).

  The positioning calculation unit 1044 performs positioning (step S1710).

  In the present embodiment, the elevation angle β is not limited to the elevation angle formed by the horizontal plane and the top of the mountain at the current position. For example, as shown in FIG. 18, the angle (tangential elevation angle) formed by the horizontal plane and the tangent of the mountain may be determined at the current position based on information on the continuity and the inclination angle of the mountain.

  Further, as shown in FIG. 19, the elevation angle may be obtained based on inclination angle information calculated based on a positioning signal obtained by a vehicle sensor or a GNSS satellite. In this case, information from the vehicle sensor may be input to the positioning calculation unit 1044.

  Further, the positioning calculation unit 1044 may select the reference station 300 based on the acquired topographic map. If the reference station changes, the integer value bias cannot be taken over. By doing so, it is possible to minimize the change of the reference station.

  Further, the positioning calculation unit 1044 may not use a satellite whose noise is expected to increase or decrease based on the acquired topographic map. Further, the positioning calculation unit 1044 may change the weight of the satellite that is expected to increase or decrease in noise based on the acquired topographic map. In navigation, a route to be guided may be changed.

(Tenth embodiment)
The configuration of the GNSS according to the present embodiment is the same as the above-described embodiment.

  The GNSS receiver 100 according to the present embodiment has a plurality of antennas as shown in FIG. The positioning calculation unit 1044 measures the state of the vehicle based on positioning signals input by a plurality of antennas. The vehicle state includes vehicle tilt, roll pitch, and yaw angle. And the positioning calculating part 1044 calculates | requires a positioning solution by the method similar to the method mentioned above based on the state of a vehicle.

  According to the present embodiment, since positioning calculation can be performed based on the state of the vehicle, positioning accuracy can be improved. Although FIG. 20 shows a GNSS receiver having three antennas, it may be plural, and may be two or four or more.

  For convenience of explanation, specific numerical examples will be described to facilitate understanding of the invention. However, unless otherwise specified, these numerical values are merely examples, and any appropriate value may be used.

  Although the present invention has been described above with reference to specific embodiments, each embodiment is merely an example, and those skilled in the art will understand various variations, modifications, alternatives, substitutions, and the like. I will. For convenience of explanation, an apparatus according to an embodiment of the present invention has been described using a functional block diagram, but such an apparatus may be realized by hardware, software, or a combination thereof. The present invention is not limited to the above-described embodiments, and various modifications, corrections, alternatives, substitutions, etc. are included without departing from the spirit of the present invention.

It is explanatory drawing which shows an example of an elevation angle mask. It is a partial block diagram which shows GNSS (Global Navigation Satellite System) concerning one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is a partial block diagram which shows the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is a flowchart which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is a flowchart which shows operation | movement of the GNSS receiver which concerns on one Example. It is a partial block diagram which shows GNSS which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is a flowchart which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is explanatory drawing which shows operation | movement of the GNSS receiver which concerns on one Example. It is a partial block diagram which shows GNSS which concerns on one Example.

Explanation of symbols

100 GNSS receiver apparatus 102 _{(102 1,} 102 2, ₁₀₂ 3) receiving section 104 positioning process unit 1042 reception quality measuring unit 1044 positioning operation unit 1046 satellite selecting unit 106 storage unit 200 GNSS satellites 300 base station

Claims (15)

A GNSS receiver that performs a positioning operation based on a positioning signal transmitted by a GNSS satellite, and a GNSS satellite selecting means for selecting a GNSS satellite that transmits a positioning signal affected by a mountain;
GNSS receiving apparatus, comprising: first positioning calculation means for performing positioning calculation while masking the GNSS satellite selected by the GNSS satellite selection means. A GNSS receiver that performs a positioning operation based on a positioning signal transmitted by a GNSS satellite, and a GNSS satellite selecting means for selecting a GNSS satellite that transmits a positioning signal affected by a mountain;
GNSS receiving apparatus comprising: second positioning calculation means for performing positioning calculation such that weighting for the GNSS satellite selected by the GNSS satellite selection means is different from weighting for GNSS satellites other than the selected GNSS satellite. The GNSS receiver according to claim 2,
The second positioning calculation means performs a positioning calculation by masking some GNSS satellites among the selected GNSS satellites. In the GNSS receiver according to any one of claims 1 to 3,
The GNSS satellite selection means monitors the selected GNSS satellite and cancels the selection of the GNSS satellite when it is determined that the positioning signal transmitted from the GNSS satellite is not affected by a mountain. GNSS receiver. In the GNSS receiver according to any one of claims 1 to 4,
A reception quality measuring means for measuring the reception quality of the positioning signal;
The GNSS satellite selection means is based on the reception quality measured by the reception quality measurement means, and includes at least the amount of change in reception quality at a predetermined time, the number of changes in reception quality at a predetermined time, and the number of interruptions at a predetermined time A GNSS receiver that selects a GNSS satellite that transmits a positioning signal affected by a mountain based on one. In the GNSS receiver according to claim 3,
A reception quality measuring means for measuring the reception quality of the positioning signal;
The GNSS satellite selection means determines whether to mask the satellite or change the weight for the satellite based on the reception quality measured by the reception quality measurement means and the elevation angle corresponding to the satellite. GNSS receiver. In the GNSS receiver according to claim 6,
The reception quality measuring means measures the reception quality of the correction signal transmitted from the reference station,
The GNSS satellite selection means masks the satellite or changes the weight for the satellite based on the reception quality of the positioning signal and the correction signal measured by the reception quality measurement means and the elevation angle corresponding to the satellite. GNSS receiver characterized by determining whether or not. In the GNSS receiver according to claim 6 or 7,
A GNSS receiver characterized in that the condition of reception quality for determining whether to mask the satellite or change the weighting for the satellite is different according to the elevation angle. In the GNSS receiver according to claim 1,
A reception quality measuring means for measuring the reception quality of the positioning signal;
The GNSS satellite selection means masks the satellite based on the correlation between the reception quality of the positioning signal calculated for each satellite and whether or not the positioning solution calculated by the positioning signal is a high-precision solution. GNSS receiver characterized by determining whether or not. In the GNSS receiver according to claim 1,
A reception quality measuring means for measuring the reception quality of the positioning signal;
The first positioning calculation means determines that the positioning signal corresponding to the satellite determined to be masked is used when the number of usable positioning signals is less than the number required for the positioning calculation, and the satellite determined to be masked. The positioning calculation is performed using the positioning signal including the positioning signal corresponding to, and the positioning signal corresponding to the satellite determined to be masked is corrected based on the positioning value when the high-precision solution is obtained. A featured GNSS receiver. In the GNSS receiver according to any one of claims 5 to 10,
The GNSS receiver characterized in that the reception quality is a carrier-to-noise ratio. The GNSS receiver according to any one of claims 5 to 11,
The GNSS receiver characterized in that the predetermined time is not less than one epoch and not more than a time interval for performing baseline analysis. A positioning method in a GNSS receiver that performs a positioning calculation based on a positioning signal transmitted by a GNSS satellite,
A GNSS satellite selection step for selecting a GNSS satellite that transmits a positioning signal affected by a mountain;
A positioning calculation step of performing positioning calculation by masking the GNSS satellite selected in the GNSS satellite selection step. A positioning method in a GNSS receiver that performs a positioning calculation based on a positioning signal transmitted by a GNSS satellite,
A GNSS satellite selection step for selecting a GNSS satellite that transmits a positioning signal affected by a mountain;
A positioning calculation step of performing a positioning calculation such that a weight for a GNSS satellite selected in the GNSS satellite selection step is different from a weight for a GNSS satellite other than the selected GNSS satellite. The positioning method according to claim 14, wherein
In the positioning calculation step, the positioning calculation is performed by masking some GNSS satellites among the selected GNSS satellites.