JP2010230625A - Positioning device, system, method and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning device, system, method and program, capable of obtaining an accurate position and accurate time, if a signal from at least one satellite can be received. <P>SOLUTION: An internal clock oscillation unit 111 oscillates an internal clock signal based on an accurate reference clock signal generated by an accurate oscillator 121. An RF receiving unit 112 receives satellite signals from an artificial satellite a plurality of times while recording the receiving time using this internal clock signal. A positioning arithmetic unit 114 performs positioning calculation using the satellite signals received the plurality of times and their receiving time. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a positioning device, a positioning system, a positioning method, and a positioning program using an artificial satellite.

  A positioning system using an artificial satellite called GPS (Global Positioning System) is known (for example, Non-Patent Document 1). In a positioning system using GPS, a receiver (positioning device) receives signals from a plurality of transmitters (GPS satellites) that are synchronized in time. The receiver obtains the pseudo propagation time from each transmitter to the receiver based on its own time. From this pseudo propagation time and the propagation distance of the radio wave per unit time, the pseudo distance between the receiver and the transmitter is obtained.

  For the detection of the reception timing in the receiver, a spread spectrum correlation calculation is used. Each transmitter transmits a signal subjected to spectrum spreading using a different PN (Pseudo Noise) code. The receiver that has received this signal performs a correlation operation between the received signal and the PN code, and obtains the reception timing of the signal from the specific transmitter corresponding to the PN from the timing at which the correlation value is maximized.

  Since a positioning system using GPS uses a spread spectrum system, signals from a plurality of transmitters can be simultaneously received and demodulated. In the positioning system using GPS, the calculation of the pseudo propagation distance described above is performed using a plurality of different PN codes for signals received at the same time, and the pseudo propagation distances to a plurality of transmitters are obtained at the same time.

  On the other hand, the position information (coordinates) of each transmitter is superimposed on the transmission signal from the transmitter, and is obtained by receiving it with the receiver. However, in a system such as Assisted-GPS, the position information (coordinates) of each transmitter may be obtained by another means such as via a network. Based on the “pseudo distance between the receiver and each transmitter” obtained here and “position information (coordinates) of each transmitter”, it is possible to calculate the position information of the receiver.

Hereinafter, a conventional method for calculating position information will be described in more detail.
FIG. 8 is a diagram showing a relationship between a signal and time in a conventional position information calculation method.
FIG. 9 is a schematic diagram illustrating a relationship between a transmitter and a receiver in a conventional position information calculation method.
In FIG. 8, T _S is a reference time at the transmitter, T _S ′ is a reference time at the receiver, and T _i ′ is a reception time at the receiver. It is assumed that the receiver time error δ is shifted with respect to the transmitter between the transmitter clock and the receiver clock.

In this case, the pseudo distance r _i can be expressed by the following equation.
r _i = ρ _i + cδ = ρ _i + s
However,
Pseudo-range r _i : distance including a distance error caused by a receiver time error with respect to transmitter i,
True distance ρ _i : true distance between transmitter i and receiver,
Distance error s: error from true distance caused by time error,
Radio wave speed c: Radio wave transmission distance per unit time.

Here, it is possible to obtain the pseudo-range r _i from the received signal.
r _i = c × (T _i ′ −T _S ′)

When the position of the receiver is (x, y, z) and the position of the transmitter i is (x _i , y _i , z _i ), the pseudorange r _i can be expressed as follows.

Here, with respect to the transmitter i = 1 to 4, the respective distances can be expressed as follows.

Conventionally, the correct position and the correct time of the receiver have been obtained by solving the above four equations with respect to the unknowns x, y, z, and s. That is, it was necessary to simultaneously receive signals from four or more transmitters.
Also, when the altitude H of the receiver is known, if the signals from three or more transmitters can be received by giving this altitude information by the following equation (that is, if the three equations are solved), the reception is received. The correct plane position and the correct time of the machine could be obtained.

Takeyasu Sakai “Introduction to GPS Technology” Tokyo Denki University Press 2003

  However, in the prior art, the receiver needs to simultaneously receive signals from at least four (three depending on conditions) transmitters in order to obtain an accurate position and an accurate time. Therefore, there is a problem in that an accurate position and time cannot be obtained unless signals from four (or three) transmitters can be acquired simultaneously.

  An object of the present invention is to provide a positioning device, a positioning system, a positioning method, and a positioning program that can obtain an accurate position and an accurate time if a signal from at least one satellite can be received.

  The present invention proposes the following matters in order to solve the above problems.

(1) In the present invention, a satellite signal receiving means (112) for receiving a satellite signal from an artificial satellite a plurality of times while recording the reception time, and measuring the reception time of the satellite signal within a preset time deviation amount An internal clock oscillating means (111) for oscillating an internal clock signal, and a positioning calculation means (114) for performing a positioning calculation using the satellite signal received by the satellite signal receiving means a plurality of times and its reception time. The positioning device (110, 210, 410, 610) provided with is proposed.

  According to this invention, the satellite signal receiving means receives the satellite signal from the artificial satellite a plurality of times while recording the reception time. The internal clock oscillating means oscillates an internal clock signal for measuring the reception time of the satellite signal within a preset time shift amount. The positioning calculation means performs positioning calculation using the satellite signal received by the satellite signal receiving means a plurality of times and the reception time thereof. Therefore, if a signal from at least one satellite can be received, an accurate position and an accurate time can be obtained.

(2) The positioning device according to (1), wherein the internal clock oscillation means (111) oscillates the internal clock signal based on a reference clock signal acquired from the outside. A device (110, 210, 610) is proposed.

  According to this invention, the internal clock oscillation means oscillates the internal clock signal based on the reference clock signal acquired from the outside. Therefore, an accurate position and an accurate time can be obtained by acquiring a reference clock signal from the outside only when necessary.

(3) The positioning device according to (2), wherein the internal clock oscillation means (111) is directly connected to the positioning device and functions as a part of the positioning device (120, 220). , 520), the positioning device (110, 210) is characterized by acquiring the reference clock signal.

  According to the present invention, the internal clock oscillation means acquires the reference clock signal from the auxiliary device that is directly connected to the positioning device and functions as a part of the positioning device. Therefore, a highly accurate reference clock signal can be used with a simple configuration.

(4) The positioning device (110) according to (3), wherein the auxiliary device (120) includes a reference clock oscillator (121) that oscillates the reference clock signal. Has proposed.

  According to the present invention, since the auxiliary device includes the reference clock oscillator that oscillates the reference clock signal, a highly accurate reference clock signal can be used with a simple configuration.

(5) In the positioning device according to (3), the auxiliary device (220, 520) may use the reference clock signal or the reference clock signal as a reference by wireless or wired communication or broadcasting. A positioning device (210) is proposed which is characterized by receiving a reference signal that can be generated.

  According to the present invention, the auxiliary device receives the reference clock signal or a reference signal that can be used as a reference of the reference clock signal by wireless or wired communication or broadcasting. Therefore, a high-precision reference clock signal can be used without using a high-precision oscillator exclusively for each positioning device.

(6) In the positioning device according to (1), the present invention includes a reference clock oscillator (416) that oscillates a reference clock signal, and the internal clock oscillation means (111) includes the reference clock oscillator generated by the reference clock oscillator. A positioning device (410) is proposed which oscillates the internal clock signal based on a reference clock signal.

  According to the present invention, the reference clock oscillator oscillates the reference clock signal. The internal clock oscillation means oscillates the internal clock signal based on the reference clock signal generated by the reference clock oscillator. Therefore, if a positioning device alone can receive a signal from at least one satellite, an accurate position and an accurate time can be obtained.

(7) The positioning device according to (4) or (6), wherein the reference clock oscillator (121, 416) is calibrated based on a satellite signal from an artificial satellite. A device is proposed.

  According to the present invention, the reference clock oscillator is calibrated based on the satellite signal from the artificial satellite. Therefore, the accuracy of the reference clock signal oscillated by the reference clock oscillator can be improved, and an accurate position and an accurate time can be obtained.

(8) The present invention provides the positioning device according to (4) or (6), wherein the reference clock oscillator (121, 416) oscillates the reference clock signal based on a satellite signal from an artificial satellite. Proposed positioning device.

  According to this invention, the reference clock oscillator oscillates the reference clock signal based on the satellite signal from the artificial satellite. Therefore, an accurate position and an accurate time can be obtained without using individual reference clock oscillators as high-precision oscillators.

(9) The positioning device (610) according to (2), wherein the positioning device (610) includes a receiving unit (621) that receives the reference clock signal by wireless or wired communication or broadcasting. is suggesting.

  According to the present invention, the receiving unit receives the reference clock signal by wireless or wired communication or broadcasting. Therefore, a high-precision reference clock signal can be used without using a high-precision oscillator exclusively for each positioning device. Further, positioning can be performed without attaching an auxiliary device to the positioning device.

(10) The present invention provides a positioning device (110, 210, 410, 610) and a reference signal transmitting device (230, 230) that sends a reference clock signal or a reference signal that can be used as a reference of the reference clock signal to the positioning device. 530), the positioning device includes a satellite signal receiving means (112) for receiving a satellite signal from an artificial satellite a plurality of times while recording the reception time, and a reception time of the satellite signal. An internal clock oscillation means (111) that oscillates based on a reference clock signal received from outside an internal clock signal for measurement within a preset time lag amount, and the satellite signal received multiple times by the satellite signal reception means And positioning calculation means (114) for performing positioning calculation using the reception time thereof, and the reference signal transmission device, Serial reference clock signal or at its oscillating the reference signal, or, acquired from the outside (240, 340), has proposed a positioning system and transmitting to the positioning device.

  According to this invention, the satellite signal receiving means receives the satellite signal from the artificial satellite a plurality of times while recording the reception time. The internal clock oscillating means oscillates based on a reference clock signal received from the outside for measuring an internal clock signal for measuring the reception time of the satellite signal below a preset time lag. The positioning calculation means performs positioning calculation using the satellite signal received by the satellite signal receiving means a plurality of times and the reception time thereof. The reference signal transmission device oscillates itself or acquires the reference clock signal or the reference signal from the outside, and transmits it to the positioning device. Therefore, an accurate position and an accurate time can be obtained as long as a signal from at least one satellite can be received without using a highly accurate oscillator dedicated to each positioning device.

(11) The present invention includes an internal clock oscillation step (S10) for oscillating an internal clock signal, a satellite signal reception step (S20) for receiving a satellite signal from an artificial satellite a plurality of times while recording a reception time, There has been proposed a positioning method for executing a positioning calculation step (S50) for performing a positioning calculation using the satellite signal received a plurality of times in the satellite signal receiving step and its reception time.

  According to the present invention, in the internal clock oscillation step, the internal clock signal is oscillated. In the satellite signal receiving step, the satellite signal from the artificial satellite is received a plurality of times while recording the reception time. In the positioning calculation step, the positioning calculation is performed using the satellite signal received multiple times in the satellite signal receiving step and the reception time. Therefore, if a signal from at least one satellite can be received, an accurate position and an accurate time can be obtained.

(12) In the present invention, an internal clock oscillation step (S10) for causing the computer to oscillate an internal clock signal, and a satellite signal reception step (S20) for receiving the satellite signal from the artificial satellite a plurality of times while recording the reception time. And a positioning calculation step (S50) for performing a positioning calculation using the satellite signal received a plurality of times in the satellite signal reception step and its reception time.

  According to the present invention, in the internal clock oscillation step, the internal clock signal is oscillated. In the satellite signal receiving step, the satellite signal from the artificial satellite is received a plurality of times while recording the reception time. In the positioning calculation step, the positioning calculation is performed using the satellite signal received multiple times in the satellite signal receiving step and the reception time. Therefore, if a signal from at least one satellite can be received, an accurate position and an accurate time can be obtained.

  According to the present invention, if a signal from at least one satellite can be received, an accurate position and an accurate time can be obtained.

It is a figure which shows 1st Embodiment of the positioning apparatus by this invention. 5 is a flowchart showing a positioning operation of the positioning device 110. It is a figure which shows 3rd Embodiment of the positioning system containing the positioning apparatus by this invention. It is a figure which shows 4th Embodiment of the positioning system containing the positioning apparatus by this invention. It is a figure which shows 5th Embodiment of the positioning apparatus by this invention. It is a figure which shows the modification which changed the positioning system of 3rd Embodiment into the form which uses wired communication. It is a figure which shows the modification which built in the positioning apparatus 610 the function of the receiving part 221 in the positioning system of 3rd Embodiment. It is a figure which shows the relationship between the signal and time in the calculation method of the conventional position information. It is a schematic diagram which shows the relationship between the transmitter and receiver in the calculation method of the conventional positional information.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Note that the constituent elements in the present embodiment can be appropriately replaced with existing constituent elements and the like, and various variations including combinations with other existing constituent elements are possible. Therefore, the description of the present embodiment does not limit the contents of the invention described in the claims.

(First embodiment)
FIG. 1 is a diagram showing a first embodiment of a positioning device according to the present invention.
The positioning device 110 includes an internal clock oscillating unit 111, an RF receiving unit 112, a baseband signal processing unit 113, a positioning calculation unit 114, and a GPS antenna 115. The positioning device 110 includes an auxiliary device 120 connected to the outside.

The auxiliary device 120 is directly connected to the positioning device 110 via a cable and functions as a part of the positioning device 110. The auxiliary device 120 includes a high-precision oscillator 121. The high-precision oscillator 121 is a reference clock oscillator that oscillates a reference clock signal with very high accuracy and sends the oscillated reference clock signal to the internal clock oscillation unit 111 of the positioning device 110. For example, a rubidium oscillator or a cesium oscillator may be used as the high-precision oscillator.
As a crystal oscillator used in a conventional GPS positioning apparatus, a TCXO (Temperature Compensated Crystal Oscillator) is often used. TCXO has a frequency accuracy of about 1 × 10 ⁻⁶ . On the other hand, the rubidium oscillator used in this embodiment has a frequency accuracy of about 1 × 10 ⁻¹¹ , and the cesium oscillator has a frequency accuracy of about 1 × 10 ⁻¹² . As described above, the high-accuracy transmitter used in the present embodiment has a very high accuracy as compared with a conventionally used oscillator.

  The internal clock oscillator 111 oscillates an internal clock signal based on the reference clock signal received from the high precision oscillator 121 of the auxiliary device 120. Specifically, the internal clock oscillating unit 111 refers to the input reference clock signal and synchronizes the oscillation cycle of the internal clock signal. The internal clock oscillator 111 sends the oscillated internal clock signal to the RF receiver 112 and the baseband signal processor 113.

The RF receiving unit 112 is a satellite signal receiving unit that receives a satellite signal from a GPS satellite via the GPS antenna 115. Further, the RF reception unit 112 uses the internal clock signal acquired from the internal clock oscillation unit 111 to measure the reception time of the satellite signal below a preset time lag amount (described later).
The baseband signal processing unit 113 decodes the satellite signal received by the RF receiving unit 112 and extracts information included in the satellite signal.

ただし、式（１）において、受信機の位置を（ｘ，ｙ，ｚ）とし、送信機ｉの位置を（ｘ_ｉ，ｙ_ｉ，ｚ_ｉ）とし、単位時間当たりの電波の伝送距離（電波の速度）をｃとし、各測定における時刻誤差をδ（ｔ_ｉ）とする。 The positioning calculation unit 114 performs a positioning calculation using the satellite signal received by the RF reception unit 112 a plurality of times and the reception time.
Here, the positioning calculation performed by the positioning calculation unit 114 will be described.
The positioning calculation unit 114 receives satellite signals four times, and uses each of the satellite signals to determine a pseudo distance r _i (a distance from the positioning device to the artificial satellite, including an error due to a time error). . Each pseudo distance r _i can be expressed as the following equation (1).

In Equation (1), the position of the receiver is (x, y, z), the position of the transmitter i is (x _i , y _i , z _i ), and the transmission distance of radio waves per unit time (radio waves) C), and the time error in each measurement is δ (t _i ).

Here, if the time error in each measurement is δ (t _i ), the following relationship holds between the distance error s (t _i ) that is an error from the true distance caused by the time error.
cδ (t _i ) = s (t _i )

In this embodiment, satellite signals are not necessarily received simultaneously. That is, the measurement of each pseudo distance is not necessarily performed simultaneously. Therefore, if the internal clock oscillation unit in the conventional positioning device 110 with poor accuracy is used, the time error in each measurement is not constant, so that the relationship is as follows when i ≠ j.
δ (t _i ) ≠ δ (t _j )

  Here, the maximum time lag generated in the internal clock signal oscillated by the internal clock oscillating unit 111 during the measurement period is Δt, and the allowable pseudo distance measurement error D is assumed. When the relationship between the time difference Δt and the allowable pseudo distance measurement error D satisfies the relationship of cΔt ≦ D, the time error in each measurement can be regarded as constant. Therefore, in the present embodiment, the maximum time shift Δt generated in the internal clock signal oscillated by the internal clock oscillator 111 satisfies the above relationship. The maximum time lag of the internal clock signal is equivalent to the maximum time lag of the reference clock signal. Therefore, this embodiment uses the high-precision oscillator 121 with high accuracy such that the maximum time lag generated in the reference clock signal oscillated by the high-precision oscillator 121 is D / c or less.

As described above, if the time error in each measurement can be regarded as constant, the relationship of the following formula (2) is established when i ≠ j.
δ (t _i ) = δ (t _j ) (2)

From equation (1) and (2), by solving the simultaneous equations, variables x, can be obtained y, z, [delta] values of _{(t i)} (positioning operation). Thereby, an accurate position and an accurate time of the positioning device can be obtained.

FIG. 2 is a flowchart showing the positioning operation of the positioning device 110.
When positioning is performed by the positioning device 110, the positioning device 110 is stopped until the positioning is completed, or is only moved within an allowable error range.
In step (hereinafter simply referred to as S) 10, the internal clock oscillator 111 refers to the reference clock signal input from the auxiliary device 120 and oscillates the internal clock signal while synchronizing the oscillation cycle of the internal clock signal (internally). Clock oscillation step).

In S20, the RF receiving unit 112 receives a satellite signal from a GPS satellite via the GPS antenna 115 (satellite signal receiving step). At this time, the reception time when the satellite signal is received according to the internal clock signal is acquired.
In S30, the positioning calculation unit 114 calculates the pseudo distance using the satellite signal from the GPS satellite and its reception time.

In S40, the positioning calculation unit 114 determines whether or not acquisition of four pseudo distances has been completed. If acquisition of the four pseudo distances is completed, the process proceeds to S50, and if acquisition of the four pseudo distances is not completed, the process returns to S20. Note that the four pseudoranges do not need to be acquired simultaneously from the four satellites as in the prior art. For example, the reception time may be acquired four times with a shift from one satellite, or may be acquired two times with the reception times being shifted from two satellites.
In S50, the positioning calculation unit 114 calculates an accurate position and an accurate time of the positioning device from the acquired four pseudo distances (positioning calculation step).

  As described above, according to the first embodiment, if a signal from at least one artificial satellite can be received four times, an accurate position and an accurate time can be obtained.

(Second Embodiment)
The configuration of the positioning device of the second embodiment is the same as that of the first embodiment, and parts having the same functions as those of the first embodiment described above are denoted by the same reference numerals and redundant description is omitted as appropriate. To do.
In the first embodiment described above, the high-accuracy oscillator 121 oscillates a reference clock signal with very high accuracy, and can perform positioning with the required accuracy even if the reference clock signal is used as it is. On the other hand, in the second embodiment, the accuracy of the reference clock signal oscillated by the high-accuracy oscillator 121 is further increased. Specifically, the high-accuracy oscillator 121 has calibration means. This calibration means performs calibration with reference to the satellite signal of the GPS satellite before positioning. The satellite signal of the GPS satellite may be acquired via the GPS antenna 115 of the positioning device 110, or may be acquired via a GPS antenna provided in the auxiliary device 120.
According to the second embodiment, the positioning device 110 can perform positioning with higher accuracy.

(Third embodiment)
FIG. 3 is a diagram showing a third embodiment of a positioning system including a positioning device according to the present invention.
The positioning system of the third embodiment includes a positioning device 210, an auxiliary device 220, a reference signal transmission device 230, and a high-precision oscillator 240.

The positioning device 210 has the same configuration as the positioning device 110 of the first embodiment.
The auxiliary device 220 is directly connected to the positioning device 210 via a cable and functions as a part of the positioning device 210. In addition, the auxiliary device 120 includes a receiving unit 221. The receiving unit 221 receives a reference signal that can be used as a reference clock signal reference by wireless communication or wireless broadcasting. Then, the reception unit 221 reproduces or generates a reference clock signal based on the received reference signal, and sends the reference clock signal to the positioning device 210.

The reference signal transmission device 230 transmits the reference signal to the auxiliary device 220 by wireless communication or wireless broadcasting.
As the reference signal transmission device 230 of the present embodiment, for example, a base station device for mobile phone service or a broadcasting station device for television broadcasting or radio broadcasting can be used. In digital communication and broadcasting, a clock signal itself is not transmitted, but a signal that can be used as a reference signal is transmitted. That is, control information sent at a predetermined timing or data delimitation called a frame or a slot can be used as a reference signal because this timing is accurate and accurate. In analog television broadcasting, a clock signal called a color burst signal is periodically transmitted for a short time, and this may be used as a reference signal.
The reference signal transmission device 230 may be a dedicated device for the positioning system without using an existing facility such as a base station device for mobile phone service. In that case, the reference clock signal may be directly transmitted.

  The high-precision oscillator 240 oscillates a reference clock signal similar to the high-precision oscillator 121 included in the auxiliary device 120 of the first embodiment, and sends the oscillated reference clock signal to the reference signal transmission device 230. The reference signal transmission device 230 that has received the reference clock signal oscillates a highly accurate reference signal based on the reference clock signal.

  The positioning device 210 that has received the reference clock signal with the above configuration can perform a positioning calculation similar to the positioning device 110 of the first embodiment, and obtain an accurate position and an accurate time.

(Fourth embodiment)
FIG. 4 is a diagram showing a fourth embodiment of a positioning system including a positioning device according to the present invention.
The positioning system of the fourth embodiment is a form in which a high-precision oscillator 340 and a GPS receiver 350 are provided instead of the high-precision oscillator 240 of the third embodiment, and other configurations are the same as those of the third embodiment. is there. Therefore, the same reference numerals are given to the portions that perform the same functions as those in the third embodiment described above, and repeated descriptions are omitted as appropriate.

  The high-precision oscillator 340 refers to the reference clock signal from the GPS receiver 350 and oscillates the reference clock signal. Thereby, the high precision oscillator 340 can oscillate a reference clock signal with high precision.

  According to the fourth embodiment, even if the high-accuracy oscillator 340 has a simple configuration, a highly accurate reference clock signal can be oscillated, and an accurate position and an accurate time can be obtained.

(Fifth embodiment)
FIG. 5 is a diagram showing a fifth embodiment of the positioning apparatus according to the present invention.
The fifth embodiment is a form in which the high-precision oscillator 121 included in the auxiliary device 120 in the first embodiment is built in the positioning device 410. Therefore, the same reference numerals are given to the portions that perform the same functions as those in the first embodiment described above, and repeated descriptions are omitted as appropriate.
The positioning device 410 includes an internal clock oscillator 111, an RF receiver 112, a baseband signal processor 113, a positioning calculator 114, a GPS antenna 115, and a high-precision oscillator 416.

The high precision oscillator 416 oscillates a reference clock signal similar to that of the high precision oscillator 121 of the first embodiment and sends it to the internal clock oscillation unit 111.
According to the fifth embodiment, since the high-precision oscillator 416 is built in, the usability of the positioning device 410 can be improved.

  Note that the positioning device, the positioning system, the positioning method, and the positioning program of the present invention are recorded by recording the processing of the positioning device on a computer-readable recording medium, causing the positioning device to read and execute the program recorded on the recording medium. Can be realized. The computer system here includes an OS and hardware such as peripheral devices.

  Further, the “computer system” includes a homepage providing environment (or display environment) if a WWW (World Wide Web) system is used. The program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the “transmission medium” for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.

  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, what is called a difference file (difference program) may be sufficient.

  The embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to the embodiments, and includes designs and the like that do not depart from the gist of the present invention.

(Deformation)
(1) In the third to fifth embodiments, calibration means for calibrating the high-accuracy oscillator with reference to the satellite signal of the GPS satellite may be further provided as in the second embodiment.

(2) In the third embodiment and the fourth embodiment, an example has been described in which a reference clock signal is transmitted from a transmitter to an auxiliary device using wireless communication or wireless broadcasting. However, the present invention is not limited to this. For example, wired communication or wired broadcasting in which a transmitter and an auxiliary device are connected by a cable may be used.
FIG. 6 is a diagram showing a modification in which the positioning system of the third embodiment is changed to a form using wired communication. In this case, synchronous communication is performed between the reference signal transmission device 530 and the reception unit 521 of the auxiliary device 520. Note that the positioning device 210 and the high-accuracy oscillator 240 are the same as the positioning device 210 and the high-accuracy oscillator 240 of the third embodiment.

(3) In the third embodiment and the fourth embodiment, an example in which the reference clock signal is received by the auxiliary device and the received reference clock signal is sent to the positioning device has been described. However, the present invention is not limited to this, and for example, a function of receiving a reference clock signal and sending it to the internal clock oscillation unit may be incorporated in the positioning device.
FIG. 7 is a diagram illustrating a modification in which the function of the reception unit 221 in the positioning system according to the third embodiment is incorporated in the positioning device 610. The positioning device 610 includes a receiving unit 621 corresponding to the receiving unit 221 in the positioning system of the third embodiment. Note that the reference signal transmission device 230 and the high-precision oscillator 240 are the same as the reference signal transmission device 230 and the high-precision oscillator 240 of the third embodiment.
Also, in the form in which the positioning device has a function of receiving the reference clock signal and sending it to the internal clock oscillation unit, a form using wired communication or wire broadcasting may be used.

  In addition, although 1st Embodiment-5th Embodiment and modification can also be used in combination suitably, detailed description is abbreviate | omitted.

110, 210, 410, 610 Positioning device 111 Internal clock oscillating unit 112 RF receiving unit 113 Baseband signal processing unit 114 Positioning calculation unit 115 GPS antenna 120, 220, 520 Auxiliary device 121, 240, 340, 416 High-precision oscillator 221 521, 621 Receiver 230, 530 Reference signal transmitter 350 GPS receiver

Claims (12)

Satellite signal receiving means for receiving a satellite signal from an artificial satellite a plurality of times while recording the reception time;
Internal clock oscillating means for oscillating an internal clock signal for measuring the reception time of the satellite signal below a preset time lag amount;
Positioning calculation means for performing positioning calculation using the satellite signal received by the satellite signal receiving means a plurality of times and its reception time;
A positioning device comprising: The positioning device according to claim 1,
The internal clock oscillating means oscillates the internal clock signal based on a reference clock signal acquired from the outside;
A positioning device characterized by. The positioning device according to claim 2,
The internal clock oscillation means acquires the reference clock signal from an auxiliary device that is directly connected to the positioning device and functions as a part of the positioning device;
A positioning device characterized by. The positioning device according to claim 3,
The auxiliary device includes a reference clock oscillator for oscillating the reference clock signal;
A positioning device characterized by. The positioning device according to claim 3,
The auxiliary device receives a reference signal that can be used as a reference of the reference clock signal or the reference clock signal by wireless or wired communication or broadcasting;
A positioning device characterized by. The positioning device according to claim 1,
A reference clock oscillator that oscillates the reference clock signal
The internal clock oscillating means oscillates the internal clock signal based on the reference clock signal generated by the reference clock oscillator;
A positioning device characterized by. In the positioning device according to claim 4 or 6,
The reference clock oscillator is calibrated based on a satellite signal from an artificial satellite;
A positioning device characterized by. In the positioning device according to claim 4 or 6,
The reference clock oscillator oscillates the reference clock signal based on a satellite signal from an artificial satellite;
A positioning device characterized by. The positioning device according to claim 2,
Comprising a receiving unit for receiving the reference clock signal by wireless or wired communication or broadcasting;
A positioning device characterized by. A positioning system having a positioning device and a reference signal transmission device that sends a reference clock signal to the positioning device,
The positioning device is
Satellite signal receiving means for receiving a satellite signal from an artificial satellite a plurality of times while recording the reception time;
An internal clock oscillation means for oscillating based on a reference clock signal received from outside an internal clock signal for measuring the reception time of the satellite signal below a preset time lag amount;
Positioning calculation means for performing positioning calculation using the satellite signal received by the satellite signal receiving means a plurality of times and its reception time;
With
The reference signal transmitter is
Oscillating the reference clock signal by itself, or obtaining from the outside, and transmitting to the positioning device,
A positioning system characterized by An internal clock oscillation step for oscillating an internal clock signal;
A satellite signal receiving step for receiving a satellite signal from an artificial satellite a plurality of times while recording a reception time;
A positioning calculation step for performing positioning calculation using the satellite signal received multiple times in the satellite signal reception step and its reception time;
Positioning method to perform. On the computer,
An internal clock oscillation step for oscillating an internal clock signal;
A satellite signal receiving step for receiving a satellite signal from an artificial satellite a plurality of times while recording a reception time;
A positioning calculation step for performing positioning calculation using the satellite signal received multiple times in the satellite signal reception step and its reception time;
Running
A positioning program characterized by

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