JP2014126539A - Gnss(global navigation satellite system) receiver and positioning position calculation method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a GNSS(Global Navigation Satellite System) receiver for accurately calculating the position of a fixed point in the case of positioning a fixed point by a GNSS.SOLUTION: A GNSS receiver 10 includes a positioning signal acquisition part 12, an acquisition situation data calculation part 21, a positioning calculation part 22, and a positioning position calculation part 25. The positioning signal acquisition part 12 acquires a positioning signal transmitted by a GNSS satellite several times at the same point. The acquisition situation data calculation part 21 calculates acquisition situation data as data related to at least one of the GNSS satellite and the positioning signal. The positioning calculation part 22 calculates a temporary positioning position on the basis of the positioning signal acquired by the positioning signal acquisition part 12. The positioning position calculation part 25 calculates a regular positioning position by weighting and synthesizing a plurality of temporary positioning positions calculated by the positioning calculation part 22 on the basis of the acquisition situation data corresponding to the temporary positioning positions.

Description

  The present invention mainly relates to a GNSS receiver that obtains a positioning position based on a positioning signal received from a GNSS satellite.

  Conventionally, positioning using GNSS (Global Navigation Satellite System) such as GPS (Global Positioning System) has been widely performed. The GPS receiver receives positioning signals from a plurality of GPS satellites, and performs positioning based on these positioning signals. Patent Documents 1 and 2 disclose techniques related to positioning using GPS satellites.

  Patent Document 1 discloses a GPS data processing device that virtually realizes a poor GPS reception environment for development of a positioning system or the like. Since this GPS data processing apparatus can intentionally output a positioning signal from a GPS satellite selected by the user, it is possible to easily realize a poor GPS reception environment. In addition, this GPS data processing device is configured to be able to compare a positioning position obtained in a poor GPS reception environment with a positioning position obtained based on all positioning signals.

  Patent Document 2 discloses a surveying data collection device that sets conditions such as an elevation angle and a time zone of a GPS satellite and stores only positioning signals that match the conditions. Thereby, it is possible to prevent unnecessary positioning signals from being stored and to use the same positioning signals when performing positioning at each of the two points.

JP 2009-281919 A Japanese Patent No. 3637354

  By the way, GNSS is used not only for obtaining the position of a moving body in real time but also for obtaining the position of a fixed point (fixed object). The configuration for obtaining the position of the fixed point has been proposed to be applied to, for example, a system for obtaining and managing the position of an automobile before being loaded on a large ship.

  When obtaining the position of a fixed point, it is desired to accurately detect the position, but positioning by GNSS includes an error, and there is variation for each positioning. From the above, in the case where positioning of a fixed point is performed by GNSS, a configuration that accurately obtains the position of the fixed point is desired.

  Patent Document 1 is a configuration for realizing a poor GPS reception environment, and does not describe a technique for obtaining a positioning position with high accuracy. Patent Document 2 is a configuration for selecting and storing a positioning signal, but the purpose of Patent Document 2 is to omit unnecessary data storage and to use the same positioning signal at two points. It is not described how to perform positioning based on the measured positioning signal.

  The present invention has been made in view of the above circumstances, and a main object thereof is to provide a GNSS receiver that accurately obtains the position of a fixed point when positioning of the fixed point is performed by GNSS.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to a first aspect of the present invention, a GNSS receiver having the following configuration is provided. That is, the GNSS receiver includes a positioning signal acquisition unit, an acquisition status data calculation unit, a positioning calculation unit, and a positioning position calculation unit. The positioning signal acquisition unit acquires a positioning signal transmitted by a GNSS satellite a plurality of times at the same point. The acquisition status data calculation unit obtains acquisition status data that is data relating to at least one of a GNSS satellite and a positioning signal. The positioning calculation unit obtains a temporary positioning position based on the positioning signal acquired by the positioning signal acquisition unit. The positioning position calculation unit calculates the actual positioning position by weighting and combining the plurality of temporary positioning positions obtained by the positioning calculation unit based on the acquisition status data corresponding to the temporary positioning position.

  Thereby, since a plurality of positioning results (temporary positioning positions) are weighted and synthesized according to the reliability (acquisition status data) of the positioning results, it is possible to obtain a highly accurate positioning position.

  The GNSS receiver preferably has the following configuration. That is, the GNSS receiver includes a positioning position determination unit that determines whether each temporary positioning position is used for calculation of the actual positioning position by comparing the temporary positioning positions obtained by the positioning calculation unit. Prepare. The positioning position calculation unit calculates the main positioning position using only the temporary positioning position determined by the positioning position determination unit when used for calculating the main positioning position.

  As a result, if the temporary positioning position is significantly different from other observations at the same point, it is presumed that there is some problem, so by not using this temporary positioning position or positioning signal, the more accurate main positioning position can be obtained. Can be sought.

  In the GNSS receiver, when the positioning position determination unit determines that the temporary positioning position shows a different value from the other and the acquisition status data corresponding to the temporary positioning position is not good, It is preferable to determine that the positioning position is not used for calculating the actual positioning position.

  As a result, even if the temporary positioning position is significantly different from the others, the temporary positioning position may have some meaning if the GNSS satellite arrangement and positioning signal are normal. The position can be determined.

  The GNSS receiver preferably has the following configuration. That is, the GNSS receiver includes a satellite determination unit that determines whether or not each GNSS satellite is used for calculation of the actual positioning position. The positioning position calculation unit calculates the main positioning position using only the temporary positioning position calculated from the positioning signal of the GNSS satellite determined to be used by the satellite determination unit.

  Thereby, based on the elevation angle of the GNSS satellite, the signal level of the positioning signal, etc., the main positioning position can be calculated based only on the temporary positioning position with high reliability.

  In the GNSS receiver, the satellite determination unit determines whether or not the GNSS satellite is located at the main position based on at least one of the height of the signal level of the positioning signal, the fluctuation of the signal level of the positioning signal, and the elevation angle of the GNSS satellite. It is preferable to determine whether or not to use for calculation.

  This makes it possible to make a reasonable decision as to which GNSS satellite outputs the positioning signal.

  In the GNSS receiver, the acquisition status data preferably includes at least one of the number of satellites that have received a positioning signal, an accuracy deterioration coefficient, and a signal level height of the positioning signal.

  Thereby, the weighting process which a positioning position calculation part performs, and the process which judges whether the said acquisition status data are favorable when a temporary positioning position differs greatly from others can be performed appropriately.

  According to the second aspect of the present invention, the following positioning position calculation method is provided. That is, this positioning position calculation method includes a positioning signal acquisition process, an acquisition status data acquisition process, a positioning calculation process, and a positioning position calculation process. In the positioning signal acquisition step, the positioning signal transmitted by the GNSS satellite is acquired a plurality of times at the same point. In the acquisition status data calculation step, acquisition status data that is data related to at least one of the GNSS satellite and the positioning signal is obtained. In the positioning calculation step, a temporary positioning position is obtained based on the positioning signal acquired in the positioning signal acquisition step. In the positioning position calculating step, the plurality of temporary positioning results obtained in the positioning calculating step are weighted and synthesized based on the acquisition status data corresponding to the temporary positioning position, thereby calculating the main positioning position.

  Thereby, since a plurality of positioning results (temporary positioning positions) are weighted and synthesized according to the reliability (acquisition status data) of the positioning results, it is possible to obtain a highly accurate positioning position.

The block diagram which shows the structure of the GNSS receiver which concerns on one Embodiment of this invention. The flowchart which shows the process which a GNSS receiver performs in order to obtain | require a positioning position. A table showing information stored or registered in association with measurement time. A table showing satellite determination data.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a GNSS receiver 10 according to an embodiment of the present invention.

  The GNSS receiver 10 is a device used for observing the position of a fixed point. The GNSS receiver 10 acquires and stores a positioning signal from a GNSS satellite every predetermined time (for example, every 5 minutes) during a measurement period (for example, about several hours). Then, after the measurement period has elapsed, a calculation is performed based on the stored positioning signal to obtain a positioning position.

  Hereinafter, a specific configuration of the GNSS receiver 10 will be described. As illustrated in FIG. 1, the GNSS receiver 10 includes a GNSS antenna 11, a positioning signal acquisition unit 12, a calculation unit 13, a storage unit 14, and a data output unit 15. In addition, each unit constituting the GNSS receiver 10 is configured to exchange data.

  The GNSS antenna 11 receives positioning signals transmitted by a plurality of GNSS satellites. The GNSS antenna 11 outputs a plurality of received positioning signals to the positioning signal acquisition unit 12.

  The positioning signal acquisition unit 12 acquires the positioning signal received by the GNSS antenna 11. The positioning signal acquisition unit 12 stores the positioning signal received by the GNSS antenna 11 in the storage unit 14.

  The calculation unit 13 performs various calculations based on the positioning signal acquired by the positioning signal acquisition unit 12 to obtain the position (positioning position) of the GNSS receiver 10. Specifically, the calculation unit 13 includes an acquisition status data calculation unit 21, a positioning calculation unit 22, a positioning position determination unit 23, a satellite determination unit 24, and a positioning position calculation unit 25. Details of processing performed by each unit of the calculation unit 13 to obtain a positioning position will be described later.

  The storage unit 14 stores a positioning signal acquired by the positioning signal acquisition unit 12, data necessary for the calculation unit 13 to obtain a positioning position, and the like.

  The data output unit 15 outputs the positioning position obtained by the calculation unit 13 to an external device.

  Next, the flow of processing in which the GNSS receiver 10 obtains a positioning position will be described with reference to the flowchart shown in FIG.

  As described above, the positioning signal acquisition unit 12 acquires the positioning signal of the GNSS satellite every predetermined time (S101). The positioning signal acquisition unit 12 stores the positioning signal acquired here in the storage unit 14.

  Whenever the positioning signal acquisition unit 12 acquires a positioning signal, the acquisition status data calculation unit 21 of the calculation unit 13 calculates acquisition status data that is data relating to the GNSS satellite and the positioning signal at that time (S102). Note that the acquisition status data calculation unit 21 may calculate the acquisition status data at each measurement time collectively after the measurement period elapses, not every time the positioning signal acquisition unit 12 acquires a positioning signal.

  FIG. 3 shows an example of information stored in the storage unit 14. In this example, the number of satellites, the signal level average, and the DOP value (accuracy degradation coefficient) are described as the acquisition status data.

  The “number of satellites” is the number of GNSS satellites that the positioning signal acquisition unit 12 can acquire positioning signals at each measurement time. The number of satellites changes with time, and may temporarily decrease due to the influence of obstacles. In general, as the number of satellites increases, an accurate positioning position can be calculated.

  “Signal level average” is an average value of the signal levels of the positioning signals acquired from each GNSS satellite. In general, the higher the signal level, the more accurate positioning position can be calculated.

  The DOP value is a value indicating the degree of deterioration of positioning accuracy determined by the arrangement state of the GNSS satellite. For example, when the GNSS satellites are gathered in one direction, the DOP value becomes low. Naturally, the smaller the DOP value, the more accurate the positioning position can be calculated.

  Thus, the acquisition status data indicates the reliability of the positioning signal at each measurement time. The acquisition status data is not limited to the above, and for example, the presence / absence of a cycle slip, the average value of the elevation angle of the GNSS satellite, the pseudorange measurement value, and the like can be used as the acquisition status data.

  Next, the positioning calculation unit 22 of the calculation unit 13 performs positioning calculation based on the positioning signal acquired by the positioning signal acquisition unit 12 at each measurement time, and calculates a positioning position for each measurement time (S103). The positioning calculation unit 22 stores the calculated positioning position in the storage unit 14 in association with the measurement time. Note that the positioning calculation unit 22 may perform positioning calculation collectively after the measurement period has elapsed, or may perform positioning calculation every time a positioning signal is acquired.

  Since each positioning position calculated by the positioning calculation unit 22 is used to calculate a final positioning position (main positioning position), it may be referred to as “temporary positioning position” in the following description. In addition, although the GNSS receiver 10 of this embodiment is measuring the fixed point, according to the GNSS reception environment etc., each temporary measurement position shows a different value in detail.

  Next, the positioning position determination unit 23 of the calculation unit 13 compares the temporary positioning positions calculated by the positioning calculation unit 22 and finds a temporary positioning position whose value is different from the others (S104). Although a method for finding a temporary positioning position having a value different from that of the other is arbitrary, for example, an average value of the temporary positioning position is obtained, and a method of finding a temporary positioning position that is a predetermined distance away from the average value may be adopted. it can. Here, in the example illustrated in FIG. 3, it is assumed that the temporary positioning position acquired at 9/9 17:30 is determined to be different from the others.

  The positioning position determination unit 23 determines whether or not the acquisition status data is good (whether or not the reliability is high) for a temporary positioning position different from the others (S105). This is because even if a provisional positioning position different from the others is calculated, if the acquisition status data is good, the provisional positioning position may be meaningful.

  If the acquisition status data is not good, the positioning position determination unit 23 determines not to use the temporary positioning position at the measurement time for calculating the actual positioning position (S106). In this case, the positioning position determination unit 23 registers “exclusion” in the “use / exclusion” item (FIG. 3) corresponding to the measurement time. The positioning position determination unit 23 keeps the item “use / exclusion” as “use” when the acquisition status data is good.

  Next, the satellite determination unit 24 of the calculation unit 13 determines a GNSS satellite to be used for calculating the actual positioning position based on the satellite determination data (S107). The satellite determination data is data relating to the reliability of each GNSS satellite. In FIG. 4, the signal level, the fluctuation of the signal level, and the average elevation angle are described as examples of the satellite determination data in association with the satellite ID of each GNSS satellite. The satellite determination data is calculated based on the positioning signal stored in the storage unit 14 after the measurement period has elapsed.

  The “signal level” indicates the signal level of the positioning signal of each GNSS satellite. For example, a GNSS satellite with a satellite ID of 51 has a signal level of B to A, which indicates that positioning signals with a signal level of B and A were acquired during the measurement period. As described above, the higher the signal level of the positioning signal, the more accurate the positioning position can be calculated. Therefore, it is preferable not to use the GNSS satellite with a low signal level.

  “Signal level fluctuation” indicates how much the signal level of the positioning signal of each GNSS satellite fluctuated during the measurement period. When the fluctuation of the signal level is large, it can be seen that the positioning signal from the GNSS satellite becomes difficult to receive due to, for example, an obstacle or a decrease in the elevation angle. Therefore, it is preferable not to use GNSS satellites with large signal level fluctuations.

  “Average elevation angle” indicates the average elevation angle of each GNSS satellite during the measurement period. Generally, it is preferable not to use a GNSS satellite with a small average elevation angle because of the influence of delay when radio waves propagate in the atmosphere.

  The satellite determination unit 24 selects a satellite to be used for calculating the actual positioning position based on the satellite determination data, and registers that fact. In the example shown in FIG. 4, it is registered that the GNSS satellite with the satellite ID 56 is not used and another GNSS satellite is used.

  Next, the positioning calculation unit 22 corrects the temporary positioning position obtained in S103 by performing positioning calculation again based only on the positioning signal of the GNSS satellite determined to be used by the satellite determination unit 24 (S108). In this way, by performing the positioning calculation by excluding the positioning signal of the GNSS satellite with low reliability, it is possible to correct the temporary positioning position with high validity.

  Next, the positioning position calculation unit 25 sets a weighting factor for the temporary measurement position based on the acquisition status data at each measurement time (S109). Specifically, the better the acquisition status data (higher reliability), the greater the weight of the temporary measurement position, and the lower the acquisition status data (lower reliability), the smaller the weight of the temporary measurement position. To do.

  Then, the positioning position calculation unit 25 calculates the main measurement position by combining the temporary measurement positions in consideration of the set weighting coefficient (S109). As a result, a highly valid measurement result can be obtained.

  As described above, the GNSS receiver 10 according to this embodiment includes the positioning signal acquisition unit 12, the acquisition status data calculation unit 21, the positioning calculation unit 22, and the positioning position calculation unit 25. The positioning signal acquisition unit 12 acquires the positioning signal transmitted by the GNSS satellite a plurality of times at the same point. The acquisition status data calculation unit 21 obtains acquisition status data that is data relating to at least one of the GNSS satellite and the positioning signal. The positioning calculation unit 22 obtains a temporary positioning position based on the positioning signal acquired by the positioning signal acquisition unit 12. The positioning position calculation unit 25 calculates the actual positioning position by weighting and combining the plurality of temporary positioning positions obtained by the positioning calculation unit 22 based on the acquisition status data corresponding to the temporary positioning position.

  Thereby, since a plurality of positioning results (temporary positioning positions) are weighted and synthesized according to the reliability (acquisition status data) of the positioning results, it is possible to obtain a highly accurate positioning position.

  The preferred embodiment of the present invention has been described above, but the above configuration can be modified as follows, for example.

  The calculation unit 13 may be implemented by all or part of each function using dedicated hardware, or may be configured by both hardware and software.

  The above-described processing performed by the calculation unit 13 is an example, and processing can be added or omitted as necessary. For example, the process shown in S105 is not essential, and when the temporary positioning position is different from the others, the temporary positioning position obtained at the measurement time may be excluded without considering the acquisition status data.

  In particular, the order of processing performed by the arithmetic unit 13 is arbitrary, and is not limited to the order shown in the flowchart of FIG. For example, the order of the processing performed by the positioning position determination unit 23 and the processing performed by the satellite determination unit 24 may be reversed.

  As GNSS, GLONASS, GALILEO, etc. can be used besides GPS.

  The use of the GNSS receiver 10 is not limited as long as the GNSS receiver 10 is used for obtaining the position of a fixed point (fixed object). For example, the present invention can be applied to a system for managing the position of an automobile before being loaded on a large ship, or a system for managing the position of an automobile at an automobile exhibition hall (used car sales hall).

DESCRIPTION OF SYMBOLS 10 GNSS receiver 11 GNSS antenna 12 Positioning signal acquisition part 13 Calculation part 14 Storage part 15 Data output part 21 Acquisition condition data calculation part 22 Positioning calculation part 23 Positioning position determination part 24 Satellite determination part 25 Positioning position calculation part

Claims (7)

A positioning signal acquisition unit that acquires a positioning signal transmitted by a GNSS satellite multiple times at the same point;
An acquisition situation data calculation unit for obtaining acquisition situation data which is data relating to at least one of a GNSS satellite and a positioning signal;
A positioning calculation unit for obtaining a temporary positioning position based on the positioning signal acquired by the positioning signal acquisition unit;
A positioning position calculation unit that calculates the actual positioning position by weighting and combining the plurality of temporary positioning positions obtained by the positioning calculation unit based on the acquisition status data corresponding to the temporary positioning position;
A GNSS receiver comprising: The GNSS receiver according to claim 1,
A positioning position determination unit that determines whether to use each temporary positioning position for calculation of the main positioning position by comparing the temporary positioning positions obtained by the positioning calculation unit,
The GNSS receiver, wherein the positioning position calculation unit calculates the actual positioning position using only the temporary positioning position determined by the positioning position determination unit when used for calculating the actual positioning position. A GNSS receiver according to claim 2,
The positioning position determination unit calculates the temporary positioning position when the temporary positioning position shows a different value from the other, and when the acquisition status data corresponding to the temporary positioning position is not good. A GNSS receiver characterized in that it is determined not to be used. A GNSS receiver according to any one of claims 1 to 3,
For each GNSS satellite, a satellite determination unit that determines whether to use this position for calculation is provided.
The GNSS receiver, wherein the positioning position calculation unit calculates the actual positioning position using only the temporary positioning position calculated from the positioning signal of the GNSS satellite determined to be used by the satellite determination unit. A GNSS receiver according to claim 4,
Whether the satellite determination unit uses the GNSS satellite for calculating the positioning position based on at least one of the height of the signal level of the positioning signal, the fluctuation of the signal level of the positioning signal, and the elevation angle of the GNSS satellite. A GNSS receiver characterized by: A GNSS receiver according to any one of claims 1 to 5,
The GNSS receiver characterized in that the acquisition status data includes at least one of the number of satellites that have received a positioning signal, an accuracy degradation coefficient, and a signal level height of the positioning signal. A positioning signal acquisition step of acquiring a positioning signal transmitted by a GNSS satellite a plurality of times at the same point;
An acquisition status data calculation step for obtaining acquisition status data that is data relating to at least one of a GNSS satellite and a positioning signal;
A positioning calculation step for obtaining a temporary positioning position based on the positioning signal acquired in the positioning signal acquisition step;
A positioning position calculation step for calculating the actual positioning position by weighting and combining the plurality of temporary positioning positions obtained in the positioning calculation step based on the acquisition status data corresponding to the temporary positioning position;
Positioning position calculation method characterized by including.

Images