JP2023175585A - Correction information account setting system and method thereof - Google Patents

Abstract

To make it possible to easily perform settings such as assignment or switching of correction information accounts.SOLUTION: A correction information account setting system includes a communication device that is attached to a mobile object and receives correction information for correcting an error in the position of the mobile object, and a server that communicates with the communication device. The server obtains requested positioning conditions of the mobile object from the communication device, and selects a correction information account based on the requested positioning conditions. The communication device sets the selected correction information account.SELECTED DRAWING: Figure 1

Description

The present invention relates to a technique for setting a correction information account.

Conventionally, a receiver is attached to a moving object such as a vehicle, and based on the position information of the moving object acquired by the receiver, correction information is used to correct errors in the position information, and the position information of the moving object is highly accurate. There is technology to detect it.

Specifically, for example, a mobile object has a receiver capable of receiving position information transmitted from an artificial satellite such as GPS (Global Positioning System), GLONASS (Global Navigation Satellite System), GALILEO, etc. The receiver includes a receiver that can receive correction information distributed from a correction information server that corrects the correction information. Positioning of a moving body using position information transmitted from an artificial satellite and correction information distributed from a correction information server is called GNSS (Global Navigation Satellite System) positioning. Furthermore, as a positioning method with even higher accuracy, there is RTK (Real Time Kinematic) positioning, which continuously measures the position of a moving object in real time on the cm order based on the acquired position information and correction information. RTK positioning is also referred to as RTK-GNSS positioning, and in order to realize RTK positioning, in addition to a receiver provided in a mobile object, a reference station that serves as a reference for location information may be required. Such high-precision positioning is expected to be used, for example, in autonomous driving of automobiles, agricultural machinery, construction machinery, and drones. As a highly accurate positioning method, Patent Document 1 discloses a technology that changes the data format of correction data to be transmitted and enables highly accurate positioning even when the communication capacity of the correction information to be received is small. ing.

Japanese Patent Application Publication No. 2015-155917

However, Patent Document 1 does not describe a correction information account necessary for using correction information, although it is related to the amount and quality of correction information.

Only one correction information account for requesting correction information distribution to the correction information server can be used for one communication device. Therefore, if you have multiple mobile units equipped with communication devices and you want to use the correction information on any number of mobile units, one or more of them, the mobile unit that uses the correction information Correction information accounts for the number of vehicles are required. Further, the specifications of each correction information account differ depending on the correction information distribution company or its contract form. Therefore, depending on the purpose, the user registers an account corresponding to the desired positioning method in the communication device provided in the mobile object. If the positioning accuracy deteriorates, you can switch to another account that supports the used positioning method.

Here, when registering or switching a correction information account to a communication device, the user needs to check which accounts are available for use. Therefore, not only cannot the correction information account be used immediately, but also the correction information account cannot be switched immediately, so positioning cannot be performed with sufficient accuracy, which affects the safety of autonomous driving, etc. There was the issue of putting it away. Additionally, there is a problem in that correction information accounts corresponding to desired positioning accuracy compete among multiple users.

An object of the present invention is to easily perform settings such as assignment or switching of correction information accounts.

A preferred example of the present invention includes a communication device that is attached to a moving body and receives correction information for correcting an error in the position of the moving body;
A correction information account setting system comprising: a server communicating with the communication device;
The server is
obtaining the required positioning conditions of the mobile object from the communication device;
selecting a correction information account based on the requested positioning conditions;
The communication device is
This is a correction information account setting system for setting a selected correction information account.

According to the present invention, a correction information account can be easily set.

FIG. 2 is a schematic configuration diagram of a correction information account setting system. FIG. 2 is a block diagram showing an example of a hardware configuration of a communication device. FIG. 2 is a block diagram showing a configuration example of a control unit of a communication device. This is an example of a correction information account setting screen. FIG. 3 is a schematic diagram showing a method of allocating correction information accounts. FIG. 3 is a schematic diagram illustrating a correction information account switching and return method. FIG. 2 is a flow diagram showing a processing flow executed by a communication device. FIG. 2 is a flow diagram showing a processing flow executed by a communication device.

Hereinafter, each embodiment of the present invention will be specifically described with reference to the drawings. Note that in drawings other than flowcharts, arrows without reference numerals indicate connection relationships. On the other hand, arrows with symbols indicate data exchange. In any of the arrows, the direction of the arrow indicates the exchange of data with respect to the target portion in the direction indicated by the arrow. Further, in this specification, the correction information account may be abbreviated as an account.

A correction information account setting system 100 according to a first embodiment of the present invention includes a mobile body 102 and a communication device 101 mounted on the mobile body 102, as shown in FIG. The communication device 101 exchanges information with various external servers. Here, an example will be described in which one communication device is attached to one mobile object. A configuration may be adopted in which a plurality of communication devices are attached to one mobile body.

FIG. 2 is a diagram showing an example of the hardware configuration of the communication device 101, and the communication device 101 includes a GNSS receiving section 202 and a correction information receiving section 203. GNSS receiving section 202 is a communication terminal that has an antenna that can receive GNSS information. In this specification, GNSS information refers to position information of the mobile object 102 transmitted from an artificial satellite such as GPS, GLONASS, or GALILEO. The correction information receiving unit 203 is a communication terminal that has an antenna that can receive correction information for correcting errors in position information of a moving object.

Note that the communication device 101 is attached to the moving body 102 and outputs position information of the moving body 102. The communication device 101 may be configured to be powered by the mobile body 102.

The moving object 102 may be a vehicle such as an automobile having a moving mechanism such as wheels, and may be an industrial vehicle such as a power shovel, a tractor, or a road roller. Alternatively, it may be a robot, a trolley, or the like with a traveling function.

The communication device 101 includes a controller section 204 in addition to a GNSS receiving section 202 and a correction information receiving section 203. The controller unit 204 includes a GNSS signal processing unit 205 that processes the GNSS information received by the GNSS receiving unit 202, and a correction information processing unit 206 that processes the correction information received by the correction information receiving unit 203.

The controller unit 204 is configured using a computer, for example, as shown in FIG. The computer includes a CPU 204a, a ROM 204b, a RAM 204c, an interface (I/F) 204d, and the like. These are connected via a bus 204e. By executing the instructions (software) stored in the ROM 204b, the CPU 204a executes the GNSS signal processing unit 205 and the correction information processing unit 206, and realizes functions such as connection to the Internet 104 and output of position information. It has become. Note that the controller unit 204 may be configured with a plurality of GNSS signal processing units 205.

The explanation will be given by returning to FIG. 2 again. The controller unit 204 includes a GNSS signal processing unit 205 and a correction information processing unit 206 as functional blocks. The GNSS signal processing unit 205 may be installed at a location other than inside the controller unit 204. Specifically, the configuration may be such that the GNSS signal processing unit 205 is installed on the cloud. In the controller unit 204, the processes of the GNSS signal processing unit 205 and the correction information processing unit 206 are executed by the CPU 204a executing software stored in the ROM 204b. Settings of the communication device 101 and confirmation of data are output to the operating device 208. The operation device 208 includes a tablet, a PC (Personal Computer), and the like.

Next, the exchange of information between the communication device 101 and various servers (computers) will be explained. As shown in FIG. 1, in this specification, a configuration will be described in which three servers are used. The communication device 101 transmits the operating status to the management server 106 via the carrier network 103, the gateway 105, and the Internet 104. Note that the operating status refers to, for example, positioning status and correction information account information.

The management server 106 manages the operating status of the plurality of communication devices 101 mounted on the plurality of mobile objects 102 for each communication device 101. Furthermore, the communication device 101 may be configured to transmit the operating information of the mobile body 102 to the operating information collection server 110. Note that the operation information refers to, for example, error information and driving route.

The operation information collection server 110 allows a user to remotely monitor the status of the mobile object 102 by using the operation information 111 collected by the operation information collection server 110. By using the operation information collection server 110, a user can remotely confirm whether or not the correction information account is being used in the mobile object 102.

The correction information server 108 calculates correction information corresponding to the correction information account, and transmits the correction information to the communication device 101 in response to a request from the communication device 101. In order to receive correction information from the correction information server 108, it is necessary to register a correction information account in the communication device 101, and the user registers the correction information account information in the communication device 101 mounted on the mobile object 102 in advance. . Correction information is calculated based on the positioning settings of the registered correction information account.

The correction information account can be registered by attempting to connect to the communication device 101 by wire or wirelessly and setting it by the user himself, or by connecting to the management server 106 and registering from the correction information account held by the management server 106. , there is a method to set it automatically. In this embodiment, the communication device 101 is connected to the Internet 104 in order to receive correction information from the correction information server 108. Note that when the communication device 101 is installed in the mobile body 102, a configuration may be adopted in which the communication device 101 is connected to the Internet 104 from the carrier network 103 using the gateway 105.

FIG. 4 shows an example of the correction information account setting screen of the communication device 101. In this embodiment, a GUI (Graphic User Interface) screen is shown as the display unit 401 that displays the correction information account setting screen. The display section of the operating device 208 may be used as a correction information account setting screen. The setting screen may be a CLI (Command Line Interface), and is not limited to any means as long as it can accept input from the user. If the correction information is used without being automatically assigned, the user must register a correction information account in the communication device 101 himself/herself. Information necessary for registering a correction information account includes, for example, a host name (URL) 402, a port number 403, a user name 404, a password 405, a mount point 406, and the like. By registering this information in the communication device 101, the correction information can be used.

<About how to allocate correction information account>
In this embodiment, a user's correction information account is automatically assigned. The display unit 401 of the communication device 101 has setting items for registering required positioning conditions. Setting items for the required positioning conditions for automatically assigning a correction information account include, for example, the positioning accuracy input field 407, RTK positioning, VRS (Virtual Reference Station) positioning, or SSR (state space representation) positioning that does not use a reference station. A selection field 408 for the positioning method to be used is provided. The positioning accuracy input field 407 includes, for example, positioning accuracy, a baseline length that is the distance between the reference station and the communication device 101, or a threshold value for the number of captured artificial satellites 601. In addition, a selection field 409 for the correction information server to be used may be provided, and these items may be added as appropriate. The communication device 101 requests the management server 106 to allocate a correction information account based on the requested positioning conditions together with the input information in these input fields.

These required positioning condition setting items can also be used as conditions for switching or returning correction information accounts, which will be described later. When positioning is performed using the assigned correction information account, the position information constantly changes due to movement of the mobile object 102, etc. As a result, the threshold value registered in the positioning accuracy input field 407 may no longer satisfy the required conditions. Therefore, by switching the correction information account using the input information, it is possible to continue positioning that satisfies the request. Regarding the return of the correction information account, for example, by allowing the usage period 410 of the automatically allocated correction information account to be registered, the account usage period 410 can be used as the return date of the correction information account.

Return to the explanation of correction information account assignment. The display unit 401 may have a setting item such as a check box 411 so that the communication device 101 can select the presence or absence of the setting. In addition, automatic switching of accounts and automatic return of accounts may be similarly selected using check boxes or the like.

A configuration may be adopted in which a message field 412 or the like for displaying messages from the management server is provided in the display unit 401. Examples of messages from the management server include displaying a log when accounts are switched, displaying a correction information account registered in the communication device 101, and the like. By checking the message column 412 on the display unit 401, the user can recognize which account is assigned to the communication device 101 that is being used.

Next, with reference to FIG. 5, the flow of assigning a correction information account to the communication device 101 and acquiring the corresponding correction information will be described.

When the communication device 101 is activated, the communication device 101 transmits an account assignment request 502 for correction information to the management server 106 together with the requested positioning conditions. The communication device 101 also transmits information necessary for the management server 106 to manage accounts in real time, such as position information of the mobile object 102.

Upon receiving the account assignment request 502 for correction information, the management server 106 selects account information 503 to be assigned to the communication device 101 from among the plurality of account information held by the management server 106, and transmits it to the communication device 101. The communication device 101 registers account information 503 assigned by the management server 106.

At this time, as for the correction information account assigned by the management server 106, an account that satisfies the required positioning conditions is selected by taking into account the input conditions set in the communication device 101. The correction information account setting system having such a configuration allows the user to easily set a correction information account that suits the purpose without checking the accounts held by the user.

Next, the communication device 101 that has set the account information 503 assigned by the management server 106 transmits an account information inquiry request 504 to the correction information server 108 . After checking the account information 503 received from the communication device 101, the correction information server 108 calculates correction information 505 and transmits it to the communication device 101. In addition, the management server 106 selects an account that does not satisfy the registered required positioning conditions, if it is clear that switching accounts will lead to improved positioning accuracy, even though the required positioning conditions are not satisfied. It may be configured as follows. With the correction information account setting system 100 having such a configuration, it is possible to measure the position information of the mobile object 102 using the account with the highest accuracy among the available accounts.

<About how to switch correction information accounts>
FIG. 6 is a schematic diagram illustrating a method of switching the correction information account registered in the communication device 101 and a method of returning the correction information account. First, a method of switching the correction information account registered in the communication device 101 will be explained. Here, when switching the correction information account, compare the allocation of the correction information account and switch from the already allocated correction information account (first account) to the correction information account (second account) that matches the required positioning conditions. They differ in some respects. The communication device 101 has a setting item for switching the registered correction information account assigned by the management server 106. As the setting items, use the setting items explained in the correction information account assignment method.

The communication device 101 constantly monitors the set required positioning condition as a trigger for the correction information account switching condition. Note that the monitoring may be configured to be performed by the controller unit 204 of the communication device 101. While monitoring the set threshold value, the communication device 101 transmits a correction information account switching request 602 to the management server 106 if the registered account no longer satisfies the required positioning conditions. The management server 106 transmits a new correction information account 603 to the communication device 101.

In this embodiment, an example is shown in which the threshold value set by the communication device 101 is constantly monitored, and the correction information account switching request 602 is sent to the management server 106 only when the correction information account switching condition is satisfied. The communication device 101 is not limited to that example, and may have a configuration in which the communication device 101 monitors at an arbitrary period and transmits the correction information account switching request 602 to the management server 106. The correction information account setting system 100 having such a configuration can reduce the amount of data processed by the management server 106.

The communication device 101 returns the already registered correction information account to the management server 106, and sets the correction information account 603 newly assigned by the management server 106 to the communication device 101. After the communication device 101 automatically configures the settings, it then sends a settings completion message for the newly assigned correction information account to the management server 106. At this time, the management server 106 manages the correction information account that the communication device 101 was using before account switching as an unused account. With the correction information account setting system 100 having such a configuration, it is possible to measure the position information of the mobile object 102 using the account with the highest accuracy among the available accounts.

<How to return correction information account>
Next, a method for returning the correction information account will be explained. Account return described here refers to return processing that does not involve account switching. The correction information account is returned, for example, when the communication device 101 is powered off. To check the disconnection state, if the communication device 101 is configured to upload location information to the management server 106 at regular intervals, when the upload of location information is interrupted for a certain period of time, the management server 106 will turn off the power to the communication device 101. It can be determined that the connection has been disconnected, and the management server 106 can perform processing to return the account registered in the communication device 101.

Note that the communication device 101 may be configured to include an internal battery or the like so that the account return process to the management server 106 can be performed even if the power is cut off. If the communication device 101 is not equipped with a power source such as an internal battery, the communication device 101 stops operating when the power to the communication device 101 is cut off, and therefore the communication device 101 becomes unable to upload position information to the management server 106. If the location information from the communication device 101 is not uploaded for a certain period of time, the management server 106 returns the account registered in the communication device 101.

With the correction information account setting system 100 having such a configuration, it is possible to collect unused accounts, thereby improving the positioning accuracy of the position information of other moving objects 102.

In addition, if you set the period for using the account in the communication device 101 in the setting item of the required positioning condition of the correction information account, you can use that period as a trigger for returning the account to the account registered in the communication device 101. The return process can be executed.

Next, the processing flow executed by the communication device 101 in the second embodiment will be described using FIG. 7.

In step S700, automatic assignment of a correction information account is started. Step S700 is a step that occurs, for example, when the mobile body 102 on which the communication device 101 is mounted is powered on, or when the communication device 101 is directly powered on.

In step S701, the communication device 101 determines whether to automatically allocate an account for correction information. For example, this can be determined by checking the check box 411 for automatically assigning a correction information account in FIG. Even if the communication device 101 already has correction information account information, it refers to the conditions for automatic account assignment and determines whether the account information it already has matches the automatic account assignment conditions. .

If it is determined that automatic correction information account allocation is not necessary, or that the already held correction information account meets the conditions for automatic account allocation, the judgment is "No" and the process proceeds to step S706. , ends the process. Note that if the correction information account has already been registered in the communication device 101, the communication device 101 requests the correction information server 108 to distribute the correction information as a different processing flow. If it is determined that automatic account allocation of correction information is necessary, a determination of "Yes" is made in step S701, and the process advances to step S702.

In S702, the communication device 101 performs processing to send the requested positioning conditions registered in the communication device 101 to the management server 106.

In step S703, the management server 106 searches for a correction information account that matches the requested positioning conditions sent from the communication device 101. Thereafter, if the management server 106 has a matching correction information account, the management server 106 sends information on the correction information account to the communication device 101. If the management server 106 does not have an account with matching correction information or has already used it, it transmits the purpose to the communication device 101.

Note that even if the registered required positioning conditions are not met, if it is clear that switching accounts will lead to improved positioning accuracy, the account may be switched. Regarding account switching when the required positioning conditions are not met, the configuration may be such that the validity/invalidity of the function is registered in the communication device 101 in advance. By including these conditions, even end users who do not know the exact thresholds for account switching conditions can automatically switch accounts.

The information transmitted from the management server 106 to the communication device 101 may be displayed in a column 412 that displays messages from the management server 106. If the correction information account is sent from the management server 106, the process advances to S704.

In step S704, the communication device 101 stores the correction information account sent from the management server 106 in its own storage unit or the like, and sets the correction information account. Thereafter, processing is performed to request distribution of correction information to the correction information server 108.

In step S705, in response to the correction information distribution request sent from the communication device 101, the correction information server 108 starts distributing the correction information to the communication device 101 based on the correction information account registered in the communication device 101. . Then, the process advances to the next step S706, and this processing flow ends.

FIG. 8 is a diagram illustrating a modification of the second embodiment, and is a flowchart illustrating an example of a processing flow executed by the communication device when switching the correction information account.

Step S800 indicates a state in which a correction information account has already been registered in the communication device 101, and the communication device 101 is receiving correction information from the correction information server.

In step S801, the communication device 101 determines whether to automatically switch the correction information account. As a criterion, the determination may be made based on the setting items of the required positioning conditions, such as whether to switch the correction information account in the settings of the communication device 101. If there is no need to switch the correction information account, the determination is "No", the process advances to step S808, and the process ends. If it is determined that automatic switching of the correction information account is necessary, the determination is "Yes" in step S801, and the process proceeds to step S802.

In step S802, the controller unit 204 of the communication device 101 monitors the requested positioning conditions registered in the communication device 101. The monitored results are processed in step S803. Note that the frequency of monitoring is not specified in this embodiment.

In step S803, the communication device 101 determines whether another correction information account in the management server 106 satisfies the automatic switching condition based on the monitoring result of the requested positioning condition processed in step S802. If the required positioning condition is not satisfied here, the determination is "No", the process returns to step S801, and the process ends. If the required positioning conditions are satisfied, a determination of "Yes" is made in step S803, and the process proceeds to step S804.

Note that if the account is returned due to power off of the communication device 101, the account switching condition cannot be determined in step S803, so the determination is "No" and the process proceeds to step S801. In step S801, if the communication device 101 is not powered on and the correction information account has been returned, automatic switching of the correction information account is not performed, and the determination is "No", and the step continues. The process advances to S808 and ends this process.

In step S804, step S805, step S806, and step S807, the same processing as the step of automatically allocating the correction information account described in FIG. 7 is performed. When the process in step S807 is completed, the process returns to step S802 again.

Although the embodiments have been described above, the present invention is not limited to the embodiments described above, and includes various modifications. Further, the above-described embodiments have been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described.

100... Correction information account setting system, 101... Communication device, 102... Mobile object, 106... Management server, 108... Correction information server

Claims (10)

a communication device that is attached to a moving body and receives correction information for correcting an error in the position of the moving body;
A correction information account setting system comprising: a server communicating with the communication device;
The server is
obtaining the required positioning conditions of the mobile object from the communication device;
selecting a correction information account based on the requested positioning conditions;
The communication device is
A correction information account setting system for setting a selected correction information account. The correction information account setting system according to claim 1,
In the correction information account setting system, the required positioning condition includes at least one of a positioning accuracy threshold, a positioning method, and a baseline length threshold of the mobile object. The correction information account setting system according to claim 1,
The selected correction information account is a correction information account setting system that satisfies the required positioning conditions. The correction information account setting system according to claim 1,
A first account is registered in the communication device as the correction information account,
If the first account no longer satisfies the required positioning conditions,
The communication device is
A correction information account setting system that requests the server to switch correction information accounts. The correction information account setting system according to claim 1,
The communication device is
A correction information account setting system including a display unit that displays setting items for registering the required positioning conditions. The correction information account setting system according to claim 1,
The communication device transmits position information of the mobile object to the server at a predetermined period,
In the correction information account setting system, the server returns the account registered in the communication device when the location information cannot be received. The correction information account setting system according to claim 1,
The requested positioning conditions include a period for using the correction information account,
A correction information account setting system that returns an account registered in the communication device based on the period. The correction information account setting system according to claim 1,
The communication device is
a first receiving unit that receives position information of the mobile body transmitted from an artificial satellite;
a second receiving section that receives correction information for correcting errors in position information of the moving body; The correction information account setting system according to claim 8,
A correction information account setting system including a correction information server that delivers the correction information to the communication device in response to a request from the communication device. a communication device that is attached to a moving body and receives correction information for correcting an error in the position of the moving body;
A correction information account setting method for a system comprising the communication device and a communicating server, the method comprising:
obtaining the required positioning conditions of the mobile object;
selecting a correction information account based on the required positioning conditions;
A correction information account setting method comprising the step of setting a selected correction information account.

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