JP4196781B2 - POSITIONING DEVICE, POSITIONING DEVICE CONTROL METHOD, AND PROGRAM - Google Patents

Description

The present invention relates to a positioning device and the like .

2. Description of the Related Art Conventionally, a terminal device such as a mobile phone that is moving acquires position information such as latitude, longitude, and altitude using a GPS (Global Positioning System) satellite (see, for example, Patent Document 1).
Specifically, for example, four GPS satellites are placed on each of a plurality of predetermined orbits orbiting the earth, and navigation messages (orbital calendar, satellite calendar, etc.) are transmitted from each GPS satellite.
A mobile phone or the like having a GPS device is configured to receive the radio waves from these four GPS satellites and to determine the latitude, longitude and altitude of its own position by decoding the navigation message.

In order to increase the accuracy of positioning using such GPS satellites, it is necessary that the positions of the four GPS satellites be separated from each other. For example, using four DOP (Dilution of Precision) values, It is judged whether or not the satellite is in the sky.
The smaller this DOP value is, the smaller the four GPS satellites are located in the sky.
Specifically, the larger the volume of a solid formed by connecting four GPS satellites receiving radio waves and the position of a mobile phone or the like as a positioning point with a straight line, the smaller the DOP value.
Therefore, a mobile phone or the like having a GPS device can improve the positioning accuracy by selecting four GPS satellites having a small DOP value and receiving signals from them when positioning.

Japanese Patent Laid-Open No. 7-91976 (FIG. 9 etc.)

However, when the DOP value is small, the four GPS satellites are spaced apart from each other in the sky, so that the elevation angle of some of the GPS satellites may be small.
FIG. 6 is a schematic explanatory diagram showing the arrangement of such four GPS satellites 10a to 10d.
As shown in FIG. 6, since the GPS satellite 10d of the four GPS satellites has a small elevation angle, the radio wave is reflected to the building 11, so-called multipath occurs, and erroneous information is transmitted to the mobile phone 12 equipped with the GPS device. Entered.
However, the mobile phone 12 cannot determine that erroneous information has been input due to the multipath or the like, and the GPS device of the mobile phone 12 has a problem that its position cannot be accurately measured.

The present invention has been made in view of the above points .

  According to the present invention, the object is to obtain position information satellite capturing means for capturing signals of a plurality of position information satellites, and all or some of the positions of the plurality of position information satellites captured by the position information capturing means. Positioning position information satellite selection means that uses an information satellite as a positioning position information satellite, position information acquisition means for acquiring position information from the selected positioning position information satellite, and position information acquisition means Temporary positioning location calculating means for calculating a temporary positioning location based on position information, artificial satellite location information storage means for storing artificial satellite location information of an artificial satellite placed near the zenith of the positioning location, the temporary positioning location and the Based on artificial satellite position information, an assumed distance calculation means for calculating an assumed distance between the temporary positioning location and the artificial satellite position information, and an artificial satellite signal acquisition for receiving an artificial satellite signal from the artificial satellite And an actual distance calculating means for calculating an actual distance between the artificial satellite and the positioning location based on the artificial satellite signal, and an error for calculating error information between distances between the assumed distance and the actual distance When calculating means, erroneous information determination means for determining whether erroneous information is received from the position information satellite based on the distance error information, and when the erroneous information determination means determines reception of erroneous information, It is achieved by an erroneous information discriminating apparatus comprising: erroneous information reception information output means for outputting the erroneous information reception information.

According to the configuration of the first invention, the satellite signal acquisition means for receiving the satellite signal from the artificial satellite, and the actual measurement for calculating the actual measurement distance between the artificial satellite and the positioning location based on the artificial satellite signal. Distance calculating means.
For this reason, for example, an accurate distance between a point where the user is actually positioning and the artificial satellite can be obtained.
However, with this, position information such as the latitude, longitude, altitude, etc. of the user's positioning point cannot be acquired.
On the other hand, the present invention has a temporary positioning place calculation means for calculating a temporary positioning place based on the position information acquired by the position information acquisition means.
For this reason, the position information of the user's positioning point can be predicted as a temporary positioning location.

However, this temporary positioning location is only a prediction, and if the location information from the location information satellite is erroneously input to the user's terminal or the like by, for example, a multipath, there is a possibility that it is wrong.
Therefore, in the present invention, based on the artificial satellite position information storage means for storing the artificial satellite position information of the artificial satellites arranged near the zenith of the positioning position, the temporary positioning position and the artificial satellite position information, the temporary position information is stored. There is assumed distance calculation means for calculating an assumed distance between the positioning location and the artificial satellite position information.
Thereby, the distance between the temporary positioning place and the artificial satellite can be acquired.

That is, the accurate distance between the artificial satellite and the point where the user is actually positioning, acquired by the above-mentioned measured distance calculation means, and the distance between the temporary positioning location and the artificial satellite, If they match, the temporary location is the correct position.
That is, it can be confirmed that the temporary positioning location is a position where the user is actually present.
In the present invention, whether or not they match, error calculation means for calculating error information between distances between the assumed distance and the measured distance, and error information from the position information satellite based on the error information between distances. And erroneous information determination means for determining whether or not the information has been received.

That is, in the error calculation means, the accurate distance between the point where the user is actually positioning and the artificial satellite acquired by the above-mentioned measured distance calculation means, the temporary positioning place and the artificial satellite The difference with the distance between is calculated.
And even if there is a difference between these distances, the erroneous information determination means determines whether or not the difference has a problem in the positioning accuracy of the user.
That is, even if there is a difference between the two, if the position information is latitude, longitude, and altitude, and the difference is negligible, the error information determination means receives error information from the position information satellite. Judgment is not made, that is, the correct position.
On the other hand, when the difference is a large difference that cannot be ignored, the erroneous information determination means determines that erroneous information has been received from the position information satellite.

Therefore, it is possible to easily and accurately grasp whether or not erroneous information is on the position information from the position information satellite due to multipath or the like.
The present invention further includes erroneous information reception information output means for outputting the erroneous information reception information when the erroneous information determination means determines that erroneous information has been received.
For this reason, when the erroneous information determination means determines that the information is incorrect, the information is output to the erroneous information reception information output means, so that the user has incorrect position information such as latitude, longitude and altitude measured by the user. You can know quickly.

  Preferably, the artificial satellite is a quasi-zenith satellite used in a system in which at least one artificial satellite is always arranged near the zenith of the positioning location, and the erroneous information determination means determines whether or not a multipath has occurred. An error information discriminating apparatus characterized by being a multi-path discriminating means.

According to the configuration of the second aspect of the invention, the artificial satellite is a quasi-zenith satellite used in a system in which at least one artificial satellite is always arranged near the zenith of the positioning location, It is a multipath discrimination means for judging whether or not a path has occurred.
For example, the quasi-zenith satellite has a large angle of elevation of about 70 to 80 degrees, so even if a user measures its own position in a valley of an urban building or the like, a signal from the quasi-zenith satellite is not received. There is a low possibility that a multipath or the like will be reflected from a building or the like, and a large multipath will not easily occur.
For this reason, a signal from the position information satellite in which multipath or the like is generated can be found with high accuracy.
Further, since the erroneous information determination means is a multipath determination means for determining the presence / absence of multipath, the presence / absence of multipath can be accurately grasped.

  Preferably, the positioning position information satellite selecting unit selects the positioning position information satellite based on a DOP (Dilution of Precision) value.

According to the configuration of the third aspect of the invention, the positioning position information satellite selection unit selects the positioning position information satellite based on the DOP value.
This DOP value is a numerical value that serves as an index of “accuracy degradation” when positioning is performed by receiving information from the positioning position information satellite.
That is, when a large number of the position information satellites can be captured by the position information capturing means, it is necessary to select, for example, four position information satellites as the positioning position information satellites.
At this time, if the four positioning position information satellites are offset in the sky, the positioning accuracy in the position information acquisition means is lowered.

On the other hand, when the four positioning position information satellites are in the sky and are spaced apart from each other, the positioning accuracy is improved.
Therefore, the DOP value is used to determine the arrangement state of the positioning position information satellite in the sky.
Specifically, for example, the larger the volume of a solid formed by connecting four positioning position information satellites and a positioning point, the smaller the DOP value becomes, and the positioning position information satellites are in the sky and separated from each other. The positioning accuracy is improved.
On the other hand, the smaller the volume of the three-dimensional object, the larger the DOP value, and the positioning position information satellites are offset in the sky and the positioning accuracy is lowered.

  Thus, if the positioning position information satellite selecting means selects the positioning position information satellite so that the DOP value becomes small, the accuracy of the position information acquired by the position information acquiring means can be improved, The user can perform positioning more accurately.

  Preferably, an error information storage means for storing the distance error information calculated by the error calculation means, and an unselected position information satellite for newly selecting an unselected position information satellite by the positioning position information satellite selection means. An error information discriminating apparatus, comprising: an extraction unit, and an error information comparison unit that compares a plurality of the distance error information stored in the error information storage unit.

According to the configuration of the fourth aspect of the invention, since the error information storage means for storing the distance error information calculated by the error calculation means is provided, the calculation result can be held.
The positioning position information satellite selecting means includes an unselected position information satellite extracting means for newly selecting an unselected position information satellite.
For this reason, when it is determined that the erroneous information determination means of the first invention has received erroneous information, a part of the satellites already selected by the positioning position information satellite selection means can be replaced.
That is, the unselected position information satellite extracting means newly selects an unselected position information satellite, and the selected satellite can be replaced with a satellite already selected as a positioning position information satellite.

As the satellites are switched in this way, the position information acquisition means can acquire new position information, and the temporary positioning value calculation means can calculate a new temporary positioning place.
Based on the new temporary positioning location calculated by the temporary positioning value calculating means, the assumed distance calculating means calculates an assumed distance from the artificial satellite.
Then, the calculated new assumed distance generates new inter-distance error information which is a difference from the measured distance by the error calculating means.
The new distance error information is stored in the error information storage means.
By the way, the present invention has error information comparison means for comparing the plurality of distance error information stored in the error information storage means.
For this reason, a plurality of inter-distance error information calculated each time the satellite is replaced as described above is registered in the erroneous information storage means.

The plurality of registered distance error information are compared by the error information comparison means.
For this reason, for example, the distance information with the smallest difference among the plurality of distance information can be specified. Then, it can be determined that the temporary positioning location used in the specified distance error information is closest to the actual user position.
As described above, according to the configuration of the present invention, when the erroneous information determination unit determines that the erroneous information is received, the temporary positioning information satellite is changed by changing the positioning position information satellite for acquiring the positional information. The ground will be recalculated.
And it becomes possible to extract the point nearest to the position of the user among the plurality of temporary positioning locations.

  According to the present invention, the object is to obtain position information satellite capturing means for capturing signals of a plurality of position information satellites, and all or some of the positions of the plurality of position information satellites captured by the position information capturing means. Positioning position information satellite selection means that uses an information satellite as a positioning position information satellite, position information acquisition means for acquiring position information from the selected positioning position information satellite, and position information acquisition means Temporary positioning location calculating means for calculating a temporary positioning location based on position information, artificial satellite location information storage means for storing artificial satellite location information of an artificial satellite placed near the zenith of the positioning location, the temporary positioning location and the Based on artificial satellite position information, an assumed distance calculation means for calculating an assumed distance between the temporary positioning location and the artificial satellite position information, and an artificial satellite signal acquisition for receiving an artificial satellite signal from the artificial satellite And an actual distance calculating means for calculating an actual distance between the artificial satellite and the positioning location based on the artificial satellite signal, and an error for calculating error information between distances between the assumed distance and the actual distance When calculating means, erroneous information determination means for determining whether erroneous information is received from the position information satellite based on the distance error information, and when the erroneous information determination means determines reception of erroneous information, It is achieved by a mobile terminal device comprising an erroneous information discriminating device, comprising: an erroneous information reception information output means for outputting the erroneous information reception information.

  Since the configuration of the fifth invention is a portable terminal device including the erroneous information discriminating device having the configuration of the first invention, the latitude measured by the user by the same action as the first invention, etc. Thus, the portable terminal device can quickly know that position information such as longitude and altitude is wrong.

  According to the present invention, the object is that the position information satellite capturing unit captures the signals of a plurality of position information satellites, and the positioning position information satellite selecting unit captures the position information satellite by the position information capturing unit. A positioning position information satellite selecting step in which all or a part of the plurality of position information satellites are used as positioning position information satellites, and a position information acquisition unit includes the selected positioning position information. A position information acquisition step for acquiring position information from a satellite, a temporary positioning position calculation means for calculating a temporary positioning position based on the position information acquired by the position information acquisition means, and satellite position information. The storage means stores an artificial satellite position information storing step of storing artificial satellite position information of an artificial satellite placed near the zenith of the positioning place, and the assumed distance calculation means is based on the temporary positioning position and the artificial satellite position information. An assumed distance calculation step of calculating an assumed distance between the temporary positioning location and the artificial satellite position information, and an artificial satellite signal acquisition step in which the artificial satellite signal acquisition means receives an artificial satellite signal from the artificial satellite; An actual distance calculation step in which an actual distance calculation means calculates an actual distance between the artificial satellite and the positioning location based on the artificial satellite signal; and an error calculation means between the assumed distance and the actual distance. An error calculation step of calculating error information between distances, an error information determination step of determining whether the error information determination means receives error information from the position information satellite based on the error information between distances, An erroneous information determination method, comprising: an erroneous information reception information output step of outputting the erroneous information reception information when the erroneous information determination means determines that the erroneous information determination means has received the erroneous information. By It is made.

  According to the configuration of the sixth invention, the user can quickly know that the position information such as latitude, longitude, altitude, etc. measured by the user is wrong due to the same action as the first invention. This is a method for determining erroneous information.

  Preferably, the error information storage means stores the error information between the distances calculated by the error calculation means, and the unselected position information satellite extraction means does not receive the position information satellite selection means for positioning. An unselected position information satellite extraction step for newly selecting a selected position information satellite, and an error information comparison step in which an error information comparison means compares the plurality of distance error information stored in the erroneous information storage means; , And an erroneous information determination method.

According to the configuration of the seventh invention, the position information is acquired when the error information determination means determines that the error information is received by the same action as the fourth invention. The temporary positioning location is recalculated by changing the positioning position information satellite.
And it is an erroneous information discrimination method which makes it possible to extract a point closest to the user's position from among the plurality of temporary positioning locations.

  According to the present invention, the object is that the position information satellite capturing unit captures signals of a plurality of position information satellites in the computer, and the position information satellite selecting unit for positioning includes the position information capturing unit. A positioning position information satellite selection step in which all or a part of the plurality of position information satellites captured by the means are used as positioning position information satellites, and a position information acquisition means includes the selected positioning information. A position information acquisition step for acquiring position information from the satellite position information satellite, a temporary positioning position calculation means for calculating a temporary positioning position based on the position information acquired by the position information acquisition means, The satellite position information storage means stores the artificial satellite position information storing step for storing the artificial satellite position information of the artificial satellite placed near the zenith of the positioning position, and the assumed distance calculation means includes the temporary positioning position and the artificial satellite. An assumed distance calculation step of calculating an assumed distance between the temporary positioning location and the satellite position information based on the position information, and an artificial satellite signal acquisition means for receiving an artificial satellite signal from the artificial satellite A satellite signal acquisition step, an actual distance calculation means calculates an actual distance between the artificial satellite and a positioning location based on the artificial satellite signal, and an error calculation means includes the estimated distance and the Error calculation process for calculating error information between distances to the measured distance, and error information for determining whether the error information determination means has received error information from the position information satellite based on the error information between distances. An error information for executing the determination step and the error information reception information output step of outputting the error information reception information when the error information determination device determines that the error information reception has been received. Information discrimination It is achieved by the program.

  According to the configuration of the eighth invention, the user can quickly know that the position information such as latitude, longitude, altitude, etc. measured by the user is wrong by the same action as the sixth invention. This is a misinformation discrimination program.

  Preferably, in the computer, the error information storage means stores the error information between the distances calculated by the error calculation means, and the unselected position information satellite extracting means selects the position information satellite for positioning. Unselected position information satellite extracting step for newly selecting a position information satellite not selected by the means, and error information comparing means for comparing the plurality of distance error information stored in the error information storing means. This is an erroneous information determination program for executing the comparison process.

According to the configuration of the ninth invention, the position information is acquired when the erroneous information determination means determines that the erroneous information is received due to the same action as the seventh invention. The temporary positioning location is recalculated by changing the positioning position information satellite.
And it is a misinformation discrimination | determination program which becomes possible [extracting the point nearest to a user's position out of a plurality of said temporary positioning locations].

  According to the present invention, the object is that the position information satellite capturing unit captures signals of a plurality of position information satellites in the computer, and the position information satellite selecting unit for positioning includes the position information capturing unit. A positioning position information satellite selection step in which all or a part of the plurality of position information satellites captured by the means are used as positioning position information satellites, and a position information acquisition means includes the selected positioning information. A position information acquisition step for acquiring position information from the satellite position information satellite, a temporary positioning position calculation means for calculating a temporary positioning position based on the position information acquired by the position information acquisition means, The satellite position information storage means stores the artificial satellite position information storing step for storing the artificial satellite position information of the artificial satellite placed near the zenith of the positioning position, and the assumed distance calculation means includes the temporary positioning position and the artificial satellite. An assumed distance calculation step of calculating an assumed distance between the temporary positioning location and the satellite position information based on the position information, and an artificial satellite signal acquisition means for receiving an artificial satellite signal from the artificial satellite A satellite signal acquisition step, an actual distance calculation means calculates an actual distance between the artificial satellite and a positioning location based on the artificial satellite signal, and an error calculation means includes the estimated distance and the Error calculation process for calculating error information between distances to the measured distance, and error information for determining whether the error information determination means has received error information from the position information satellite based on the error information between distances. An error information for executing the determination step and the error information reception information output step of outputting the error information reception information when the error information determination device determines that the error information reception has been received. Information discrimination It is achieved by the computer-readable recording medium programs.

  According to the configuration of the tenth aspect of the invention, the user can quickly know that the position information such as latitude, longitude, altitude, etc., measured by the user is wrong by the same action as the eighth aspect of the invention. A computer-readable recording medium on which a misinformation discrimination program that can be recorded is recorded.

  Preferably, in the computer, the error information storage means stores the error information between the distances calculated by the error calculation means, and the unselected position information satellite extracting means selects the position information satellite for positioning. Unselected position information satellite extracting step for newly selecting a position information satellite not selected by the means, and error information comparing means for comparing the plurality of distance error information stored in the error information storing means. The computer-readable recording medium which recorded the misinformation discrimination | determination program for performing a comparison process.

According to the configuration of the eleventh aspect of the invention, the position information is acquired when the erroneous information determination means determines that erroneous information has been received due to the same action as the ninth aspect of the invention. The temporary positioning location is recalculated by changing the positioning position information satellite.
And it is a computer-readable recording medium which recorded the misinformation discrimination | determination program which becomes possible to extract the point nearest to a user's position among a plurality of said temporary positioning locations.

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
The embodiments described below are preferred specific examples of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these embodiments.

(Main hardware configuration of mobile phone 100)
FIG. 1 is a schematic diagram showing a main hardware configuration of, for example, a mobile phone 100 which is a mobile terminal device having a multipath signal discriminating device 200 which is an embodiment of an erroneous information discriminating device of the present invention.
In the present embodiment, a mobile phone 100 will be described as an example of the mobile terminal device. However, the mobile terminal device is not limited to the mobile phone 100, and may be a PHS, a PDA, or the like.

As shown in FIG. 1, the mobile phone 100 has a multipath signal discriminating device 200. The multipath signal discriminating device 200 acquires positional information such as latitude, longitude, altitude, and the like. For example, a GPS (Global Positioning System) device 110 which is an acquisition unit is included.
Specifically, the GPS device 110 includes a GPS main body device 112 and a satellite signal receiving unit 111, as shown in FIG.
For this reason, the GPS device 110 can capture signals of a plurality of position information satellites, for example, GPS satellites 310 a to 310 f and input the information to the multipath signal discrimination control device 210.
Further, the GPS device 110, the multipath signal discrimination control device 210 and the like constitute a multipath signal discrimination device 200.

  By the way, as described later, the GPS device 110 receives a signal such as a navigation message from a positioning position information satellite, for example, a positioning GPS satellite 310a, according to the selection of the multipath signal discrimination control device 210, It is also configured to acquire position information such as latitude, longitude, and altitude.

  The satellite signal receiving unit 111 of the GPS device 110 is an artificial satellite signal from the quasi-zenith satellite 300 used in a system in which at least one artificial satellite is always arranged near the zenith of the positioning location of the mobile phone 100. The quasi-zenith satellite signal 301 is received and the signal is input to the multipath signal discrimination control device 210.

In this quasi-zenith satellite 300, for example, about three satellites are arranged in an orbit inclined at about 45 degrees with respect to a geosynchronous orbit. It is an artificial satellite used in an artificial satellite communication system staying at 70 to 80 degrees.
Specifically, it is a satellite communication system that places a circular orbit with an altitude of 36,000 km, for example, in an orbit inclined at about 45 degrees from the equator, and since one artificial satellite always stays near the zenith in Japan, it has a high elevation angle. It is an artificial satellite communication system in which multipaths due to buildings and the like hardly occur.

By the way, as shown in FIG. 1, the mobile phone 100 has a telephone communication device 120 for communicating with a base station (not shown) or the like for making a call or the like.
Therefore, the mobile phone 100 is configured to make a call or the like via the telephone communication device 120.

  As shown in FIG. 1, the mobile phone 100 includes, for example, a computer. The computer is connected to a CPU (Central Processing Unit) 102, a RAM (Random Access Memory) 103, and a ROM (Read Only Memory) by a bus 101. ) 144 or the like storage means is arranged.

The bus 101 includes not only the GPS device 110 and the telephone communication device 120 described above, but also a multipath signal discrimination control device 210 described later, an input device 105 such as a numeric keypad operated by a user, and a liquid crystal display. A display device 106 such as a display is connected.
In other words, the bus 101 has a function of connecting all devices and is an internal path having an address and a data path.
In addition to processing a predetermined program, the CPU 102 controls the ROM 104 and the like of storage means connected to the bus 101. The ROM 104 stores various programs and various information.
The RAM 103 has a function as an area for comparing the contents of the memory during the program processing and for executing the program.

(Main software configuration of the multipath signal discrimination device 200)
FIG. 2 is a schematic diagram showing a main software configuration of the multipath signal discrimination device 200 of FIG.
The GPS device 110 of the multipath signal discriminating device 200 includes, for example, a GPS satellite information acquisition unit 201 which is a position information satellite capturing unit that captures signals of a plurality of GPS satellites 310a to 310f shown in FIG.

In addition, the multipath signal discrimination control device 210 of the multipath signal discrimination device 200 includes a DOP (Dilution of Precision) value determination unit 202 as shown in FIG.
The DOP value determination unit 202 is a positioning position information satellite such as all or some of the plurality of GPS satellites 310a captured by the GPS satellite information acquisition unit 201. It functions as an example of a positioning position information satellite selection means.

Specifically, the DOP value determination unit 202 selects, for example, four positioning GPS satellites suitable for use in positioning among the GPS satellites 310a to 310f captured by the GPS satellite information acquisition unit 201 based on the DOP value. Select one.
This DOP value is a numerical value that serves as an index of “deterioration in accuracy” when positioning is performed by receiving information from the positioning GPS satellite 310a or the like.
That is, when selecting the four positioning GPS satellites 310a and the like from the GPS satellites 310a and the like captured as described above, if the four positioning GPS satellites 310a and the like are offset in the sky, the GPS device 110 (see FIG. 1). ) Positioning accuracy will drop.
On the other hand, if the four positioning GPS satellites 310a and the like are in the sky and are spaced apart from each other, the positioning accuracy is improved.

Therefore, the DOP value is used to determine the arrangement state in the sky above the positioning GPS satellite 310a and the like.
For example, the larger the volume of a solid formed by connecting four positioning GPS satellites 310a and the like and the positioning point (location of the mobile phone 100), the smaller the DOP value becomes, and the positioning GPS satellite 310a etc. , Are spaced apart from each other, and positioning accuracy is improved.
On the other hand, the smaller the volume of the three-dimensional object, the larger the DOP value, and the positioning GPS satellites 310a and the like are shifted in the sky and the positioning accuracy is lowered.
As described above, the DOP value determining unit 202 selects the positioning GPS satellite 310a or the like so that the DOP value becomes small, so that the positioning accuracy of the GPS device 110 can be improved.

Further, as shown in FIG. 2, a DOP value file 202a is connected to the DOP value determining unit 202, and each DOP obtained by each combination of the captured GPS satellite 310a and the like is connected to the DOP value file 202a. Each value is registered.
Further, as shown in FIG. 2, a positioning GPS satellite file 202b and a non-positioning GPS satellite file 202c are connected to the DOP value determination unit 202.
For this reason, the GPS file for positioning is determined by using the combination of GPS satellites having the smallest combination among the DOP values stored in the DOP value file 202a as positioning GPS satellites (for example, GPS satellites 310a to 310d in FIG. 1). 202b is registered.
On the other hand, other GPS satellite combinations are registered in the non-positioning GPS satellite file 202c as non-positioning GPS satellites (for example, the GPS satellites 310e and 310f in FIG. 1).

The GPS device 110 calculates position information from the positioning GPS satellites (GPS satellites 310a to 310d in FIG. 1) selected by the DOP value determination unit 202 and stored in the positioning GPS satellite file 202b. Position information acquisition means for acquiring a navigation message or the like. Specifically, the positioning GPS satellite communication unit shown in FIG. 2 communicates with the positioning GPS satellites 310a to 310d.
Then, the navigation message received from the positioning GPS satellites 310a to 310d in this communication is acquired by the navigation message acquisition unit 204 of FIG.

Then, based on the positional information such as the navigation message acquired by the navigation message acquisition unit 204 or the like of the GPS device 110, the temporary positioning that calculates the coordinates (for example, Pa, etc.) such as latitude, longitude, and altitude, which are temporary positioning values. For example, an initial position coordinate calculation unit 205 which is a value calculation means is provided in the GPS device 110.
The coordinates (Pa etc.) of the temporary positioning value calculated in this way are registered in the initial position coordinate file 206 of the multipath signal discrimination control storage 210.

By the way, as shown in FIG. 2, the multipath signal discrimination control device 210 is an artificial satellite position information storage means for storing coordinate information that is position information of the quasi-zenith satellite 300 described above, for example, a quasi-zenith satellite coordinate file 207. have.
Therefore, the multipath signal discrimination control device 210 uses the initial position coordinates (Pa, etc.) in the initial position coordinate file 206 in FIG. 2 and the quasi-zenith satellite coordinates in the quasi-zenith satellite coordinate file 207. For example, a calculated distance (L1a, etc.), which is an assumed distance between Pa and the quasi-zenith satellite 300, can be calculated.

Specifically, since the distance calculation unit 208 of the multipath signal discrimination control device 210 performs, this distance calculation unit 208 functions as an example of an assumed distance calculation unit.
The calculated distance (L1a and the like) calculated in this manner is registered in the calculated distance file 209 in FIG.

By the way, the GPS device 110 includes, for example, a quasi-zenith satellite signal acquisition unit 230 which is an artificial satellite signal acquisition unit that receives a quasi-zenith satellite signal from the quasi-zenith satellite 300 as shown in FIG.
Specifically, the quasi-zenith satellite signal acquisition unit 230 acquires information for calculating the distance between the positioning location and the quasi-zenith satellite 300.
Based on the signal (information) acquired by the quasi-zenith satellite signal acquisition unit 230, the distance etc. calculation unit 202 of the multipath signal discrimination control device 210 and the quasi-zenith satellite 300 and the positioning location (position of the mobile phone 100). Calculate the measured distance between.
That is, the distance calculation unit 208 also functions as an example of an actually measured distance calculation unit.

The measured distance (L2) between the quasi-zenith satellite 300 calculated in this way and the positioning location (the position of the mobile phone 100) is the measured distance file shown in FIG. 2 of the multipath signal discrimination control device 210. 231 is registered.
In addition, the multipath signal discrimination control device 210 performs an error between distances between the calculated distance (L1a and the like) in the calculated distance file 209 and the actually measured distance (L2) in the actually measured distance file 231. Information is calculated by the distance calculation unit 208.
For this reason, the distance calculation unit 208 is configured to function as an example of an error calculation unit.

Further, the multipath signal discrimination control device 210 determines whether or not erroneous information has been received by multipath from the positioning GPS satellite 310a or the like based on the distance error information calculated by the distance etc. calculation unit 208. It has a discrimination means.
Specifically, as shown in FIG. 2, a distance difference valid file 232 storing data in a range where the distance difference is valid is connected to the distance calculation unit 208, and the data in the distance difference valid file 232 Based on the above, the distance calculation unit 208 determines.
That is, since the data of the error range that can be ignored in practice is stored in the distance difference valid file 232, the distance calculation unit 208 determines whether or not the numerical value of the distance error information is included in the error range. Thus, it is possible to determine whether or not erroneous information is received.
For this reason, the distance calculation unit 208 and the distance difference valid file 232 function as an example of erroneous information determination means.

  As described above, when the error information is not received by the distance calculation unit 208, the initial position coordinates (Pa) registered in the initial position coordinate file 206 of FIG. 2 is the navigation message received by the GPS device 110. Assuming that the multipath does not occur and correct, the distance (L1) from the quasi-zenith satellite 300 is calculated and calculated, and actually measured by receiving a signal from the quasi-zenith satellite 300 and calculating it. This distance (L2) matches.

  On the other hand, when erroneous information is received, the calculated distance (L1) and the actually measured distance (L2) do not match. In this case, a multipath occurs in at least a part of the navigation message signal from the positioning GPS satellite 310a or the like based on the calculation, and an incorrect signal is input to the GPS device 110. It is configured to be able to easily and quickly determine that a path has occurred and that position information such as the measured latitude, longitude, and altitude is incorrect.

For this reason, when the distance calculation unit 208 determines that the erroneous information has been received, the erroneous information reception information is displayed on the display device 106 of FIGS. 1 and 2 to confirm that the positioning result is incorrect by the user. It is configured to notify immediately.
Therefore, the display device 106 functions as an example of erroneous information reception information output means.
Specifically, an “error” display or the like is displayed as the positioning result.

By the way, the distance etc. calculation unit 208 displays “error” and the like, and the distance difference (R1) which is the distance error information calculated by the distance etc. calculation unit 208 is an error as shown in FIG. For example, the information is stored in the distance difference file 233 which is an information storage unit.
When the distance calculation unit 208 determines that the erroneous information is received, the GPS satellite that has been captured but is not selected as the positioning GPS satellite is newly selected, and the newly selected GPS satellite is selected. For example, a positioning satellite extraction unit 234 which is an unselected position information satellite extracting means for replacing the existing positioning GPS satellite 310a with the positioning GPS satellite 310a or the like is provided (see FIG. 2).

For this reason, for example, if positioning GPS satellites 310a to 310d are selected and it is determined that erroneous information has been received, a multipath has occurred in at least one of the positioning GPS satellites. The satellite 310a and the GPS satellite 310e in the non-positioning GPS satellite file 202c in FIG. 2 are exchanged.
Then, a positioning signal or the like is received via the positioning GPS satellite communication unit 203 of the GPS device 110 of FIG. 2, and the initial position coordinate calculation unit 205 of FIG. 2 obtains the second initial position coordinate (Pb). It is stored in the position coordinate file 206.
Then, the distance calculation unit 208 calculates the second calculated distance (L1b), registers it in the calculated distance file 209, and the second distance error, which is the difference from the actually measured distance (L2). Information is obtained and registered as a distance difference (R2) in the distance difference file 233 of FIG.

As described above, when the distance calculation unit 208 determines that the error information has been received, the positioning GPS satellite is replaced with the GPS satellite in the non-positioning GPS satellite file 202c, and the distance difference (R1, R2, etc.) is calculated. The difference file 231 is registered.
If it can be determined that no erroneous information has been received during the replacement of positioning GPS satellites, the initial position coordinates calculated by the positioning GPS satellites at that time are correct as the location of the mobile phone 100. The latitude, longitude, altitude, and the like of the coordinates are determined as a positioning location, stored in the position determination file 235 in FIG. 2, and displayed on the display device 106 to that effect.

On the other hand, if all of the GPS satellites in the non-positioning GPS satellite file 202c in FIG. 2 are replaced with each other and it is determined that all of the erroneous information is received, the distance calculation unit 208 determines the distance in the distance difference file 233. Are compared to each other (R1, R2, etc.), the initial position coordinates relating to the combination of positioning GPS satellites when the difference is the smallest are stored in the position determination file 235 as the correct position, and the display device 106 It is the structure which displays that.
Therefore, the distance calculation unit 208 also functions as an example of an error information comparison unit.

The above is the configuration of the mobile phone 100 including the multipath signal discrimination device 200 according to the present embodiment. Hereinafter, the operation and the like will be described.
3 and 4 are schematic flowcharts showing an operation example of the multipath signal discriminating apparatus 200 of the present embodiment.
FIG. 5 is a schematic explanatory diagram regarding an operation example of the multipath signal discrimination device 200.
As shown in FIG. 5, in this operation example, a case where the user carries the mobile phone 100 and is located at the current location (Pc) is taken as an example.
In this current location (Pc), the user is surrounded by buildings (B1, B2).

First, the mobile phone 100 acquires information such as GPS satellites 310a that can be captured by the GPS satellite information acquisition unit 201 shown in FIG. 2 (an example of a position information satellite capturing step).
Then, as shown in FIG. 5, six GPS satellites from GPS satellites 310a to 310f are captured, and the information is input to the DOP value determination unit 202 of FIG.
In the DOP value determination unit 202, as described above, for example, four GPS satellites 310a, 310b, 310c, and 310d are selected so as to decrease the values, and are set as positioning GPS satellites and stored in the positioning GPS satellite file 202b. (ST1 of FIG. 3) (an example of positioning position information satellite selection step).
By selecting GPS satellites with a combination having a small DOP value in this way, the positioning accuracy of the GPS device 110 can be increased, and the user can position his / her position more accurately.

Next, information such as navigation messages is acquired from the positioning GPS satellites 310a to 310d selected by the positioning GPS satellite communication unit 203 in FIG. 2 (an example of a position information acquisition step), and the initial position coordinate calculation unit 205 performs initial processing. The position coordinates (Pa) are calculated (ST2 in FIG. 3) (an example of a temporary positioning location calculation step). Then, it is stored in the initial position coordinate file 206.
At this time, since the signal of the positioning GPS satellite 310d is reflected on the building B1 as shown in FIG. 5 to cause multipath, a signal that is not valid for obtaining the true value is input to the mobile phone 100, and the first The initial position coordinates (Pa) are registered as the temporary initial position coordinates.

Next, when the GPS satellite information acquisition unit 201 in FIG. 2 captures five or more GPS satellites (ST3), the following operation is performed.
First, the coordinates (P0) of the quasi-zenith satellite 300 stored in advance in the quasi-zenith satellite coordinate file 207 of FIG. 2 (an example of an artificial satellite position information storage step) and the initial position coordinates (Pa) of the initial position coordinate file 206 Based on the above, the distance calculation unit 208 calculates a calculated distance (L1a in FIG. 5) (ST4) (an example of an assumed distance calculation step).

Next, the quasi-zenith satellite signal acquisition unit 230 in FIG. 2 receives a signal from the quasi-zenith satellite 300 (an example of an artificial satellite signal acquisition process), and the distance calculation unit 208 is carried with the quasi-zenith satellite 300 in FIG. An actual distance (L2 shown in FIG. 5) between the coordinates (Pc) that is the actual position of the telephone 100 is calculated (an example of an actual distance calculation step).
Then, the actually measured distance (L2) is registered in the actually measured distance file 231.

Next, the distance calculation unit 208 calculates a distance difference (R1) that is a difference between the actually measured distance (L2) in the actually measured distance file 231 and the calculated distance (L1a) (ST6). (An example of an error calculation process).
That is, the difference (R1) between L1a, which is the distance from the quasi-zenith satellite 300 indicated by a broken line in FIG. 5, and L2, which is the distance from the quasi-zenith satellite 300, which is indicated by a solid line.
At this time, if they overlap, there is no difference, and the initial position coordinates (Pa) are correct positions.
On the other hand, the more the difference between the two occurs, the farther the initial position coordinate (Pa) is from the actual position (Pc).

Accordingly, the distance calculation unit 208 registers the distance difference (R1) in the distance difference file 233 (ST7) (an example of an error information storage step), and the registered distance based on the data of the distance difference valid file 232 It is determined whether or not the difference (R1) is within the effective range (ST8) (an example of an erroneous information determination step).
If the distance difference (R1) is not within the effective range, this is displayed on the display device 116 of FIG. 2 to notify the user (an example of an erroneous information reception information output step).

As described above, according to this operation example, since the distance calculation unit 208 obtains the actually measured distance (L2) based on the signal acquired by the quasi-zenith satellite signal acquisition unit 230, the user actually performs positioning. The exact distance between the point (Pc in FIG. 5) and the quasi-zenith satellite 300 can be obtained.
However, the latitude, longitude, altitude, etc. of the user's point (Pc) are unknown.
On the other hand, the initial position coordinate calculation unit 205 in FIG. 2 can obtain the initial position coordinates (Pa in FIG. 5) as the coordinates of the temporary positioning location.

However, this initial position coordinate (Pa) is a temporary location and may be wrong if a multipath or the like occurs as shown in FIG.
Therefore, the measured distance (L2) between the quasi-zenith satellite 300 and the calculated distance (L1a) between the quasi-zenith satellite 300 and the initial position coordinate (Pa) are compared, and the distance between the two is Whether or not the initial position coordinates (Pa) are correct is determined based on whether or not they match.
That is, if the distance between the two does not match, the initial position coordinate (Pa) is incorrect, and this error indicates that a multipath has occurred.
Therefore, by determining the difference (R1) between the distances in this way, it is possible to easily and quickly determine whether or not multipath has occurred.

In addition, if the above-mentioned distance difference (R1) matches or does not match very strictly, it is a slight difference, and even if there is no problem in the positioning accuracy of the user, it is determined that there is a mismatch and it is determined that multipath has occurred. In practice, it becomes difficult to use.
For this reason, the distance determination unit 208 has a distance difference effective file 232 and stores the difference data of the distance that can be ignored in this file.
As a result, the determination in the distance determination unit 208 is actually an appropriate determination, which is easier for the user to use.
The determination result that the difference in distance has occurred is displayed on the display device 106.

  As described above, according to the operation example of the present embodiment, the user can easily and accurately grasp that the multipath of the positioning GPS satellite 310d shown in FIG. 5 has occurred. You can quickly know that the result is wrong.

As described above, the user having the mobile phone 100 of FIG. 5 can recognize that the coordinates (Pa) of the position measured by the mobile phone 100 are wrong, but cannot know the exact position.
Therefore, the following operation is performed.
First, although it can be confirmed that a multipath has occurred, it is not possible to identify which positioning GPS satellite 310a or the like has a multipath, so can some of the positioning GPS satellites be replaced with other GPS satellites? Whether or not is examined (ST9).
That is, it is confirmed whether GPS satellites are registered in the non-positioning GPS satellite file 202 of FIG.

In the above example, the GPS satellites 310e and 310f in FIG. 5 are registered.
Therefore, the distance calculation unit 208 extracts the GPS satellite 310e by the positioning calculation extraction unit 234, selects it as the positioning GPS satellite, and replaces the already-selected positioning GPS satellite 310d (ST10) (unselected) Example of location information satellite extraction process).
Then, the initial position coordinate calculation unit 205 obtains the initial position coordinate (Pb) through the GPS satellite information acquisition unit 201 in FIG. 2 (ST11).
When this coordinate is the point (Pb) in FIG. 5, it does not coincide with the actually measured distance (L2) from the quasi-zenith satellite 300 and is stored in the distance difference file 233 as a distance difference (R2).

Thereafter, when the positioning GPS satellite 310e shown in FIG. 5 is replaced with an unselected GPS satellite 310f, when the initial position coordinates in FIG. 2 become the point (Pc) in FIG. Since it matches the measured distance (L2) from the quasi-zenith satellite 300, it is determined that no multipath has occurred.
Then, the coordinates (Pc) are displayed on the display device 106 as position information such as correct latitude, longitude, and altitude. Thereby, the user can acquire correct position information.

On the other hand, even if the positioning GPS satellite 310e shown in FIG. 5 is replaced with an unselected GPS satellite 310f, if the measured distance (L2) from the quasi-zenith satellite 300 still does not match, the distance shown in FIG. This difference file 233 sets the distance difference (R3), which is performed for all GPS satellites registered in the non-positioning GPS satellite file 202c of FIG.
When the GPS satellite to be replaced does not exist in the non-positioning GPS satellite file 202c, the distance calculation unit 208 in FIG. 2 stores the difference in distances (R1, R2, R3) registered in the distance difference file 233. Etc.) (an example of an error information comparison step), the initial position coordinates (Pa etc.) having the smallest difference are positioned by the user, registered in the position determination file 235, and displayed on the display device 106 ( ST9, ST12, ST13).

Therefore, even if a multipath occurs in the first positioning and the accurate position cannot be determined, the user can measure and know the correct position by replacing the GPS satellites.
Even if there is an influence such as multipath until the end, since the positioning information with the least influence can be acquired, the position closest to the user can be known as the positioning point.

(About programs and computer-readable recording media)
Position information satellite acquisition step, positioning position satellite selection step, position information acquisition step, temporary positioning location calculation step, satellite position information storage step, assumed distance calculation step, satellite signal acquisition step, An error information determination program for executing an actual distance calculation step, an error calculation step, an error information determination step, an error information reception information output step, an error information storage step, an unselected position information satellite extraction step, an error information comparison step, etc. can do.
Moreover, it can also be set as the computer-readable recording medium etc. which recorded such an erroneous information discrimination | determination program.

A program storage medium used to install the erroneous information determination program or the like into a computer and make it executable by the computer is, for example, a floppy disk such as a floppy (registered trademark), a CD-ROM (Compact Disc Read Only Memory). ), CD-R (Compact Disc-Recordable), CD-RW (Compact Disc-Rewriteable), DVD (Digital Versatile Disc), and other semiconductor media in which programs are temporarily or permanently stored, It can be realized by a magnetic disk or a magneto-optical disk.
The present invention is not limited to the embodiments described above. Furthermore, the above-described embodiments may be combined with each other.

FIG. 2 is a schematic diagram illustrating a main hardware configuration of, for example, a mobile phone that is a mobile terminal device having a multipath signal determination device that is an embodiment of an erroneous information determination device of the present invention. It is the schematic which shows the main software structures of the multipath signal discrimination | determination apparatus of FIG. It is a schematic flowchart which shows the operation example of the multipath signal discrimination | determination apparatus of this Embodiment. It is another schematic flowchart which shows the operation example of the multipath signal discrimination | determination apparatus of this Embodiment. It is a schematic explanatory drawing regarding the operation example of a multipath signal discrimination device. It is a schematic explanatory drawing which shows arrangement | positioning of four GPS satellites 10a thru | or 10d.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 ... Mobile phone, 101 ... Bus, 102 ... CPU, 103 ... RAM, 104 ... ROM, 105 ... Input device, 106 ... Display device, 110 ... GPS 111 ... Satellite signal receiving unit, 112 ... GPS main unit, 120 ... Telephone communication device, 200 ... Multipath signal discriminating device, 201 ... GPS satellite information acquisition unit, 202 ... DOP value determination unit, 202a ... DOP value file, 202b ... GPS satellite file for positioning, 202c ... GPS satellite file for non-positioning, 203 ... GPS satellite communication unit for positioning, 204 ... Navigation message etc. acquisition unit, 205 ... initial position coordinate calculation unit, 206 ... initial position coordinate file, 207 ... quasi-zenith satellite coordinate file, 208 ... distance etc. calculation unit, 20 ... Calculation distance file, 210 ... Multipath signal discrimination control device, 230 ... Quasi-zenith satellite signal acquisition unit, 231 ... Measurement distance file, 232 ... Distance difference effective file, 233 ... Distance difference file, 234 ... Positioning satellite extraction unit, 235 ... Position determination file, 300 ... Quasi-zenith satellite, 301 ... Quasi-zenith satellite signal, 310a to 310f ... GPS satellite.

Claims (3)

Position information satellite capturing means for capturing signals of a plurality of position information satellites;
Positioning from among the position information acquisition means captured the plurality of positioning information satellites, obtains the combination of position information satellites used for positioning, selecting the position information satellites used for positioning by the positioning positional information satellites Position information satellite selection means,
Temporary positioning location calculation means for calculating a temporary positioning location based on a signal from the selected positioning position information satellite;
Quasi-zenith satellite position information storage means for storing position information of a quasi -zenith satellite used in a system in which at least one artificial satellite is always arranged near the zenith of the positioning location;
An assumed distance calculation that calculates an assumed distance between the temporary positioning place and the quasi-zenith satellite based on the temporary positioning place and the position information of the quasi-zenith satellite stored in the quasi-zenith satellite position information storage means. Means,
On the basis of the signals from the quasi-zenith satellite, and the measured distance calculating means for calculating a measured distance between the quasi-zenith satellite and the positioning device,
Error calculating means for calculating an error between distances that is a difference between the assumed distance and the actually measured distance;
The distance error is, the judgment means you determine whether it is within a predetermined effective range to be output as the position of the provisional positioning locations the positioning device,
If it is determined that it is within the valid range by said determining means, and output means for outputting the provisional positioning locations as the position of the positioning device,
With
If the determination means determines that the position is not within the effective range, the positioning position information satellite is changed to obtain a new position information satellite combination to be used for positioning, and the positioning position information of the new combination The temporary positioning location calculation means calculates a new temporary positioning location based on a signal from a satellite, and the assumed distance calculation means calculates a new assumed distance between the new temporary positioning location and the quasi-zenith satellite. The error calculation means calculates a difference between the new assumed distance and the actually measured distance as a new distance error, and the determination means has the new distance error within the effective range. Whether or not the determination means determines that the determination means is within the effective range, or is executed for all combinations of the plurality of position information satellites captured by the position information capture means. Repeat until The line,
An inter-distance error storage means for storing the temporary positioning location and the inter-distance error obtained in the repeated execution of the process in association with each other;
When it is determined that the output means is within the effective range by the determination means, the temporary positioning location at the time of the determination is output as the position of the positioning device, and the determination means is within the effective range. When the process is repeatedly executed for all combinations of the plurality of position information satellites captured by the position information capturing unit without being judged, the distance error stored in the distance error storage unit is stored. Is output as the position of the positioning device,
Positioning device.   Position information satellite capture in which a positioning device having quasi-zenith satellite position information storage means for storing position information of quasi-zenith satellites used in a system in which at least one artificial satellite is always arranged captures signals of a plurality of position information satellites Process,
  The positioning device obtains a combination of position information satellites used for positioning from the plurality of position information satellites captured in the position information capturing step, and the position information satellite used for positioning is used as a position information satellite for positioning. Positioning positioning satellite selection process to select,
  The positioning device calculates a temporary positioning location based on a signal from the selected positioning position information satellite; and
  The positioning device calculates an estimated distance between the temporary positioning location and the quasi-zenith satellite based on the temporary positioning location and the location information of the quasi-zenith satellite stored in the quasi-zenith satellite location information storage means. An assumed distance calculation step to calculate,
  The positioning device calculates a measured distance between the quasi-zenith satellite and the positioning device based on a signal from the quasi-zenith satellite;
  An error calculating step in which the positioning device calculates an error between distances that is a difference between the assumed distance and the actually measured distance;
  A determination step in which the positioning device determines whether the error between distances is within a predetermined effective range in which the temporary positioning location may be output as the position of the positioning device;
  An output step of outputting the temporary positioning location as the position of the positioning device when the positioning device is determined to be within the effective range by the determination step;
  Including
  If the positioning device is determined not to be within the effective range by the determination step, the positioning position information satellite is changed to obtain a new combination of position information satellites used for positioning, and the new combination Based on the signal from the positioning position information satellite, a new temporary positioning location is calculated in the same manner as the temporary positioning location calculation step, and the new temporary positioning location and the quasi-zenith satellite are calculated in the same manner as in the assumed distance calculation step. A new assumed distance is calculated, and the difference between the new assumed distance and the actually measured distance is calculated as a new distance error in the same manner as in the error calculating step, and the new distance is calculated in the same manner as in the determining step. The process for determining whether or not the error is within the effective range, until it is determined that the error is within the effective range, or for all combinations of the plurality of position information satellites captured in the position information capturing step Perform this process Repeatedly executed until,
  An inter-distance error storing step of storing the temporary positioning location and the inter-distance error obtained in the repeated execution of the process in association with each other;
  When it is determined that it is within the effective range in the repeated execution of the process, the temporary positioning location at the time of the determination is output as the position of the positioning device, and the position information is not determined as being within the effective range. If the process is repeatedly executed for all combinations of the plurality of position information satellites acquired in the acquisition step, the temporary positioning location with the minimum distance error stored in the distance error storage step is selected. Output as the position of the positioning device,
  A method for controlling a positioning device.   The control method according to claim 2, wherein a computer incorporated in a positioning device having a quasi-zenith satellite position information storage means for storing position information of a quasi-zenith satellite used in a system in which at least one artificial satellite is always arranged. A program to be executed.

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