JP6025430B2 - Transmitter - Google Patents

Description

  The present invention relates to a transmission device that transmits correction data for positioning used for satellite positioning, and a positioning device that performs satellite positioning using the correction data for positioning.

  In satellite positioning, which is positioning using a positioning satellite, it is known that satellite clock errors and other factor errors (for example, satellite orbit errors) that are errors other than satellite clock errors occur. Then, the transmission device transmits the positioning correction data including the information of these errors to the positioning device via the quasi-zenith satellite. On the other hand, the positioning device receives the correction data for positioning transmitted via the quasi-zenith satellite, and performs correction based on the satellite clock error included in the received positioning correction data and other factor errors. Satellite positioning is performed (for example, Patent Document 1).

JP 2011-112576 A

In the transmission device, the transmission timing of the satellite clock error is different from the transmission timing of the other factor error, and the satellite clock error is transmitted after a predetermined time after the transmission of the other factor error.
In the positioning device, satellite positioning is performed using the satellite clock error and the other factor error transmitted in the past a predetermined time before the transmission of the satellite clock error. However, when the satellite clock error is transmitted, the value of the other factor error changes due to the passage of a predetermined time. Therefore, there is a problem that correction is not performed accurately and the accuracy of satellite positioning deteriorates.

  The main object of the present invention is to solve the above-described problems, and it is a main object of the present invention to realize a transmission apparatus capable of improving the accuracy of satellite positioning.

The transmission device according to the present invention is:
After sending the other factors erroneous difference is an error other than the satellite clock error of the error used in the satellite positioning, a transmitting apparatus for transmitting satellite clock erroneous difference in the satellite clock error transmission timing that arrives at a predetermined period,
Monitoring the temporal change of the difference erroneous other factors, upon the arrival of the satellite clock error transmission timing, Sent and other factors erroneous difference, other factors error variation of the difference between the other factors error of the time of arrival of the satellite clock error transmission timing calculated as the amount, the satellite clock error of transmission target, and other factors error variation amount calculating portion including the calculated other factors error variation amount,
Characterized in that it comprises a transmitter for transmitting the other factors error variation amount calculating section by the satellite clock erroneous difference other factors error variation amount were included.

The transmitting apparatus according to the present invention transmits a variation amount of the value of the other factor error when transmitting the satellite clock error in the satellite clock error value.
Therefore, the positioning device that has received the value of the satellite clock error can perform correction of other factor errors in parallel with correction of the satellite clock error, thereby improving the accuracy of satellite positioning.

FIG. 3 shows the first embodiment and shows an example of the configuration of a positioning correction data transmission system. FIG. 5 shows the first embodiment and shows an example of a block. FIG. 5 shows the first embodiment, and shows the relationship between divided areas and grids. FIG. 5 shows the first embodiment and shows the relationship between the grid and the electronic reference point. FIG. 5 shows the first embodiment, and shows an example of positioning correction data. FIG. 6 shows the first embodiment and shows an example of a configuration of a transmission device. FIG. 5 shows the first embodiment and shows an example of a block. FIG. 5 shows the first embodiment, and shows an example of positioning correction data. FIG. 5 shows the first embodiment, and shows an example of an outline of processing performed by a generation unit, an inter-network synchronization unit, and an integration unit. FIG. 10 is a diagram illustrating the first embodiment, and is a flowchart illustrating an example of processing performed by a period adjustment unit and a space compression_encoding unit. FIG. 5 shows the first embodiment and shows an example of satellite orbit error consistency calculation. FIG. 5 shows the first embodiment, and shows an example of calculating a tropospheric delay error consistency; FIG. 5 shows the first embodiment, and shows an example of a corrected satellite clock error for each block. FIG. 6 is a diagram illustrating the first embodiment and is a diagram illustrating a first example of a corrected satellite clock error including a plurality of types of consistency. FIG. 10 is a diagram illustrating the first embodiment, and is a diagram illustrating a second example of a corrected satellite clock error including a plurality of types of consistency. FIG. 5 shows the first embodiment and is a diagram showing an example of a configuration of a positioning device. FIG. 5 shows the first embodiment and is a flowchart showing an example of processing of a decoding unit. FIG. 5 shows the first embodiment, and shows an example of reception of positioning correction data. FIG. 5 shows the first embodiment, and shows an example of reception of positioning correction data. FIG. 6 is a diagram illustrating the first embodiment and is a flowchart illustrating an example of processing of a common cycle adjustment unit. FIG. 5 is a diagram illustrating the first embodiment and is a flowchart illustrating an example of processing of a network cycle adjustment unit. FIG. 9 shows the second embodiment and shows an example of ionospheric delay error. The figure which shows Embodiment 2 and shows the data structure in the case of transmitting an ionosphere delay error. The figure which shows Embodiment 2 and is a figure which shows the data structure in the case of transmitting a global ionosphere delay error and a local ionosphere delay error. FIG. 10 illustrates the third embodiment and illustrates an example of a configuration of a transmission device. FIG. 10 illustrates the third embodiment and illustrates an example of a configuration of a transmission device. FIG. 9 shows the third embodiment and shows an example of an electronic reference point set. FIG. 10 is a diagram illustrating the fourth embodiment and illustrates an example of movement of an electronic reference point and an example of a configuration of a transmission device. FIG. 10 is a diagram illustrating the fourth embodiment, and is a flowchart illustrating a process of degenerate operation. FIG. 10 is a diagram illustrating the fourth embodiment, and is a diagram illustrating mathematical expressions related to the degenerate operation. FIG. 10 is a diagram illustrating the fourth embodiment, and is a diagram illustrating mathematical expressions related to the degenerate operation. FIG. 16 is a diagram illustrating the fifth embodiment, and illustrates a change in position of an ionospheric delay error. FIG. 9 is a diagram illustrating the fifth embodiment and is a diagram illustrating a time change of the ionospheric delay error. FIG. 9 shows the fifth embodiment and is a diagram showing an example of a configuration of a positioning device.

Embodiment 1 FIG.
(1) Configuration of Positioning Correction Data Transmission System FIG. 1 is a diagram illustrating an example of a configuration of a positioning correction data transmission system.

  The positioning correction data transmission system 500 includes GPS (Global Positioning System) satellites 300a to 300n, electronic reference points 702a to 702n, a center station 100, a quasi-zenith satellite 400, and a positioning device 201.

For example, the GPS satellite 300 transmits positioning information 701 as in Patent Document 1.
For example, the electronic reference point 702 receives the positioning information 701 in the same manner as in Patent Document 1, and generates electronic reference point information 700 including a pseudo distance between the electronic reference point 702 and the GPS satellite 300, a Doppler frequency, a carrier phase, and the like. To the center station 100. For example, about 1000 electronic reference points 702 are installed in various parts of Japan.

The center station 100 includes a transmission device 101.
The transmission apparatus 101 receives the electronic reference point information 700 from each of the electronic reference points 702, and generates positioning correction data 600. Then, the transmission device 101 transmits (uplinks) the positioning correction data 600 to the quasi-zenith satellite 400 via the antenna of the center station 100, for example.
The quasi-zenith satellite 400 transmits the received positioning correction data 600 to the positioning device 201 (downlink).
The positioning device 201 is mounted on a moving body such as an automobile. The positioning device 201 is also referred to as a user terminal. The positioning device 201 performs satellite positioning based on the positioning information 701 transmitted from the GPS satellite 300 and the positioning correction data 600 transmitted from the quasi-zenith satellite 400.

(2) Description of Block FIG. 2 is a diagram illustrating an example of a block.
FIG. 3 is a diagram illustrating the relationship between the divided areas and the grid.
FIG. 4 is a diagram illustrating the relationship between the grid and the electronic reference point.

First, the block will be described.
For example, when positioning is performed in Japan, the Japanese territory is divided into 12 blocks (B1 to B12) having a predetermined latitude size and longitude size as shown in the example of FIG. Note that the number of blocks to be divided is not limited.
That is, the block corresponds to “region”, and “block” is also referred to as “region” or “network” in the following description. Note that the shape of the block is not limited to a quadrangle.

Then, as shown in FIG. 3, a plurality of grids are defined, for example, in a lattice shape in one block. The grid interval is about 60 km, for example. The grid is defined so as not to overlap between blocks.
On the other hand, the grid is defined between a plurality of electronic reference points 702 as shown in FIG.
In the case of the example in FIG. 4, the transmitting apparatus 101 calculates the value of the tropospheric delay error and the value of the ionospheric delay error in the grid based on the electronic reference point information received from each of the electronic reference points 702a to 702c. In the following description, for example, “the value of the tropospheric delay error” is simply referred to as “the tropospheric delay error”. Similarly, the “value” is omitted for other errors.

(3) Description of Positioning Correction Data FIG. 5 is a diagram illustrating an example of positioning correction data.
FIG. 5 shows an example of positioning correction data 600 transmitted from the transmission device 101 or the quasi-zenith satellite 400. Illustration after T = 30 seconds is omitted.
The positioning correction data 600 is composed of, for example, 30 seconds in one cycle. Note that the time of one cycle is not limited.
A set of data for one period is referred to as a data frame.
Then, after T = 30 seconds, the transmission apparatus 101 repeatedly transmits the data frame.

The positioning correction data 600 includes a plurality of time tags 601.
The time tag 601 indicates the time at which the corrected satellite clock error 602, the satellite specific error 603, the region specific error 604, and the like are generated in the transmission apparatus 101.

The positioning correction data 600 includes a plurality of data sets of the corrected satellite clock error 602 and the region specific error 604 associated with the time tag 601 in one cycle. In other words, a plurality of data sets of the corrected satellite clock error 602 and the region specific error 604 associated with the time tag 601 are included in one data frame.
For example, in the example of FIG. 5, between the time tag 601C “T = 10” and the time tag 601D “T = 15”, the corrected satellite clock error 602C associated with the time tag 601C “T = 10” and the region The inherent error 604C “B5, B6” is arranged. The time tag 601C “T = 10”, the corrected satellite clock error 602C and the region specific error 604C “B5, B6” associated with the time tag 601C “T = 10” are one data set. Here, for example, a data set of the corrected satellite clock error 602C and the region specific error 604C associated with the time tag 601C “T = 10” and the time tag 601C “T = 10” in FIG. This is referred to as “data set”.
In the example of FIG. 5, six data sets of the time tag 601, the corrected satellite clock error 602, and the region specific error 604 are included in one cycle. Note that the number of data sets is not limited.

One of the data sets in one cycle includes a satellite specific error 603.
In the example of FIG. 5, the satellite specific error 603 is included in the “data set of T = 0”.

  The satellite inherent error 603 includes, for example, a satellite orbit error and an inter-frequency bias for each GPS satellite 300. Note that the satellite inherent error 603 may include only one of the satellite orbit error for each GPS satellite 300 or the inter-frequency bias for each GPS satellite 300. Here, the satellite specific error 603 is an error determined for each GPS satellite 300 without changing its value depending on the block.

The region-specific error 604 includes, for example, a tropospheric delay error and an ionospheric delay error for each block. The region-specific error 604 may include only one of the tropospheric delay error and the ionospheric delay error for each block. The region-specific error 604 corresponds to positioning reinforcement information for each block.
For example, the region-specific error 604A of “T = 0 data set” in FIG. 5 includes the tropospheric delay error and ionospheric delay error of block 1 (B1) shown in FIG. 2, and block 2 (B2) shown in FIG. Tropospheric delay error and ionospheric delay error.
For example, the troposphere delay error and ionosphere delay error of block 1 indicate the troposphere delay error and ionosphere delay error for each grid defined in block 1.

The corrected satellite clock error 602 is composed of a plurality of corrected satellite clock errors (δt + C) each including a consistency (C) with respect to the satellite clock error (δt) for each GPS satellite 300. Here, “δt + C” indicates that the consistency (C) is added to the satellite clock error (δt).
Consistency indicates the amount of variation in other factor errors.
The other factor errors are a satellite specific error 603 and a region specific error 604. Furthermore, the satellite specific error 603 is, for example, a satellite orbit error or an inter-frequency bias, and the region specific error 604 is, for example, a tropospheric delay error or an ionospheric delay error.

Here, an example of the case where the consistency indicates the fluctuation amount of the region-specific error 604 will be described with reference to FIG.
For example, the transmitting apparatus 101 includes the consistency of the region specific error 604A in the corrected satellite clock error 602C. Here, the consistency of the region-specific error 604A in the corrected satellite clock error 602C is the amount of variation of the region-specific error 604A from time “T = 0” to “T = 10”.
When the positioning device 201 located in the block 1 (B1) or the block 2 (B2) receives the corrected satellite clock error 602C, the received corrected satellite clock error 602C and the area of “T = 0” received in the past Satellite positioning is performed using the inherent error 604A.
Here, the corrected satellite clock error 602C includes the fluctuation amount of the region-specific error 604A at times “T = 0” to “T = 10”. Therefore, the positioning apparatus 201 can perform satellite positioning by correcting the region-specific error 604A at “T = 10” from the corrected satellite clock error 602C and the region-specific error 604A received at “T = 0” in the past. .

If consistency correction is not required, the corrected satellite clock error 602 may not include the consistency (C), and may simply be information on the satellite clock error (δt).
The satellite clock error (δt) is an error that is determined for each GPS satellite 300 without changing its value depending on the block. On the other hand, when the consistency (C) indicates, for example, the amount of variation in the tropospheric delay error, the value of the consistency (C) may vary depending on the block.

The positioning device 201 performs satellite positioning using the corrected satellite clock error 602, the satellite specific error 603, and the region specific error 604. The satellite specific error 603 is generally an error with little time change. Therefore, for example, the positioning device 201 located in the block 3 (B3) has a corrected satellite clock error 602B and a region-specific error 604B of “T = 5 data set” in FIG. 5 and “T = 0 in FIG. Satellite positioning is performed using the satellite specific error 603 of the “data set”.
As described above, the data amount can be saved by setting the satellite specific error 603 in the positioning correction data 600 to one in one period. For example, as shown in FIG. 5, when each data set is configured at equal intervals (FIG. 5 shows an interval of 5 seconds), the region specific error 604 of the data set that does not include the satellite specific error 603 (FIG. 5). Then, it is possible to increase the amount of information such as “region-specific error 604B of the data set T = 5” and “data-set region specific error 604C of T = 10”.

In other words, the satellite specific error 603 is added to any one of the plurality of region specific errors 604 within one period.
That is, when a satellite orbit error is included in the satellite inherent error 603, the satellite orbit error is added to any one of a plurality of region inherent errors 604 within one period. When the inter-frequency bias is included in the satellite specific error 603, the inter-frequency bias is added to any one of the plurality of regional specific errors 604 within one period.

When the satellite orbit error and the inter-frequency bias are included in the same satellite inherent error 603, the satellite orbit error and the inter-frequency bias are added to any one of the plurality of regional inherent errors 604 in one cycle. The Rukoto.
On the other hand, when the satellite orbit error and the inter-frequency bias are included in the different satellite specific errors 603, the different satellite specific errors 603 may be added to the different region specific errors 604, respectively.

  Further, as shown in FIG. 5, the satellite specific error 603 is added to the region specific error 604 transmitted first among the plurality of region specific errors 604 within one period.

  Further, for example, two or more area-specific errors (B1 and B2) having different blocks from each other among the plurality of area-specific errors 604 are transmitted together, such as the area-specific error 604A in FIG.

(4) Description of Transmitting Device From here, the transmitting device 101 will be described.

(Configuration of transmitter)
FIG. 6 is a diagram illustrating an example of the configuration of the transmission apparatus.
FIG. 7 is a diagram illustrating an example of a block.
The transmission apparatus 101 includes a generation unit 111 for each block.
Here, the following description will be made assuming that the block is divided into three blocks B1 to B3 as shown in FIG.
As described above, since the number of blocks is not limited, the number of elements that change corresponding to the number of blocks is not limited. For example, FIG. 6 shows a case where there are three generation units 111 corresponding to the number of blocks, but the number of generation units 111 is not limited. If there are 12 blocks as shown in FIG. 2, the number of generation units 111 is also 12. The data structure of the positioning correction data 600 is the same, and is not limited to the example of the number of blocks described in the present embodiment.

The transmission apparatus 101 further includes an inter-network synchronization unit 112, an integration unit 113, a period adjustment unit 114, a space compression / encoding unit 117, and a time change monitor storage unit 118. The period adjustment unit 114 includes a common period adjustment unit 115 and a network period adjustment unit 116.
Here, the generation unit 111 corresponds to a delay error measurement unit and a collection unit. The period adjustment unit 114 corresponds to the other factor error variation calculation unit, the positioning reinforcement information generation unit, and the approximate difference calculation unit, and the spatial compression_encoding unit 117 corresponds to the transmission unit and the positioning reinforcement information generation unit. .
Details of each part will be described later.

(Processing in transmission device)
FIG. 8 is a diagram illustrating an example of positioning correction data.
FIG. 8 shows positioning correction data 600 for two data frames, that is, two periods.
A process when the transmission apparatus 101 transmits the positioning correction data 600 of the example shown in FIG. 8 will be described.
In order to simplify the description, it is assumed that the positioning correction data 600 in FIG. 8 includes the tropospheric delay error and ionospheric delay error of only one block in the region specific error 604. That is, in the example of FIG. 8, for example, “T = 0 data set” and “T = 30 data set” include the tropospheric delay error and ionosphere delay error of only block 1 (B1).

As shown in FIG. 8, the transmission apparatus 101 corrects the satellite clock error transmission timing that arrives at a predetermined cycle (every 10 seconds) after transmitting the satellite specific error 603a “δS” and the region specific error 604a “B1”, for example. Transmit satellite clock errors 602t-u.
Here, for example, the satellite specific error 603a “δS” and the region specific error 604a “B1” are other factor errors that are errors other than the satellite clock error among the errors used for satellite positioning.
Further, the description will be made assuming that the satellite clock error transmission timing is every 10 seconds, but the satellite clock error transmission timing is not limited to every 10 seconds. For example, as shown in FIG. 5, the satellite clock error transmission timing may be every 5 seconds.

(Examples of processing in the generation unit, the network synchronization unit, and the integration unit)
FIG. 9 is a diagram illustrating an example of an outline of processing performed by the generation unit, the inter-network synchronization unit, and the integration unit.
Each generation unit 111 generates and outputs a positioning reinforcement information stream 703 as shown in FIG.
For example, when generating the positioning reinforcement information stream 703a, the generation unit 111a receives the electronic reference point information 700 from each electronic reference point 702 of the block 1 (B1) in FIG. 7 every second.
Then, the generation unit 111a generates an area-specific error 604 (at least one of a tropospheric delay error and an ionospheric delay error) for each grid defined in the block 1 (B1) every second. Here, the graph “B1” of the positioning reinforcement information stream 703a in FIG. 9 shows the data of the region-specific error 604 per second in the positioning reinforcement information stream 703a.
In addition, illustration of the data of the troposphere delay error for every grid and the ionosphere delay error for every grid is abbreviate | omitted, for example, as shown in the positioning reinforcement | strengthening information stream 703a of FIG. The data is simply indicated as “B1” to indicate at least one of the ionospheric delay errors for each of them (the same applies to the following description).

Further, the generation unit 111a generates a satellite clock error for each GPS satellite 300 every second. Here, the graph of “δt” of the positioning reinforcement information stream 703a in FIG. 9 shows the satellite clock error data per second in the positioning reinforcement information stream 703a.
The illustration of the satellite clock error for each GPS satellite 300 is omitted. For example, as shown in the positioning augmentation information stream 703a in FIG. 9, the data of the satellite clock error for each GPS satellite 300 is simply indicated as “δt”. This is illustrated (the same applies to the following description).

Further, the generation unit 111a generates a satellite specific error 603 (at least one of a satellite orbit error and an inter-frequency bias) for each GPS satellite 300 every second. Here, the graph of “δS” of the positioning reinforcement information stream 703a in FIG. 9 shows the data of the satellite specific error 603 per second in the positioning reinforcement information stream 703a.
Similarly, for example, as shown in the positioning augmentation information stream 703a of FIG. 9, “δS” is simply illustrated as indicating data of at least one of the satellite orbit error and the inter-frequency bias for each GPS satellite 300 (hereinafter referred to as “δS”). The same applies to the explanation of the above).

The data of the region specific error 604, the satellite clock error, and the satellite specific error 603 generated by the generation unit 111a every second is referred to as a positioning reinforcement information stream 703a (FIGS. 6 and 9).
Similarly, the generation unit 111b generates a positioning reinforcement information stream 703b for the block 2 (B2), and the generation unit 111c generates a positioning reinforcement information stream 703c for the block 3 (B3).

The inter-network synchronization unit 112 receives the positioning reinforcement information stream 703 generated from each generation unit 111 and performs time synchronization adjustment between the positioning reinforcement information streams 703.
Then, the integration unit 113 inputs each positioning reinforcement information stream 703 whose time is synchronized by the inter-network synchronization unit 112, and integrates the satellite clock error (δt) and the satellite specific error 603 (δS). Specifically, the integration unit 113 may select one of the satellite clock error (δt) and the satellite specific error 603 (δS) from among the positioning reinforcement information streams 703a to 703c. An average value of the satellite clock error (δt) and the satellite specific error 603 (δS) may be calculated between the information streams 703a to 703c.

Then, the integration unit 113 outputs the integrated satellite clock error (δt) and the satellite specific error 603 (δS) as the entire network common reinforcement data stream 704 (FIGS. 6 and 9).
Further, the integration unit 113 outputs the region specific error 604a (B1) included in the positioning reinforcement information stream 703a as the unique reinforcement data stream 705a (FIGS. 6 and 9). Then, the integration unit 113 outputs the region-specific error 604b (B2) included in the positioning reinforcement information stream 703b as the unique reinforcement data stream 705b, and the region-specific error 604c (B3) included in the positioning reinforcement information stream 703c is inherently reinforced. The data stream 705c is output (FIGS. 6 and 9).

(First Example of Processing in Period Adjustment Unit and Spatial Compression_Encoding Unit)
FIG. 10 is a flowchart illustrating an example of processing performed by the period adjustment unit and the space compression_encoding unit.
FIG. 11 is a diagram illustrating an example of calculating the consistency of the satellite orbit error.
Here, a case where the consistency correction target error is a satellite orbit error will be described as a first example. Other errors that are subject to consistency correction include inter-frequency bias, tropospheric delay error, ionospheric delay error, and the like.

<Processing at T = 0>
The processing in the transmitting apparatus 101 will be described in correspondence with the time “T”.
First, the process at time “T = 0” will be described. It is assumed that the transmission apparatus 101 starts processing at time “T = 0”.

The common period adjustment unit 115 monitors the time change between the satellite clock error (δt) and the satellite specific error 603 (δS) of the common reinforcement data stream 704 for every network every second (S1001 in FIG. 10).
The network period adjustment unit 116 monitors the time change of the local inherent error 604 (B1 to B3) of the inherent reinforcement data streams 705a to 705c every second (S1001 in FIG. 10). Note that the period for which the network period adjustment unit 116 performs monitoring is not limited to every second.

Then, the common period adjustment unit 115 determines whether it is the satellite clock error transmission timing (S1002 in FIG. 10).
When it is not the satellite clock error transmission timing (“NO” in S1002 of FIG. 10), the common period adjusting unit 115 and the network period adjusting unit 116 perform the process of S1001.

  As shown in FIG. 8, the satellite clock error transmission timing is “T = 0, 10, 20, 30 (hereinafter omitted)”, and the common period adjustment unit 115 has “T = 0” as the satellite clock error transmission timing. ("YES" in S1002 in FIG. 10).

Next, the common period adjustment unit 115 determines whether or not a satellite orbit error, which is an error for consistency correction, has been transmitted (S1003 in FIG. 10).
When consistency correction is not required, the processing of S1003 to S1004 and S1007 in FIG. 10 is omitted, and the corrected satellite clock error 602 is simply a satellite clock error (δt) as described above.

  At time “T = 0”, since the transmitting apparatus 101 has not yet transmitted the satellite orbit error, the common period adjustment unit 115 determines that the consistency correction target error has not been transmitted (“100” in S1003 of FIG. 10). NO ").

Then, the common period adjustment unit 115 generates the corrected satellite clock error 602s by including the consistency 606a in the satellite clock error 605a (δt) to be transmitted at “T = 0” (S1005 in FIG. 10, FIG. 11).
Here, at “T = 0”, since the consistency is not calculated in S1004 of FIG. 10, the value of the consistency 606a “C” is zero. Therefore, the corrected satellite clock error 602s “δt + C” is the same as the satellite clock error 605a (δt) in “T = 0” of the common reinforcement data stream 704 for all networks (FIG. 11).

Further, the common period adjustment unit 115 determines whether or not it is the transmission timing of the satellite orbit error that is an error for consistency correction (S1006 in FIG. 10).
The transmission timing of the satellite orbit error (satellite intrinsic error 603) is “T = 0, 30 (hereinafter omitted)” as shown in FIG. 8, and the common period adjustment unit 115 indicates that “T = 0” is the satellite orbit error. It is determined that it is the transmission timing (“YES” in S1006 in FIG. 10).

The common period adjustment unit 115 outputs the satellite orbit error to be transmitted to the time change monitor storage unit 118, and the time change monitor storage unit 118 stores the output satellite orbit error to be transmitted (S1007 in FIG. 10). ).
For example, the time change monitor storage unit 118 stores “a1” shown in FIG. 11 as the satellite orbit error at “T = 0”.

Then, the spatial compression_encoding unit 117 displays the corrected satellite clock error 602s, the satellite specific error 603a, and the region specific error 604a “B1” at the time “T = 0” as shown in FIG. 8 as the time tag 601a “T = 0”. (S1008 in FIG. 10). Here, the spatial compression_encoding unit 117 transmits the time tag 601a “T = 0”, the corrected satellite clock error 602s, the satellite specific error 603a, and the region specific error 604a “B1” in this order.
The local inherent error 604a “B1” at time “T = 0” is extracted from the inherent reinforcement data stream 705a by the network period adjusting unit 116. In the subsequent processing, the region-specific error 604b “B2”, the region-specific error 604c “B3”, and the like are the same.

<Processing at T = 10>
Next, the common cycle adjustment unit 115 determines that it is the satellite clock error transmission timing when “T = 10” (“YES” in S1002 of FIG. 10).
Since the satellite orbit error has already been transmitted at time “T = 10” (“YES” in S1003 in FIG. 10), the common period adjustment unit 115 calculates the consistency of the satellite orbit error (FIG. 10). S1004).

Specifically, as shown in FIG. 11, the common period adjustment unit 115 includes the satellite orbit error “a2” when the satellite orbit error “a1” and “T = 10” are stored in the time change monitor storage unit 118. Is calculated as consistency 606b.
That is, the common period adjustment unit 115 calculates, as the consistency 606, the difference between the transmitted satellite orbit error and the satellite orbit error at the arrival of the satellite clock error transmission timing when the satellite clock error transmission timing arrives. The consistency 606 corresponds to a variation amount of the other factor error that is an error other than the corrected satellite clock error 602, that is, a variation amount of the other factor error.

  Here, FIG. 11 is an example showing a satellite orbit error of a specific GPS satellite 300. Since the satellite orbit error is indicated for each GPS satellite 300, the common period adjustment unit 115 calculates the consistency of the satellite orbit error for each GPS satellite 300.

Then, the common period adjustment unit 115 generates the corrected satellite clock error 602t including the calculated consistency 606b in the transmission target satellite clock error 605b (δt) at “T = 10” (S1005 in FIG. 10, FIG. 11). ).
Here, as described above, the satellite orbit error consistency is calculated for each GPS satellite 300. Then, the common period adjusting unit 115 corresponds to the satellite clock error 605 (δt) for each GPS satellite 300 and includes the satellite orbit error consistency for each GPS satellite 300, and the corrected satellite clock error for each GPS satellite 300. 602 is generated.
On the other hand, since the time “T = 10” is not the transmission timing of the satellite orbit error (“NO” in S06 in FIG. 10), the processing in S1007 in FIG. 10 is omitted.

Then, the spatial compression_encoding unit 117 transmits the corrected satellite clock error 602t and the region specific error 604b “B2” at time “T = 10” in association with the time tag 601b “T = 10” as shown in FIG. (S1008 in FIG. 10). Here, the spatial compression_encoding unit 117 transmits the time tag 601b “T = 10”, the corrected satellite clock error 602t, and the region specific error 604b “B2” in this order.
That is, the spatial compression_encoding unit 117 transmits the corrected satellite clock error 602t that is the satellite clock error 605b including the consistency 606b by the common period adjustment unit 115.
At time “T = 10”, the satellite orbit error is not transmitted as described above.

  The process at time “T = 20” is the same as the process at time “T = 10”, and thus the description thereof is omitted.

<Processing at T = 30>
The common cycle adjustment unit 115 determines that the satellite clock error transmission timing is also “T = 30” (“YES” in S1002 of FIG. 10).
Then, the common cycle adjustment unit 115 performs the same process as the process at the time “T = 10” described above from S1003 to S1005 in FIG.

  On the other hand, since “T = 30” is the transmission timing of the satellite orbit error (“YES” in S1006 in FIG. 10), the common period adjustment unit 115 outputs the satellite orbit error “a4” (FIG. 11) to be transmitted. The time change monitor storage unit 118 stores the value (S1007 in FIG. 10).

  Then, the spatial compression_encoding unit 117 shows the corrected satellite clock error 602v, satellite specific error 603d, and region specific error 604d “B1” at time “T = 30” as shown in FIG. (S1008 in FIG. 10).

  That is, as shown in FIG. 8, the spatial compression_encoding unit 117 transmits a plurality of corrections at a plurality of times of satellite clock error transmission after transmitting a satellite orbit error (satellite specific error 603a) at time “T = 0”. Send satellite clock errors 602t-v. Furthermore, the spatial compression_encoding unit 117 transmits a new satellite orbit error (satellite specific error 603d) at time “T = 30” after transmitting the plurality of corrected satellite clock errors 602t to v. And although illustration of FIG. 8 is abbreviate | omitted, the space compression_encoding part 117 repeats a transmission process after time "T = 60".

<Processing at T = 40>
Since S1002 to S1003 in FIG. 10 are the same as the processing at T = 10 to 30, description thereof will be omitted.
The common period adjustment unit 115 calculates the difference between the satellite orbit error “a4” stored in the time change monitor storage unit 118 at “T = 40” and the satellite orbit error “a5” at “T = 40”. It is calculated as the consistency 606e (S1004 in FIGS. 11 and 10).
That is, the common period adjustment unit 115 transmits the satellite orbit error “a4” last transmitted by the spatial compression_encoding unit 117 when the satellite clock error transmission timing arrives, and the satellite orbit error when the satellite clock error transmission timing arrives. The difference from “a5” is calculated as consistency 606e.
Since the subsequent processing is the same as described above, description thereof is omitted.

  Further, when the error to be corrected for consistency is an inter-frequency bias, the satellite orbit error is simply replaced with the inter-frequency bias, and the same processing as that in the first example of the process in the period adjustment unit and the spatial compression_encoding unit is performed. Therefore, the description is omitted.

(Second Example of Processing in Period Adjustment Unit and Spatial Compression_Encoding Unit)
FIG. 12 is a diagram illustrating an example of calculating a tropospheric delay error consistency.
FIG. 13 is a diagram illustrating an example of the corrected satellite clock error for each block.
Here, as a second example, a case will be described in which the consistency correction target error is a tropospheric delay error for each block.
An example of the positioning correction data 600 will be described with reference to FIG. 8, and an example of processing performed by the period adjustment unit and the space compression_encoding unit will be described with reference to the flowchart of FIG.

As shown in FIG. 8, the spatial compression_encoding unit 117 transmits a plurality of region-specific errors 604 for a plurality of blocks according to a predetermined transmission order. Here, the predetermined order is, for example, the order of block 1 (B1), block 2 (B2), and block 3 (B3) as shown in FIG.
When there are N blocks, the predetermined order is N! It may be one of the street permutations. That is, the region specific error 604 of all blocks may be arranged in one data frame.
Furthermore, the spatial compression_encoding unit 117 transmits the corrected satellite clock error 602 at the satellite clock error transmission timing that arrives between transmissions of the region specific error 604.

<Processing at T = 0>
First, the process at time “T = 0” will be described. It is assumed that the transmission apparatus 101 starts processing at time “T = 0”.

Similar to the first example described above, the common period adjustment unit 115 monitors a time change between the satellite clock error (δt) and the satellite specific error 603 (δS) of the entire network common reinforcement data stream 704 every second. (S1001 in FIG. 10).
The network period adjustment unit 116 monitors the time change of the local inherent error 604 (B1 to B3) of the inherent reinforcement data streams 705a to 705c every second (S1001 in FIG. 10). In other words, the network period adjustment unit 116 monitors the time change of the region specific error 604 (B1 to B3) every second for each block.

Here, as described above, the region-specific error 604 (for example, troposphere delay error) of one block includes the region-specific error 604 (for example, troposphere delay error) for each of a plurality of grids in the block.
Then, in calculating the consistency, the network period adjusting unit 116 calculates an average value of the region specific errors 604 (for example, tropospheric delay errors) of a plurality of grids in the block, and the calculated average value is used as the region specific error of the block. It may be monitored as 604 (eg, tropospheric delay error). In this case, for example, one value is calculated for one block as the consistency of the tropospheric delay error.
On the other hand, the network period adjustment unit 116 may monitor the region specific error 604 (for example, tropospheric delay error) of a plurality of grids in the block when calculating the consistency. In this case, for example, as a tropospheric delay error consistency, a value for each of a plurality of grids is calculated for one block. A satellite clock error 605 is also generated for each grid.
Here, the case where the network period adjustment unit 116 calculates the average value of the region-specific errors 604 (for example, tropospheric delay errors) of a plurality of grids in the block as in the former will be described as an example. Proceed.

Then, as shown in FIG. 8, the network period adjustment unit 116 determines that it is the satellite clock error transmission timing at the time “T = 0, 10, 20, 30 (hereinafter omitted)” (“S1002” in FIG. 10 “ YES ").
As in the first example, the common cycle adjustment unit 115 may determine the satellite clock error transmission timing in S1002 of FIG.

Next, at “T = 0”, the network period adjustment unit 116 determines that none of the tropospheric delay errors for each block, which is an error for consistency correction, has been transmitted (“NO” in S1003 in FIG. 10). The process of S1004 in FIG. 10 is omitted.
Further, the common period adjustment unit 115 inputs the tropospheric delay error consistency 606 “C1 to C3” for each block calculated by the network period adjustment unit 116. However, since none of them is calculated here, the consistency 606 “ “C1 to C3” are all zero.

Then, the common period adjustment unit 115 generates a corrected satellite clock error 602 for each block including the consistency 606 for each block with respect to the satellite clock error 605 (δt) at “T = 0” (S1005 in FIG. 10). ).
Here, since the consistency 606 “C1 to C3” is all zero, the corrected satellite clock error 602 is the same as the satellite clock error 605 (δt) at “T = 0”.

  Next, the network period adjustment unit 116 determines that it is the transmission timing of the tropospheric delay error (region specific error 604) of block 1 (B1), which is the error for consistency correction (“YES” in S1006 in FIG. 10). .

The network period adjustment unit 116 outputs the tropospheric delay error of the block 1 (B1) to be transmitted, and the time change monitor storage unit 118 stores the value (S1007 in FIG. 10).
For example, the time change monitor storage unit 118 stores “b1” shown in FIG. 12 as the tropospheric delay error of the block 1 (B1) at “T = 0”.

Then, the spatial compression_encoding unit 117 displays the corrected satellite clock error 602s, the satellite specific error 603a, and the region specific error 604a “B1” at the time “T = 0” as shown in FIG. 8 as the time tag 601a “T = 0”. (S1008 in FIG. 10). Here, the spatial compression_encoding unit 117 transmits the time tag 601a “T = 0”, the corrected satellite clock error 602s, the satellite specific error 603a, and the region specific error 604a “B1” in this order.
The satellite specific error 603 a at time “T = 0” is extracted from the entire network common reinforcement data stream 704 by the common period adjustment unit 115. Further, the local inherent error 604a “B1” at the time “T = 0” is extracted from the inherent reinforcing data stream 705a by the network period adjusting unit 116. The same applies to the subsequent processing.

Here, the corrected satellite clock error 602s includes a corrected satellite clock error 602 for each block (B1 to B3).
FIG. 13 shows an example of the corrected satellite clock error 602 for each block (B1 to B3).
For example, “δt + C1” is the corrected satellite clock error 602 of block 1 (B1). That is, the spatial compression_encoding unit 117 transmits the corrected satellite clock error 602 for all blocks at every satellite clock error transmission timing.

<Processing at T = 10>
In the following description, the description of the processing of S1001 and S1002 in FIG. 10 is omitted.
The network period adjustment unit 116 determines that the tropospheric delay error of the block 1 (B1), which is the consistency correction target error, has already been transmitted at “T = 10” (“YES” in S1003 in FIG. 10). On the other hand, at “T = 10”, the network period adjusting unit 116 determines that the tropospheric delay error between block 2 (B2) and block 3 (B3), which is an error for consistency correction, has not been transmitted (FIG. 10). S1003 “NO”).

Therefore, the network period adjusting unit 116 calculates the consistency 606 only for the tropospheric delay error of the block 1 (B1) (S1004 in FIG. 10).
Specifically, as shown in FIG. 12, the network period adjusting unit 116 performs the tropospheric delay errors “b1” and “T = 10” of the block 1 (B1) stored in the time change monitor storage unit 118. The difference from the tropospheric delay error “b2” of block 1 (B1) is calculated as consistency 606a “C1”.

Next, the common period adjustment unit 115 inputs the consistency 606a “C1” of the tropospheric delay error of the block 1 (B1) calculated by the network period adjustment unit 116.
Then, for the block 1 (B1), the common period adjustment unit 115 includes the corrected satellite clock including the consistency 606a “C1” calculated in the satellite clock error 605 (δt) to be transmitted at “T = 10”. An error 602 “δt + C1” is generated (S1005 in FIG. 10).
On the other hand, for block 2 (B2) and block 3 (B3), since consistency 606 has not been calculated, common cycle adjustment section 115 performs the same processing as the processing at T = 0.

The time “T = 10” is the transmission timing of the tropospheric delay error (region-specific error 604) of the block 2 (B2), which is the consistency correction target error (“YES” in S1006 in FIG. 10). Therefore, the time change monitor storage unit 118 stores “d2” as the tropospheric delay error of the block 2 (B2) at “T = 10” (S1007 in FIGS. 12 and 10).
Description of the processing of S1008 in FIG. 10 is omitted.

<Processing at T = 20>
The network period adjusting unit 116 determines that the tropospheric delay errors of the block 1 (B1) and the block 2 (B2), which are errors for consistency correction, have been transmitted at “T = 20” (S1003 in FIG. 10). "YES") On the other hand, at “T = 20”, the network cycle adjustment unit 116 determines that the tropospheric delay error of block 3 (B3), which is an error for consistency correction, has not been transmitted (“NO” in S1003 in FIG. 10). .

Therefore, the network period adjusting unit 116, with respect to the tropospheric delay error of the block 1 (B1), as shown in FIG. 12, the tropospheric delay error “b1” of the block 1 (B1) stored in the time change monitor storage unit 118. ”And the tropospheric delay error“ b3 ”of block 1 (B1) when“ T = 20 ”is calculated as consistency 606b“ C1 ”.
Further, as shown in FIG. 12, the network period adjusting unit 116, for the tropospheric delay error of the block 2 (B2), stores the tropospheric delay error “d2” of the block 2 (B2) stored in the time change monitor storage unit 118. ”And the tropospheric delay error“ d3 ”of block 2 (B2) when“ T = 20 ”is calculated as consistency 606c“ C2 ”.

  That is, the network period adjusting unit 116 sets, as the consistency 606, the difference between the transmitted tropospheric delay error and the tropospheric delay error at the arrival of the satellite clock error transmission timing for each block when the satellite clock error transmission timing arrives. calculate.

Next, the common period adjustment unit 115 inputs the consistency 606b “C1” and the consistency 606c “C2” calculated by the network period adjustment unit 116.
Then, for the block 1 (B1), the common period adjustment unit 115 includes the corrected satellite clock including the consistency 606b “C1” calculated in the satellite clock error 605 (δt) to be transmitted at “T = 20”. An error 602 “δt + C1” is generated (S1005 in FIG. 10).
Similarly, for the block 2 (B2), the common period adjustment unit 115 includes the consistency 606c “C2” calculated in the satellite clock error 605 (δt) to be transmitted at “T = 20”, and the corrected satellite. A clock error 602 “δt + C2” is generated (S1005 in FIG. 10).

That is, the common period adjustment unit 115 includes a consistency 606 for each block in the satellite clock error 605 to be transmitted, and generates a corrected satellite clock error 602 for each block.
On the other hand, for block 3 (B3), since consistency 606 has not been calculated, common cycle adjustment section 115 performs the same processing as that at T = 0.

The time “T = 20” is the transmission timing of the tropospheric delay error (region-specific error 604) of the block 3 (B3), which is the consistency correction target error (“YES” in S1006 in FIG. 10). Therefore, the time change monitor storage unit 118 stores “e3” as the tropospheric delay error of the block 3 (B3) at “T = 20” (S1007 in FIGS. 12 and 10).
Description of the processing of S1008 in FIG. 10 is omitted.

<Processing at T = 30>
As shown in FIG. 8, when the transmission of the plurality of region-specific errors 604 for a plurality of blocks is completed by time T = 0 to 20 as shown in FIG. 8, for example, as shown in T = 30 to 50, The operation of transmitting the new region-specific error 604 of each block according to the above-described transmission order is repeated.

As shown in FIG. 12, the network period adjusting unit 116 detects the tropospheric delay error “b1” of the block 1 (B1) stored in the time change monitor storage unit 118 as shown in FIG. The difference from the tropospheric delay error “b4” of block 1 (B1) when “T = 30” is calculated as consistency 606d “C1” (S1004 in FIG. 10).
Further, as shown in FIG. 12, the network period adjusting unit 116, for the tropospheric delay error of the block 2 (B2), stores the tropospheric delay error “d2” of the block 2 (B2) stored in the time change monitor storage unit 118. ”And the tropospheric delay error“ d4 ”of block 2 (B2) when“ T = 30 ”are calculated as consistency 606e“ C2 ”.
Further, as shown in FIG. 12, the network period adjusting unit 116, for the tropospheric delay error of the block 3 (B3), stores the tropospheric delay error “e3” of the block 3 (B3) stored in the time change monitor storage unit 118. ”And the tropospheric delay error“ e4 ”of block 3 (B3) when“ T = 30 ”is calculated as consistency 606f“ C3 ”.
Further, as described above, the time “T = 30” is the timing for newly transmitting the tropospheric delay error (region-specific error 604) of block 1 (B1) (“YES” in S1006 in FIG. 10). The storage unit 118 stores the tropospheric delay error “b4” of the transmission target block 1 (B1) (S1007 in FIG. 10).
Note that descriptions of S1001 to S1003, S1005, and S1008 in FIG. 10 are omitted.

<Processing at T = 40>
As shown in FIG. 12, the network cycle adjusting unit 116 newly stores the block 1 (B1) stored in the time change monitor storage unit 118 in the process of T = 30 with respect to the tropospheric delay error of the block 1 (B1). The difference between the tropospheric delay error “b4” and the tropospheric delay error “b5” of block 1 (B1) when “T = 40” is calculated as the consistency 606g “C1” (S1004 in FIG. 10).
A description of the consistency 606h “C2” and the consistency 606i “C3” is omitted.

That is, the network period adjustment unit 116, for each block, when the satellite clock error transmission timing arrives, the troposphere delay error transmitted last by the spatial compression_encoding unit 117 and the troposphere delay when the satellite clock error transmission timing arrives. The difference from the error is calculated as consistency 606.
Then, as described above, the spatial compression_encoding unit 117 transmits the corrected satellite clock error 602 for each block as shown in FIG.
Note that S1003 in FIG. 10 and the subsequent processing are the same as described above, and thus description thereof is omitted.
Note that the spatial compression_encoding unit 117 may calculate a consistency 606 that is commonly used for a plurality of blocks (for example, all over Japan) using the consistency 606 for each block. The consistency 606 that is commonly used for a plurality of blocks (for example, all over Japan) may be obtained by, for example, calculating the average of all blocks using the consistency 606 for each block.
When the consistency 606 used in common for the entire plurality of blocks is calculated, the modified satellite clock error 602 is not distinguished for each block, and the modified satellite clock common to the entire plurality of blocks (for example, all over Japan). An error 602 is obtained.
The spatial compression_encoding unit 117 uses the corrected satellite clock error 602 for each block after the generation of the corrected satellite clock error 602 for each block (for example, calculates an average value of the corrected satellite clock errors 602 for each block). ), A corrected satellite clock error 602 common to all of a plurality of blocks (for example, all over Japan) may be generated.

(Third example of processing in cycle adjustment unit and spatial compression_encoding unit)
FIG. 14 is a diagram illustrating a first example of a corrected satellite clock error including a plurality of types of consistency.
FIG. 15 is a diagram illustrating a second example of the corrected satellite clock error including a plurality of types of consistency.
In the first example described above, the case where the consistency correction target error is a satellite orbit error is described, and in the second example, the case where the consistency correction target error is a tropospheric delay error for each block is described. .
However, there may be a plurality of types of consistency correction errors.

For example, the satellite inherent error 603 in which the satellite inherent error 603 includes the satellite orbit error and the inter-frequency bias is transmitted by the spatial compression / encoding unit 117, and both the satellite orbit error and the inter-frequency bias are set as consistency correction targets. Assuming that
In this case, the common period adjustment unit 115 calculates a satellite orbit error consistency 606 (C ′) and an inter-frequency bias consistency 606 (C ″).
Then, as shown in the example of FIG. 14, the common period adjusting unit 115 converts the satellite orbit error consistency 606 (C ′) and the inter-frequency bias consistency 606 (C ″) into the satellite clock error 605 (δt). The corrected satellite clock error 602 included in is generated.
In this case, the value of the corrected satellite clock error 602 generated by the common period adjusting unit 115 does not change depending on the block, but the corrected satellite clock error 602 may be generated for each block.

Further, for example, a case is assumed in which satellite orbit errors and tropospheric delay errors for each block are subject to consistency correction.
In this case, the common period adjustment unit 115 calculates the satellite orbit error consistency 606 (C ′). Then, the network period adjusting unit 116 calculates a tropospheric delay error consistency 606 (C1 to C3) for each block.
Then, the common period adjustment unit 115 generates a corrected satellite clock error 602 for each block as in the example of FIG.
For example, the common period adjustment unit 115 includes the tropospheric delay error consistency 606 (C1) and the satellite orbit error consistency 606 (C ′) of the block 1 in the satellite clock error 605 (δt), and the block 1 The corrected satellite clock error 602 (δt + C1 + C ′) of (B1) is generated.

  Further, it is assumed that the satellite orbit error, the inter-frequency bias, and the tropospheric delay error for each block are subject to consistency correction. In this case, although not shown in the figure, for example, the common period adjustment unit 115 includes the consistency 606 (C ′) of the tropospheric delay error, the consistency 606 (C ′) of the satellite orbit error, and the consistency of the inter-frequency bias. The tenancy 606 (C ″) is included in the satellite clock error 605 (δt) to generate the modified satellite clock error 602 (δt + C1 + C ′ + C ″) of the block 1 (B1).

(5) Description of positioning device From here, the positioning device 201 will be described.

(Configuration of positioning device)
FIG. 16 is a diagram illustrating an example of the configuration of the positioning device.
The positioning device 201 includes a positioning information receiving unit 800, a decoding unit 801, a reinforcement information decompressing unit 802, a positioning calculation unit 804, and a storage unit 805.
The decoding unit 801 corresponds to the reception unit, the data file generation unit, and the positioning unit, and the positioning calculation unit 804 corresponds to the positioning unit.

The positioning information receiving unit 800 receives positioning information 701 from each GPS satellite 300. The positioning information 701 shows information for each time.
The decoding unit 801 receives the positioning correction data 600 from the quasi-zenith satellite 400. Here, for example, as shown in FIG. 8, the decoding unit 801 performs positioning in the order of “time tag 601a, corrected satellite clock error 602s, satellite specific error 603a, region specific error 604a, time tag 601b, (hereinafter omitted)”. The data in the correction data 600 for use is received.
As described above, the positioning correction data 600 received by the decoding unit 801 is obtained by the quasi-zenith satellite 400 receiving the positioning correction data 600 transmitted from the transmission device 101 and transferring it to the positioning device 201. .

Here, the positioning device 201 can specify the block in which the positioning device 201 is located by independent positioning. The single positioning method is based on the existing technology and will not be described.
Then, the decoding unit 801 extracts error information necessary for satellite positioning in the block where the positioning device 201 is located for each time indicated by the time tag 601.
Here, the error information includes a corrected satellite clock error 602, a satellite specific error 603, a region specific error 604, and the like.

The reinforcement information decompression unit 802 calculates a satellite positioning correction amount for each time from the error for each time extracted by the decoding unit 801.
The positioning calculation unit 804 performs satellite positioning at a predetermined time from the correction amount for each time calculated by the reinforcement information expansion unit 802 and the positioning information 701 for each time received by the positioning information receiving unit 800.

Note that the decoding unit 801 may generate a data file in a predetermined description format using the extracted error information and output the data file to the outside. Here, the predetermined description format is, for example, the international standard format RTCM-104 in the satellite positioning system.
The output data file may be used for other positioning devices.

(Processing in positioning device 201 located in block 1 (B1))
FIG. 17 is a flowchart illustrating an example of processing of the decoding unit.
FIG. 18 is a diagram illustrating an example of receiving positioning correction data.
Here, the details of the processing of the decoding unit 801 will be described using the example of the positioning correction data 600 of FIG.
FIG. 18 shows an example in which the corrected satellite clock error 602 is for each block as shown in FIG. 8 corresponds to the corrected satellite clock errors 602a-c in FIG. 18, and the corrected satellite clock error 602t in FIG. 8 corresponds to the corrected satellite clock errors 602d-f in FIG. The same applies to the corrected satellite clock error 602).
That is, as shown in FIG. 18, the decoding unit 801 receives the corrected satellite clock error 602 for each block and the region specific error 604 for each block.
And the case where the positioning apparatus 201 is located in the block 1 (B1) is demonstrated.

<Processing at t = 0 to 10>
The processing in the positioning device 201 will be described in correspondence with the time “t”. The time “t” is displaced from the time “T” described in the processing of the transmission apparatus 101 by a predetermined time (for example, the time for the positioning correction data 600 to reach the positioning apparatus 201 from the transmission apparatus 101). Also good.
As described above, the decoding unit 801 receives the errors in the positioning correction data 600 in the same order as the order in which the positioning device 201 transmits the errors in the positioning correction data 600 (S1701 in FIG. 17).

  Note that the transmission order and transmission timing of errors in the positioning correction data 600 are determined in advance, and the positioning apparatus 201 may store the transmission order and transmission timing in a predetermined storage area. Information indicating the transmission order and transmission timing of errors in the positioning correction data 600 may be attached to the correction data 600. In any case, the positioning apparatus 201 can specify the transmission order and transmission timing of errors in the positioning correction data 600.

Then, the decoding unit 801 determines whether or not the current timing is the reception timing of the time tag 601 (S1702 in FIG. 17).
At time “t = 0”, the decoding unit 801 determines the reception timing of the time tag 601a (FIG. 18) (“YES” in S1702 of FIG. 17), outputs the received time tag 601a, and the storage unit 805 The time tag 601a is stored (S1710 in FIG. 17).
Note that the decoding unit 801 takes 2 seconds to receive the time tag 601 (the same applies to the following description).

  Next, at time “t = 2”, through S1701 to S1702, the decoding unit 801 determines the reception timing of the corrected satellite clock errors 602a to 602c (“YES” in S1703 in FIG. 17).

Then, the decoding unit 801 determines whether or not the satellite specific error 603 and the region specific error 604 are stored in the storage unit 805 (S1711 in FIG. 17).
At this time, none of them is stored in the storage unit 805 (“NO” in S1711 of FIG. 17), so the decoding unit 801 includes the corrected satellite of block 1 (B1) among the received corrected satellite clock errors 602a to 602c. The clock error 602a is output, and the storage unit 805 stores the corrected satellite clock error 602a (S1713 in FIG. 17).
Here, the storage unit 805 may store the corrected satellite clock errors 602a to 602c.
It is assumed that the decoding unit 801 requires 4 seconds to receive the corrected satellite clock error 602 (the same applies to the following description).
When the decoding unit 801 receives the corrected satellite clock error 602 that is common to all the blocks (for example, all over Japan), the storage unit stores the corrected satellite clock error 602 that is common between the blocks (entire block) ( The same applies below).

Next, at time “t = 6”, the decoding unit 801 determines the reception timing of the satellite specific error 603a through S1701 to S1703 (“YES” in S1704 of FIG. 17).
The decoding unit 801 outputs the received satellite specific error 603a, and the storage unit 805 stores the satellite specific error 603a (S1708 in FIG. 17).
It is assumed that the decoding unit 801 takes 2 seconds to receive the satellite specific error 603 (the same applies to the following description).

Next, at time “t = 8”, the decoding unit 801 determines through S1701 to S1704 that it is the reception timing of the region specific error 604a of the block 1 (B1) that is the location block (“YES” in S1705 of FIG. 17). ).
The decoding unit 801 determines whether or not it is the first reception of the region specific error 604 (S1706 in FIG. 17).
At this time, since it is the first reception of the region-specific error 604 (“YES” in S1706 in FIG. 17), the decoding unit 801 receives the received region-specific error 604a and the time tag 601a stored in the storage unit 805. The corrected satellite clock error 602a and the satellite specific error 603a are output to the reinforcement information expansion unit 802 (S1707 in FIG. 17).
Note that the decoding unit 801 takes 2 seconds to receive the region-specific error 604 (for example, the region-specific error 604a or the region-specific error 604d) of the first data set in the data frame. Then, it is assumed that the decoding unit 801 takes 4 seconds to receive the region-specific error 604 (for example, region-specific errors 604b to 604c and region-specific errors 604e to f) of other data sets in the data frame.

The reinforcement information expansion unit 802 calculates a correction amount at the time indicated by the time tag 601a based on the output region specific error 604a, time tag 601a, modified satellite clock error 602a, and satellite specific error 603a. As described above, the positioning calculation unit 804 performs satellite positioning using the calculated correction amount. That is, the positioning calculation unit 804 performs the first satellite positioning at time “t = 10” (FIG. 18).
On the other hand, the decoding unit 801 also outputs the received region-specific error 604a to the storage unit 805, and the storage unit 805 stores the region-specific error 604a (S1709 in FIG. 17).

Here, the region-specific error 604a is the region-specific error 604 of the block 1 (B1) where the positioning device 201 is located, and the corrected satellite clock error 602a is similarly corrected for the block 1 (B1) where the positioning device 201 is located. Satellite clock error 602.
That is, the positioning calculation unit 804 performs satellite positioning using the region specific error 604 of the block where the positioning device 201 is located and the corrected satellite clock error 602 of the block where the positioning device 201 is located.
When the decoding unit 801 receives a corrected satellite clock error 602 that is common to all of a plurality of blocks (for example, all over Japan), the positioning calculation unit 804 determines the region-specific error 604 of the block where the positioning device 201 is located, Satellite positioning is performed using the common corrected satellite clock error 602 in the entire block (the same applies hereinafter).

<Processing at t = 10-20>
Next, at time “t = 10”, the decoding unit 801 determines the reception timing of the time tag 601b (FIG. 18) (“YES” in S1702 of FIG. 17), and outputs the received time tag 601b for storage. The unit 805 stores the time tag 601b (S1710 in FIG. 17).

Next, at time “t = 12”, the decoding unit 801 determines the reception timing of the corrected satellite clock error 602d to 602f (“YES” in S1703 in FIG. 17).
Then, the decoding unit 801 determines whether or not the satellite specific error 603 and the region specific error 604 are stored in the storage unit 805 (S1711 in FIG. 17).

At this time, the satellite specific error 603a and the region specific error 604a are stored in the storage unit 805 (“YES” in S1711 of FIG. 17).
Therefore, the decoding unit 801 receives the corrected satellite clock error 602d of the block 1 (B1) among the received corrected satellite clock errors 602d to f, the time tag 601b, the satellite specific error 603a stored in the storage unit 805, and the region specific. The error 604a is output to the reinforcement information expansion unit 802 (S1712 in FIG. 17).
Here, since the decoding unit 801 takes 4 seconds to receive the corrected satellite clock errors 602d to f, the processing of S1712 in FIG. 17 is actually performed at time “t = 16” (the same applies to the following description). Is).

That is, at time “t = 16”, the reinforcement information expansion unit 802 calculates the correction amount, and the positioning calculation unit 804 performs the second satellite positioning (FIG. 18).
Similarly, the positioning calculation unit 804 performs the third satellite positioning at time “t = 26” (FIG. 18).

Here, as shown in FIG. 18, the corrected satellite clock error 602d received by the decoding unit 801 at time “t = 16” is transmitted after the transmission apparatus 101 transmits the region-specific error 604a. .
As described above, the corrected satellite clock error 602d includes the consistency “C1” at the timing (T = 10) at which the transmission apparatus 101 transmits the corrected satellite clock error 602d. Here, the consistency “C1” is, for example, the region-specific error 604 of the block 1 (B1) measured by the transmission apparatus 101 at “T = 10” and the transmission apparatus 101 at “T = 0”. This is a difference from the region specific error 604a (FIG. 18) which is the region specific error 604 of the block 1 (B1).

That is, the positioning calculation unit 804 can correct the region-specific error 604 at the transmission timing of the corrected satellite clock error 602d in the transmission device 101 by performing satellite positioning using the corrected satellite clock error 602d. .
Then, the positioning calculation unit 804 corrects the region-specific error 604 at the time “t = 16” and the time “t = 26” described above without waiting for reception of the region-specific error 604d of the next data frame. Highly accurate satellite positioning is possible.

Further, the consistency 606 is not limited to the fluctuation amount of the region specific error 604 (for example, tropospheric delay error) as described above in the description of the transmission apparatus 101. For example, the consistency 606 is a satellite such as a satellite orbit error or an inter-frequency bias. An inherent error 603 may be used.
That is, the decoding unit 801 may receive the corrected satellite clock error 602 as shown in FIGS.

  For example, when the positioning calculation unit 804 performs satellite positioning using the corrected satellite clock error 602 in which the variation amount of the satellite inherent error 603 is included as the consistency 606, the positioning calculation unit 804 includes the corrected satellite in the transmission apparatus 101. It is possible to correct the satellite specific error 603 at the transmission timing of the clock error 602d.

<Processing at t = 30-40>
Further, as illustrated in FIG. 18, the decoding unit 801 receives a data frame of “t = 30 to 60” after a data frame of “t = 0 to 30”. The decoding unit 801 receives a data frame of “t = 60 to 90” next to a data frame of “t = 30 to 60”, but illustration of data frames after “t = 60” is omitted.

Then, when the decoding unit 801 receives a new data frame of “t = 30 to 60”, the positioning calculation unit 804 performs the fourth satellite positioning at time “t = 36”, as described above (FIG. 18).
Here, the decoding unit 801, in S1712 of FIG. 17, receives the corrected satellite clock error 602j of the block 1 (B1) among the received corrected satellite clock errors 602j to l and the time tag 601d stored in the storage unit 805. And the satellite specific error 603a and the region specific error 604a of block 1 (B1) are output to the reinforcement information decompression unit 802 (the processing in the middle is the same as described above, and the description is omitted).

That is, the storage unit 805 stores the satellite specific error 603a of the data frame received by the decoding unit 801 in the past and the region specific error 604 for each block.
Then, the decoding unit 801 waits for the reception of the satellite specific error 603d for the corrected satellite clock error 602j received before the reception of the satellite specific error 603d (FIG. 18) as at time “t = 36”. Instead, the satellite specific error 603a of the past data frame stored in the storage unit 805 is selected and output.
On the other hand, as described above, the decoding unit 801, for example, corrects the corrected satellite clock error 602d received after receiving the satellite specific error 603a (FIG. 18) at the time “t = 16”. The satellite specific error 603a included in the same data frame received prior to the error 602d is selected.

Further, as shown in FIG. 18, the decoding unit 801 receives a data frame including the corrected satellite clock error 602 between the region specific errors 604. At least one of the plurality of region-specific errors 604 is the region-specific error 604 of the block where the positioning device 201 is located.
Then, the decoding unit 801 applies the region specific error 604d to the corrected satellite clock error 602j received before reception of the region specific error 604d (FIG. 18) of the location block, as at time “t = 36”. Without waiting for reception, the region specific error 604a of the past data frame stored in the storage unit 805 is selected and output. If a plurality of region-specific errors 604 are stored in the storage unit 805, the decoding unit 801 selects the region-specific error 604 received last among the region-specific errors 604 of the block where the positioning device 201 is located. .
On the other hand, as described above, the decoding unit 801, for example, corrects the corrected satellite clock error 602d received after receiving the region specific error 604a (FIG. 18) at the time “t = 16”. The region specific error 604a included in the same data frame received prior to the error 602d is selected.

  In other words, when the decoding unit 801 receives a data set including the region-specific error 604d (FIG. 18) of the location block, the decoding unit 801 is used for satellite positioning together with the corrected satellite clock error 602j included in the data set. As the region specific error, the region specific error 604a of the past data frame stored in the storage unit 805 is selected.

Here, the timing of satellite positioning will be compared between the data frame of “t = 0 to 30” and the data frame of “t = 30 to 60” in FIG.
In the data frame of “t = 0 to 30”, satellite positioning is performed at the timing of “t = 10” after 10 seconds have elapsed from the start of data frame reception (t = 0). On the other hand, in the data frame of “t = 30 to 60”, the satellite positioning is performed at the timing of “t = 36” after 6 seconds from the start of data frame reception (t = 30).
That is, in the data frame of “t = 30 to 60”, the region-specific error of the past data frame of “t = 0 to 30” is used, so the satellite positioning timing is shortened by 4 seconds. The same applies to subsequent data frames, although not shown.

Here, processing in the conventional transmission apparatus will be described using an example of the positioning correction data 600 in FIG.
In the conventional transmission apparatus, the consistency 606 is not calculated. Therefore, for example, the corrected satellite clock error 602a “δt + C1” in FIG. 18 simply becomes the satellite clock error “δt”. The same applies to the other corrected satellite clock errors 602.
Then, since the conventional positioning apparatus performs satellite positioning using the latest region-specific error 604 in the block 1, even in the data frame of “t = 30 to 60” in the second cycle, the region-specific error 604d is received. Had to wait. That is, the conventional positioning device waits for the reception of the region specific error 604d when receiving the data set including the region specific error 604d of the block in which it is located, and at the timing of “t = 40”, the fourth satellite. I was positioning.
That is, the conventional positioning device performs satellite positioning at a timing when 10 seconds have elapsed from the start of reception of a data set including the region-specific error 604d of the block in which the device is located (t = 30).

On the other hand, as described above, the positioning apparatus 201 according to the present embodiment has received 6 seconds from the start of reception of a data set including the region-specific error 604d of the block in which it is located in the data frame in the second cycle (t = 30). Satellite positioning is performed at the elapsed timing.
That is, the positioning device 201 of the present embodiment can make the satellite positioning timing earlier than the conventional positioning device in the second and subsequent data frames.
The same applies to, for example, data frames of “t = 30 to 60” after the third period.

(Processing in positioning device 201 located in block 2 (B2))
FIG. 19 is a diagram illustrating an example of receiving positioning correction data.
Next, the case where the positioning device 201 is located in the block 2 (B2) will be described. In addition, description is abbreviate | omitted about the process similar to the case where the above-mentioned positioning apparatus 201 is located in the block 1 (B1).

<Processing at t = 0 to 10>
At time “t = 0 to 6”, the storage unit 805 stores the time tag 601a, the corrected satellite clock error 602b of the block 2 (B2), and the satellite specific error 603a (S1710, S1713, and S1708 in FIG. 17).
At time “t = 8”, the decoding unit 801 determines that it is not the reception timing of the region specific error 604b of the block 2 (B2) that is the location block (“NO” in S1705 of FIG. 17).
Therefore, the decoding unit 801 does not output data to the reinforcement information decompression unit 802 at this time.

<Processing at t = 10-20>
The storage unit stores the satellite specific error 603a at “t = 0 to 10”.
Then, at time “t = 10 to 12”, the storage unit 805 newly stores the time tag 601b and the corrected satellite clock error 602e of the block 2 (B2) (S1710 and S1713 in FIG. 17).
At time “t = 16”, the decoding unit 801 determines that it is the reception timing of the region specific error 604b of the block 2 (B2) that is the location block (“YES” in S1705 in FIG. 17).
Therefore, the decoding unit 801 reinforces the received region specific error 604b, the time tag 601b stored in the storage unit 805, the corrected satellite clock error 602e, and the satellite specific error 603a at time “t = 20”. The data is output to the unit 802 (S1707 in FIG. 17).
Then, the positioning calculation unit 804 performs the first satellite positioning at time “t = 20” (FIG. 19).

<Processing at t = 20-30>
The storage unit stores the satellite specific error 603a at “t = 0 to 10”, and stores the corrected satellite clock error 602e of block 2 (B2) at “t = 10 to 20”.
Then, the storage unit 805 newly stores the time tag 601c.
On the other hand, the decoding unit 801 adds the received corrected satellite clock error 602h, the time tag 601c, the satellite specific error 603a, and the region specific error 604b stored in the storage unit 805 at the time “t = 26”. The data is output to 802 (S1712 in FIG. 17).
Then, the positioning calculation unit 804 performs the second satellite positioning at time “t = 26” (FIG. 19).

<Processing at t = 30 to 60>
Although detailed description is omitted, the positioning device 201 performs the third satellite positioning at time “t = 36” in the data frame of “t = 30 to 60” in the second period. Further, the positioning device 201 performs the fourth satellite positioning at time “t = 46” and the fifth satellite positioning at time “t = 56”.
Here, similarly to the description of the processing in the positioning device 201 located in the block 1 (B1) described above, the processing of the conventional positioning device located in the block 2 (B2) will be described.
When the conventional positioning apparatus receives a data set including the region-specific error 604e of the block in which it is located in the data frame of the second cycle, the conventional positioning apparatus waits for reception of the region-specific error 604e, and "t = 50" The 4th satellite positioning was performed at the timing.
That is, the conventional positioning device performs satellite positioning at a timing when 10 seconds have elapsed from the start of reception of a data set including the region-specific error 604e of the block in which it is located (t = 40).

On the other hand, as described above, the positioning apparatus 201 according to the present embodiment has received 6 seconds from the start of reception of a data set including the region-specific error 604e of the block in which it is located in the data frame in the second cycle (t = 40). Satellite positioning is performed at the elapsed timing (t = 46).
That is, the positioning device 201 of the present embodiment can make the satellite positioning timing earlier than the conventional positioning device in the data frames in the second and subsequent cycles, regardless of the location block.
The same applies to, for example, data frames of “t = 30 to 60” after the third period.

(6) Effects of Embodiment 1 The transmitting apparatus 101 of Embodiment 1 corrects the consistency 606 of other factor errors (satellite specific error 603 and region specific error 604) at the transmission timing of the corrected satellite clock error 602. It is included in the clock error 602 and transmitted.
Then, the positioning apparatus 201 according to the first embodiment receives the corrected satellite clock error 602 including the consistency 606, corrects the satellite clock error 605, and other factors errors (satellite specific error 603 and region specific error 604). The satellite positioning is performed after the correction is performed in parallel.
Therefore, the transmission apparatus 101 and the positioning apparatus 201 of Embodiment 1 can improve the accuracy of satellite positioning.

  Further, the positioning device 201 does not wait for the reception of the region specific error 604 for the corrected satellite clock error 602 received before the region specific error 604 is received, and the past data frame stored in the storage unit 805 is received. Satellite positioning is performed using the region-specific error 604. Therefore, the positioning device 201 can advance the timing of satellite positioning. As the satellite positioning timing is advanced, the time when the positioning device 201 performs the satellite positioning becomes closer to the time when the transmission device 101 generates the positioning correction data 600. For this reason, the difference between the value of the error (eg, satellite orbit error) at the generation time of the transmission device 101 and the value of the error at the satellite positioning time is reduced, and the positioning device 201 can improve the accuracy of satellite positioning.

(7) Supplementary explanation of the first embodiment (additional explanation of the first example of processing in the period adjustment unit and the spatial compression_encoding unit)
FIG. 20 is a flowchart illustrating an example of processing of the common period adjustment unit.
FIG. 20 shows the processing of the common cycle adjustment unit 115 in the first example of the processing in the cycle adjustment unit and the spatial compression_encoding unit described above in a form different from the flowchart of FIG.
A description will be given in correspondence with the flowchart of FIG.

The common period adjustment unit 115 monitors the temporal change of the entire network common reinforcement data stream 704 every second (corresponding to S2001 in FIG. 20 and S1001 in FIG. 10).
Then, the common period adjustment unit 115 outputs the monitored satellite inherent error 603 every second, and the time change monitor storage unit 118 stores the value in the storage area M1. Here, the storage area M1 and a storage area M2 described later are storage areas in the time change monitor storage unit 118.

The common period adjustment unit 115 determines whether it is the update time of the satellite clock error 605 (corresponding to S2002 in FIG. 20 and S1002 in FIG. 10).
When the satellite clock error 605 is updated (eg, “YES” in S2002 of FIG. 20) such as T = 0, 10, 20 or the like, the common period adjustment unit 115 together with the time tag 601 of the time, the satellite clock error 605 ( δt) is extracted from the common reinforcement data stream 704 for all networks (S2101 in FIG. 20).

On the other hand, the common period adjustment unit 115 determines whether it is the update time of the satellite inherent error 603 (corresponding to S2006a in FIG. 20 and S1006 in FIG. 10).
Then, in the case of the update time of the satellite specific error 603 such as T = 0, 30 (“YES” in S2006a in FIG. 20), the common cycle adjustment unit 115 together with the time tag 601 at that time, the satellite specific error 603 (δS). Is extracted from the common reinforcement data stream 704 for all networks (S2102 in FIG. 20).

Further, the time change monitor storage unit 118 stores the satellite inherent error 603 (δS) at the update time of the satellite inherent error 603 in the storage area M2 (corresponding to S2007a in FIG. 20 and S1007 in FIG. 10).
Then, the common period adjustment unit 115 calculates the satellite specific error from the value stored in the storage area M1 of the time change monitor storage unit 118 and the value stored in the storage area M2 at the update time of the satellite clock error 605. A consistency 606 of 603 is calculated (corresponding to S2004 in FIG. 20 and S1004 in FIG. 10).
The common period adjustment unit 115 includes the calculated consistency 606 (C) in the satellite clock error 605 (δt) to generate a corrected satellite clock error 602 (δt + C).

  In the case of the update time of the satellite specific error 603 (corresponding to “YES” in S2006b in FIG. 20 and “YES” in S1006 in FIG. 10), the time change monitor storage unit 118 stores the values stored in the storage area M1. Are stored in the storage area M2 (corresponding to S2007b in FIG. 20 and S1007 in FIG. 10).

(Additional description of a second example of processing in the period adjustment unit and the space compression_encoding unit)
FIG. 21 is a flowchart illustrating an example of processing of the network cycle adjustment unit.
FIG. 21 shows the processing of the network cycle adjusting unit 116 in the second example of the processing in the cycle adjusting unit and the spatial compression_encoding unit described above in a form different from the flowchart of FIG.
A description will be given in correspondence with the flowchart of FIG.

The flowchart of FIG. 21 illustrates only the processing of block 1 (B1) and block 3 (B3), and the processing of block 2 (B2) is omitted.
In addition, since the process of block 3 (B3) is the same as the process of block 1 (B1) here, description of the process of block 3 (B3) is also omitted.

The network period adjustment unit 116 monitors the time change of the unique reinforcement data stream 705a every second (corresponding to S2101a in FIG. 21 and S1001 in FIG. 10).
Then, the network cycle adjustment unit 116 outputs the monitored region specific error 604 every second, and the time change monitor storage unit 118 stores the value in the storage region M1_1.

The network cycle adjustment unit 116 determines whether or not it is the update time of the satellite clock error 605 (corresponding to S2102 in FIG. 21 and S1002 in FIG. 10).
In the case of the update time of the satellite clock error 605, such as T = 0, 10, 20, or the like (“YES” in S2102 of FIG. 21), the network cycle adjustment unit 116 sends the calculated consistency 606 to the common cycle adjustment unit 115. Output.

Further, the network cycle adjusting unit 116 determines whether or not it is the update time of the region-specific error 604 of B1 (corresponding to S2106a in FIG. 21 and S1006 in FIG. 10).
When the update time of the B1 region-specific error 604 such as T = 0, 30 (“YES” in S2106a in FIG. 21), the network cycle adjustment unit 116 together with the time tag 601 at that time includes the B1 region-specific error. 604 is extracted from the unique reinforcement data stream 705 (not shown).

Further, the time change monitor storage unit 118 stores the region specific error 604 (B1) at the update time of the region specific error 604 of B1 in the storage region M1_2 (corresponding to S2107a in FIG. 21 and S1007 in FIG. 10).
Then, the network period adjustment unit 116 determines the region of B1 from the value stored in the storage area M1_1 of the time change monitor storage unit 118 and the value stored in the storage area M1_2 at the update time of the satellite clock error 605. The consistency 606a of the inherent error 604 is calculated (corresponding to S2104a in FIG. 21 and S1004 in FIG. 10).
The common period adjustment unit 115 includes the consistency 606a (C1) calculated by the network period adjustment unit 116 in the satellite clock error 605 (δt) to generate a corrected satellite clock error 602a (δt + C1).

  In the case of the update time of the region-specific error 604 of B1 (corresponding to “YES” in S2106b in FIG. 21 and “YES” in S1006 in FIG. 10), the time change monitor storage unit 118 is stored in the storage area M1_1. Are stored in the storage area M1_2 (corresponding to S2107b in FIG. 21 and S1007 in FIG. 10).

Embodiment 2. FIG.
In the second embodiment, the transmitting apparatus 101 transmits a global tropospheric delay error and a local tropospheric delay error as tropospheric delay errors, and a case of transmitting a global ionospheric delay error and a local ionospheric delay error as ionospheric delay errors. At least one of the cases will be described.
In the second embodiment, the positioning device 201 receives the global troposphere delay error and the local troposphere delay error as the troposphere delay error, and the global ionosphere delay error and the local ionosphere delay error as the ionosphere delay error. At least one of the cases will be described.
Note that parts not specifically described in the description of the present embodiment are the same as those in the first embodiment.

(Description of transmitter)
FIG. 22 is a diagram illustrating an example of an ionospheric delay error.
FIG. 23 is a diagram illustrating a data configuration when an ionospheric delay error is transmitted.
FIG. 24 is a diagram showing a data configuration when transmitting a global ionosphere delay error and a local ionosphere delay error.

As described above, for example, the generation unit 111a (FIG. 6) generates the region specific error 604 (at least one of the tropospheric delay error and the ionospheric delay error) in each grid in the block 1 (B1). In other words, the generation unit 111a measures the region-specific error 604 in each grid based on the electronic reference point information 700 from each electronic reference point 702.
Here, a case where each generation unit 111 measures an ionospheric delay error for each region will be described. The same applies to the case where each generation unit 111 measures the tropospheric delay error for each region, and thus the description of the global tropospheric delay error and the local tropospheric delay error is omitted.

Here, for example, an example in which the generation unit 111a measures the ionospheric delay error in each grid in the block 1 is illustrated in FIG.
Here, the position of the grid in the block is determined by two variables (x and y) of latitude and longitude, but in order to simplify the description, the position of the grid in the block is one variable (x). Shall be determined by
In FIG. 22, the illustration after the grid 4 is omitted.

  In FIG. 22, the measured value of the ionospheric delay error in the grid 1 is “h1”, and the measured value of the ionospheric delay error in the grid 2 is “h2” (hereinafter, omitted).

Then, when the ionospheric delay error of each grid in the block 1 (B1) is input as the inherent reinforcement data stream 705a, the network period adjusting unit 116 is an approximation in which an approximate value of the ionospheric delay error at an arbitrary coordinate value (x) is obtained. Generate the formula (I = f (x)). Here, the type of the function of f (x) is not limited.
This approximate expression (I = f (x)) is referred to as a global ionospheric delay error.

Further, the halftone period adjusting unit 116 calculates an approximate value in each grid in the block 1 (B1) by an approximate expression (I = f (x)), and uses the difference between the calculated approximate value and the measured value as an approximate difference. calculate.
For example, the approximate difference in the grid 1 is “Δh1” shown in FIG. This approximate difference is referred to as a local ionospheric delay error.

  Then, the network period adjustment unit 116 generates, for each block, a region-specific error 604 in which information indicating the global ionospheric delay error and the local ionospheric delay error for each grid are included as the ionospheric delay error.

Here, for example, in order for the transmitting apparatus 101 to transmit the value of the ionospheric delay error “a” in FIG. 22, a data capacity of, for example, 20 bits is required to store all the digits of the value of “a”. .
As shown in FIG. 23, in order to transmit ionospheric delay errors for 100 grids, the data amount of the region specific error 604 is “20 (bits) × 100 = 2000 (bits)”.

On the other hand, in order for the transmission apparatus 101 to transmit information indicating the global ionospheric delay error, for example, a data capacity of 60 bits is required.
Here, the information indicating the global ionospheric delay error may be an approximate expression itself, or when the function type of the global ionospheric delay error is determined in advance, the information indicating the global ionospheric delay error may be only the coefficient information. Good.
For example, when the function of the global ionospheric delay error is determined in advance as a cubic function “I = ax ³ + bx ² + cx + d”, information indicating the global ionospheric delay error includes coefficients a, b, c, and d. Only the information of is good.

Then, as shown in FIG. 22, the local ionosphere delay error has a smaller value than the ionosphere delay error, and a data capacity of, for example, 5 bits is required for the transmission apparatus 101 to transmit.
As shown in FIG. 24, when the ionospheric delay error for 100 grids is transmitted as the global ionospheric delay error and the local ionospheric delay error, the data amount of the region specific error 604 is “5 (bits) × 100 + 60 = 560 (bit) ".
That is, the transmission apparatus 101 can reduce the data amount of the region specific error 604 from 2000 (bit) to 560 (bit).

(Description of positioning device)
On the other hand, in the positioning device 201, the decoding unit 801 receives the region-specific error 604 including a data set of global ionosphere delay error and local ionosphere delay error. Here, the coordinate value of each grid may be included in this data set. Alternatively, the positioning device 201 may store the coordinate values of each grid in a predetermined storage area in advance.

Then, the decoding unit 801 calculates an approximate value of the ionospheric delay error in each grid based on the global ionospheric delay error and the coordinate value of each grid. Then, the decoding unit 801 calculates the ionospheric delay error in each grid by adding the local ionospheric delay error to the calculated approximate value of the ionospheric delay error.
Then, the positioning calculation unit 804 performs satellite positioning using the calculated ionospheric delay error.

(Effect of Embodiment 2)
The transmission apparatus 101 according to the second embodiment can reduce the data amount of the region specific error 604 by transmitting the global ionosphere delay error and the local ionosphere delay error as the ionosphere delay error.
Similarly, the transmission apparatus 101 of Embodiment 2 can reduce the data amount of the region specific error 604 by transmitting the global troposphere delay error and the local troposphere delay error as the troposphere delay error.
Since the data amount of the troposphere delay error is smaller than the data amount of the ionosphere delay error, the transmission apparatus 101 of the second embodiment transmits the global ionosphere delay error and the local ionosphere delay error as the ionosphere delay error. The tropospheric delay error may be transmitted as it is without calculating the global ionospheric delay error and the local ionospheric delay error.

Embodiment 3 FIG.
In the third embodiment, a case will be described in which the electronic reference point 702 and the network connecting the electronic reference point 702 and the transmission apparatus 101 are made redundant.
Note that portions not particularly described in the description of the present embodiment are the same as those in the first or second embodiment.

FIG. 25 is a diagram illustrating an example of a configuration of a transmission apparatus.
FIG. 26 is a diagram illustrating an example of the configuration of the transmission apparatus.
FIG. 27 is a diagram illustrating an example of an electronic reference point set.
The transmission apparatus 101 according to the third embodiment includes an interface unit (I / F unit) 750, a timing manager unit 713, a data storage unit 714, and an error manager unit 715.
The interface unit 750 includes a switch controller unit 717 and an error detection unit 716.
25, the generation units 111b to 111c, the inter-network synchronization unit 112, the integration unit 113, the period adjustment unit 114, the space compression / encoding unit 117, and the time change monitor storage unit 118 in FIG. 6 are omitted. .
In FIG. 26, the data storage unit 714, the error manager unit 715, and the time change monitor storage unit 118 are not shown.

The switch controller unit 717 controls the switch so that the electronic reference point information 700 to be collected by the generation unit 111 among the electronic reference point information 700 transmitted from the electronic reference point 702 is input to the generation unit 111.
The data storage unit 714 stores log information of processing contents of the interface unit 750.
The error detection unit 716 detects an error such as a transmission delay of the electronic reference point information 700 and notifies the error manager 715 of the detected error.
Based on the detected error, the error manager unit 715 notifies the switch controller unit 717 of electronic reference point information 700 to be collected.
The timing manager unit 713 manages time synchronization between the plurality of electronic reference point information 700.

First, the electronic reference point set 710 will be described.
In the first embodiment, it has been described that about 1000 electronic reference points 702 are installed in various places in Japan, for example.
The set of about 1000 electronic reference points 702 is referred to as an electronic reference point set 710.
In the third embodiment, the electronic reference point set 710 is made redundant and a plurality of electronic reference point sets 710 are provided in preparation for a failure of the electronic reference point 702 or the like.
Here, description will be given by taking as an example a case where there are two (two sets) of electronic reference point sets 710. For example, Japan has two sets of electronic reference point set A 710a (a set of electronic reference points 702 shown in white in FIG. 27) and an electronic reference point set B 710b (a set of electronic reference points 702 shown in black in FIG. 27). ). The electronic reference point set A 710a and the electronic reference point set B 710b are each composed of about 1000 electronic reference points 702.
The number of electronic reference point sets 710 is not limited.

As shown in FIG. 27, in the electronic reference point set A 710a, for example, the respective electronic reference points 702 are arranged at intervals of 60 km. On the other hand, in the electronic reference point set B 710b, for example, the electronic reference points 702 are arranged at intervals of 60 km.
The electronic reference point set A 710a and the electronic reference point set B 710b are arranged so that the respective electronic reference points 702 are alternately arranged. Therefore, when the electronic reference point set A 710a and the electronic reference point set B 710b are combined, the electronic reference points 702 are arranged at intervals of 30 km, for example. That is, the electronic reference points 702 are arranged at twice the density.

  Further, when considering each block, for example, in block 1 (B1), an electronic reference point set A 710a composed of about 300 electronic reference points 702 and an electron composed of about 300 electronic reference points 702 are included. A reference point set B 710b is provided.

Next, description will be made with reference to FIG.
FIG. 25 shows the configuration of the transmission apparatus 101 for processing the electronic reference point information 700 in block 1 (B1).
The interface unit 750 is provided for each block, for example, and FIG. 25 shows an interface unit 750a for the block 1 (B1).
Note that a plurality of interface units 750 may not be provided for each block, and functions for each block may be integrated into one interface unit 750.

The electronic reference point server 711 provided for each block receives the electronic reference point information 700 from the electronic reference point set A 710a and the electronic reference point set B 710b in the block. Here, as described above, the electronic reference point information 700 is information used for calculating at least one of a tropospheric delay error and an ionospheric delay error, for example.
Then, the electronic reference point server 711 transmits the electronic reference point information 700 to the transmission device 101 via the redundant network.

Here, the redundant networks are, for example, two networks, a network A 712a and a network B 712b, as shown in FIG. Note that the number of networks is not limited.
The network A 712a and the network B 712b are not affected by each other. For example, even when the network A 712a fails, the network B 712b functions normally.

  For example, the electronic reference point information 700 from one electronic reference point 702 in the electronic reference point set A 710a is duplicated to become, for example, two identical electronic reference point information 700. One of the two electronic reference point information 700 is transmitted to the transmitting apparatus 101 via the network A 712a and the other via the network B 712b.

On the other hand, the switch controller unit 717 detects the electronic reference point information 700 that arrives first among the two same electronic reference point information 700 transmitted via the network A 712a and the network B 712b. Then, the switch controller unit 717 controls the switch so that the electronic reference point information 700 detected first is input to the generation unit 111a.
The generation unit 111a collects input electronic reference point information 700 as a result of the switch being controlled by the switch controller unit 717. That is, the generation unit 111a collects the electronic reference point information 700 that arrives first, out of two identical electronic reference point information 700 transmitted via the network A 712a and the network B 712b.

If one of the networks fails and the electronic reference point information 700 does not arrive for a certain time, the error detection unit 716 detects a transmission delay error and notifies the error manager unit 715 of the detected error.
Based on the notification from the error manager unit 715, the switch controller unit 717 controls the switch so that the electronic reference point information 700 via the normally functioning network is input to the generation unit 111a. As a result, the generation unit 111a collects electronic reference point information 700 via a normally functioning network.

Further, even when a predetermined number of failed electronic reference points 702 are included in either one of the electronic reference point set A 710a and the electronic reference point set B 710b, the electronic reference point 702 failed by the error detection unit 716 is included. A predetermined number of electronic reference point sets are identified as a faulty electronic reference point set.
In this case, the switch controller unit 717 controls the switch so that the electronic reference point information 700 of the electronic reference point set other than the failed electronic reference point set is input to the generation unit 111a.
And the production | generation part 111 collects the electronic reference point information 700 of electronic reference point sets other than a failure electronic reference point set.

As shown in FIG. 26, the generation unit 111a for the block 1 (network 1) includes a processing unit for the electronic reference point set A 710a and a processing unit for the electronic reference point set B 710b.
When either one of the electronic reference point sets is selected by the interface unit 750, only one of the processing units in the generation unit 111a functions, and both electronic reference point sets are selected by the interface unit 750. Both processing units in the generation unit 111a function in parallel. The same applies to the inter-net synchronization unit 112.

Then, when both electronic reference point sets are selected by the interface unit 750, the integration unit 113 selects one of the electronic reference point sets, and the entire network common reinforcement data stream 704 (FIG. 6) and the unique reinforcement data stream. 705 (FIG. 6).
The description of the subsequent processing is omitted.

(Effect of Embodiment 3)
The transmission apparatus 101 according to the third embodiment can improve the reliability with respect to a failure of the network or the electronic reference point, a transmission delay of the network, and the like by making the electronic reference point set and the network redundant.
The generation unit 111 may generate the positioning reinforcement information stream 703 using the electronic reference point information 700 of both the electronic reference point set A 710a and the electronic reference point set B 710b. In this case, since the amount of the electronic reference point information 700 is doubled, the transmission apparatus 101 can generate the positioning correction data 600 with higher accuracy.

Embodiment 4 FIG.
In the fourth embodiment, a case will be described in which a degenerate operation is performed when the transmitting apparatus 101 detects a crustal movement.
Note that portions not particularly described in the description of the present embodiment are the same as those in the first embodiment, the second embodiment, or the third embodiment.

First, an outline of the degenerate operation of the transmission apparatus 101 will be described.
The degeneration operation is also referred to as a degeneration service mode.
When the earthquake occurs, crustal deformation occurs, and the position of the electronic reference point 702 that is assumed not to move normally suddenly moves, thereby degrading the generation accuracy of the positioning reinforcement information of the Kalman filter used in the generation unit 111, and positioning There is a problem that the reinforcement service cannot be provided.
In order to avoid this, when the observation data at the electronic reference point 702 and the position (coordinate value) of the electronic reference point 702 calculated by the generation unit 111 are constantly monitored and the movement of the electronic reference point 702 is detected, the generation unit A process for allowing movement of the electronic reference point 702 is performed on the Kalman filter used in 111.

Specifically, in the Kalman filter used in the generation unit 111, the position (coordinate value) of the electronic reference point 702 is calculated by giving a very small error covariance, process noise, and an accurate initial estimated value in advance. . Then, as soon as the movement of the electronic reference point 702 is detected, the error covariance and the process noise considering the movement amount are multiplied by w with respect to the state of the electronic reference point 702, and are given to the Kalman filter. Perform the process of placing.
By adding such processing, a change in the position of the electronic reference point 702 due to crustal movement can be absorbed by the Kalman filter, and the influence on the arithmetic processing of the Kalman filter used in the generation unit 111 can be suppressed.

FIG. 28 is a diagram illustrating an example of movement of the electronic reference point and an example of the configuration of the transmission apparatus.
FIG. 29 is a flowchart showing the process of the degenerate operation.
FIG. 30 is a diagram illustrating mathematical expressions related to the degenerate operation.
FIG. 31 is a diagram illustrating mathematical expressions related to the degenerate operation.
For example, an example of processing in block 1 will be described.
Here, the transmission apparatus 101 of Embodiment 4 is provided with the coordinate value memory | storage part 760, as shown in FIG.
The coordinate value storage unit 760 stores the coordinate value of each electronic reference point 702 measured in advance. That is, the coordinate value storage unit 760 stores the coordinate value of each electronic reference point 702 in Japan (blocks 1 to 3).
Then, the generation unit 111 (corresponding to the generation unit 111a in FIG. 6 because it is the generation unit 111 of the block 1) collects electronic reference point information 700 from each electronic reference point 702 in the block 1. Here, as described above, the electronic reference point information 700 is used for calculating at least one of the tropospheric delay error and the ionospheric delay error, and further used for calculating the coordinate value of each electronic reference point 702.
28, illustrations other than the generation unit 111 and the coordinate value storage unit 760 are omitted. Here, the generation unit 111 corresponds to a collection unit, a coordinate value difference calculation unit, and a crustal movement determination unit.

  For example, the generating unit 111 calculates the coordinate value of each electronic reference point 702 by using the collected electronic reference point information 700 and the Kalman filter every second. Then, the difference between the calculated coordinate value and the coordinate value stored in the coordinate value storage unit 760 is calculated as a difference value “ΔP” (S2801 in FIG. 29). Since the calculation using the Kalman filter is an existing technique, a description thereof will be omitted.

For example, at time “t−1”, the coordinate value of the electronic reference point 702 a in FIG. 28 is “P _t−1 ”, and this “P _t−1 ” is the coordinate value stored in the coordinate value storage unit 760. Suppose that
Then, at the time “t”, when the coordinate value calculated by the generation unit 111 is “P _t ”, the difference value “ΔP” is as shown in Equation 1 in FIG.

In addition, the generation unit 111 calculates the pseudorange residual Δρ corrected with the reinforcement information for each of the n GPS satellites 300, for example, every second (S2801 in FIG. 29). The pseudorange residual Δρ is calculated by Equation 2 in FIG. 30. Here, an outline of the pseudorange residual Δρ will be described with reference to FIG.
At time “t−1”, the generation unit 111 calculates the pseudo distance between the GPS satellite 300 “S _t-1 ” and the electronic reference point 702 a at time “t−1” as “ρ _t−1 ”.
Then, at time “t”, the generation unit 111 estimates the pseudorange between the GPS satellite 300 “S _t ” and the electronic reference point 702a at time “t” as “ρ ′ _t ”. However, the movement of the electronic reference point 702a causes a difference of Δρ from the pseudo distance calculated at time “t”. This difference is referred to as a pseudorange residual Δρ.

  Further, the generation unit 111 calculates a covariance total value (total value of square roots of covariance matrix diagonal terms) for each electronic reference point 702, for example, every second (S2801 in FIG. 29). The covariance total value is calculated by Equation 3 in FIG. Since the generation of the covariance matrix and the calculation of the covariance total value are existing techniques, description thereof is omitted.

The generation unit 111 determines whether or not the difference value “ΔP” calculated in S2801 of FIG. 29 is larger than a preset threshold value “X” (S2802 of FIG. 29).
Here, when the generation unit 111 performs determination on a plurality of (M) electronic reference points 702 in a predetermined range (for example, 200 km square), a plurality (M) of electronic reference points are expressed as Equation 4 in FIG. The determination is performed based on the sum A of the difference values “ΔP” 702 and the preset threshold value “X”.
Then, when the difference value “ΔP” (or the total value A of the difference values) is larger than the preset threshold value “X” (“YES” in S2802 in FIG. 29), the generation unit 111 determines the electronic reference to be determined It is determined that crustal deformation has occurred in the vicinity of the point 702.
The determination result of the crustal movement may be given to the positioning correction data 600 and notified to the positioning device 201.

Further, the generator 111 sums the pseudorange residual Δρ for each of the n GPS satellites 300 by the number (M) of the electronic reference points 702 as shown in Equation 5 in FIG. It is determined whether or not it is larger than the set threshold value “Y” (S2803 in FIG. 29).
Then, the generation unit 111 has the difference value “ΔP” (or the total value A of the difference values) larger than a preset threshold value “X” (“YES” in S2802 in FIG. 29), and the total value B is When it is larger than the preset threshold “Y” (“YES” in S2803 in FIG. 29), it may be determined that crustal movement has occurred in the vicinity of the electronic reference point 702 to be determined.

Further, the generation unit 111 determines whether or not the covariance total value D is larger than a preset threshold “Z” as represented by Equation 6 in FIG. 31 (S2804 in FIG. 29).
The generation unit 111 may determine that the crustal movement has occurred in the vicinity of the electronic reference point 702 to be determined when determining “YES” in all of S2802 to S2804 in FIG.

If the generation unit 111 determines that the crustal movement has occurred, the Kalman filter multiplies the covariance relating to the position of the moved electronic reference point 702 and the process noise by “w times” (S2805 in FIG. 29). In FIG. 29, the case where the generation unit 111 determines “YES” in S2804 indicates the occurrence of crustal deformation. As described above, for example, the generation unit 111 may determine that a crustal deformation has occurred when determining “YES” in S2802.
Here, “w” is set by Equation 7 and Equation 8 in FIG. That is, the generation unit 111 performs a process of placing a weight on the observation data.

Here, processing for placing weights on the observation data will be described.
If the generation unit 111 does not determine that the crustal movement has occurred, the positioning reinforcement information stream 703 (see FIG. 5) is based on the electronic reference point information 700 and the coordinate values of the electronic reference point 702 stored in the coordinate value storage unit 760. 6) is generated.
On the other hand, when the generation unit 111 determines that crustal movement has occurred, the generation unit 111 does not use the coordinate value of the electronic reference point 702 stored in the coordinate value storage unit 760 for generation of the positioning reinforcement information stream 703. That is, the generation unit 111 places weights on the observation data, and generates the positioning reinforcement information stream 703 based on the electronic reference point information 700 and the coordinate values of the electronic reference point 702 calculated from the collected electronic reference point information 700.

(Effect of Embodiment 4)
The transmission apparatus 101 according to the fourth embodiment may perform a degenerate operation, so that the accuracy of the positioning reinforcement information stream 703 generated by the generation unit 111 may be slightly deteriorated, but even when a large crustal movement occurs when an earthquake occurs. Transmission of the positioning correction data 600 can be continued.

Embodiment 5 FIG.
In the fifth embodiment, a case will be described in which the positioning device 201 receives URA (User Range Accuracy) together with the positioning correction data 600.
Note that parts not particularly described in the description of the present embodiment are the same as those in the first embodiment, the second embodiment, the third embodiment, or the fourth embodiment.

FIG. 32 is a diagram showing a change in position of the ionospheric delay error.
FIG. 33 is a diagram showing the time change of the ionospheric delay error.
First, URA (User Range Accuracy) will be described. The ionospheric delay error will be described as a specific example, but the same applies to the case of the tropospheric delay error.

(Spatial compression error)
As described above, the generation unit 111 of the transmission device 101 generates positioning reinforcement information such as an ionospheric delay error for each grid.
Here, as shown in FIG. 32, the ionospheric delay error in the grid 1 is “e1”, the ionospheric delay error in the grid 2 is “e2”, and the ionospheric delay error in the grid 3 is “e3”.
The generation unit 111 can calculate the ionospheric delay error at an arbitrary position other than the grid based on the electronic reference point information 700 from the electronic reference point 702. That is, the generation unit 111 can calculate the ionospheric delay error with high accuracy at a fine sampling interval, as indicated by a solid line “calculated value by the transmission device” illustrated in FIG. 32.

On the other hand, the positioning device 201 receives only the ionospheric delay error for each grid. That is, compared with the calculated value by the transmission apparatus 101, the sampling position is greatly thinned out, and the data amount is compressed. This is called spatial compression.
For example, the positioning calculation unit 804 of the positioning device 201 located at the position “x” in FIG. 32 performs an ionospheric delay error “e2” in the grid 2 and an ionospheric delay error “e3” in the grid 3 during satellite positioning. Is linearly approximated (dotted line “calculated value by positioning device” shown in FIG. 32). Then, the positioning calculation unit 804 calculates the ionospheric delay error at the position “x” as “e”.
Therefore, an error occurs between the calculated value by the transmission device 101 and the calculated value by the positioning device 201. This error is referred to as a “spatial compression error”.

Note that the positioning device 201 may measure the position “x” where it is located by the above-described single positioning.
In addition, the positioning device 201 can identify adjacent grids (grid 2 and grid 3 in the example of FIG. 32) by independent positioning. Then, the positioning device 201 may set an intermediate point between adjacent grids (grid 2 and grid 3 in the example of FIG. 32) as the position “x” where the device is located.

The generation unit 111 of the transmission device 101 calculates a spatial compression error for a plurality of preset sampling positions in the block, and calculates an average value from the calculated spatial compression errors.
The calculated average value is accuracy information indicating the accuracy of the ionospheric delay error value, and this value is referred to as URA. When the average value is calculated as “10 cm”, URA is indicated as “10 cm (or ± 5 cm)”.
For example, the generation unit 111 of the transmission apparatus 101 adds a URA per second to each of the tropospheric delay errors of the positioning reinforcement information stream 703 (FIG. 6) generated every second.

The URA may be indicated as a preset rank.
For example, the generation unit 111 calculates “rank A” when the calculated average value is “10 cm (or ± 5 cm)”, “rank B” when the calculated average value is “30 cm (or ± 15 cm)”, “50 cm (or “± 25 cm)” is associated with “rank C” or the like. For example, the information of “Rank B” may be indicated as URA.

(Temporal compression error)
As described above, the generation unit 111 generates positioning reinforcement information such as ionospheric delay error every second (solid line “calculated value by transmission device” illustrated in FIG. 33).
On the other hand, as described above, the positioning device 201 receives, for example, the ionospheric delay error of block 1 every 30 seconds. In FIG. 33, it is assumed that the intervals of “t1”, “t2”, and “t3” are 30 seconds.

The positioning calculation unit 804 of the positioning device 201 calculates the ionospheric delay error “e2” received last as the ionospheric delay error at time “t” during satellite positioning at an arbitrary time “t”.
Therefore, an error occurs between the calculated value by the transmission device 101 and the calculated value by the positioning device 201. This error is called “temporal compression error”, and this error is called URA.
The generation unit 111 of the transmission device 101 may calculate a temporal compression error every second, for example, and add it to the ionospheric delay error calculated every second.

  Further, the generation unit 111 may use a value including the spatial compression error and the temporal compression error as URA, or may use a rank based on the value including the spatial compression error and the temporal compression error as URA. .

  When correction is performed using the ionospheric delay error consistency 606 described in the first embodiment, the temporal compression error is greatly reduced.

FIG. 34 is a diagram illustrating an example of the configuration of the positioning device.
The positioning device 201 according to the fifth embodiment includes a reliability evaluation unit 803.
The decoding unit 801 receives the URA together with the region specific error 604 such as ionospheric delay error in the positioning correction data 600.

The reliability evaluation unit 803 converts the URA into a format preset by the user.
For example, when the URA is input as rank information (“rank A”), the reliability evaluation unit 803 may convert it into numerical information (“10 cm (or ± 5 cm)”).

  The positioning calculation unit 804 associates the URA with the positioning result based on the region specific error 604 received together with the URA, and outputs the result.

  If the URA is ranked A and the positioning result is shown to have high accuracy, the positioning result is used for automatic driving of the vehicle. If URA is rank C and the positioning result is shown to be low in accuracy, the positioning is used. An example of the application using the positioning result such as using the result only for car navigation of the car can be considered.

(Effect of Embodiment 5)
The positioning device 201 according to the fifth embodiment can clarify the accuracy of the positioning result.

(Hardware configuration of Embodiments 1 to 5)
In addition, what is described as “to part” in the above-described embodiments (Embodiments 1 to 5) may be “to circuit”, “to device”, and “to device”. In addition, what is described as “˜unit” (excluding the storage unit) in the above embodiment is a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a processor. This is realized by hardware such as elements, devices, substrates, and wiring.

  Further, what is described as “˜storage unit” in the above embodiments is a magnetic disk device, SSD (Solid State Drive), optical disk device, memory card (registered trademark), RAM (Random Access Memory), ROM ( This is realized by a storage device such as Read Only Memory).

In addition, what is described as “to part” in the description of the embodiment may be “to step”, “to procedure”, and “to process”.
That is, the transmission method and the positioning method according to the present invention can be realized by the steps, procedures, and processes shown in the flowcharts described in the above embodiments.

Here, two examples of the transmission method described in the above embodiment are given.
Transmission in which the computer transmits the value of the satellite clock error at the satellite clock error transmission timing that arrives in a predetermined cycle after transmitting the value of the other factor error that is an error other than the satellite clock error among the errors used for satellite positioning A method,
The computer monitors the time variation of the value of the other factor error, and when the satellite clock error transmission timing arrives, the value of the other factor error that has been transmitted and the value of the other factor error when the satellite clock error transmission timing arrives The other factor error fluctuation amount calculating step of calculating the difference of the other factor error fluctuation amount and including the calculated other factor error fluctuation amount in the satellite clock error value to be transmitted;
A transmission method, comprising: a transmission step in which the computer transmits a value of a satellite clock error including the other factor error variation amount in the other factor error variation amount calculation step.

A computer generates, for each region, positioning reinforcement information including at least one of a tropospheric delay error value and an ionospheric delay error value, and transmits the positioning reinforcement information together with the plurality of positioning reinforcement information for the plurality of regions. A positioning reinforcement information generation step of adding a satellite orbit error value to the positioning reinforcement information of any of the plurality of positioning reinforcement information;
The transmission method comprising: a transmission step of transmitting the plurality of positioning reinforcement information including the positioning reinforcement information to which the value of the satellite orbit error is added.

Two examples of the positioning method described in the above embodiment will be given.
Other factor error value and satellite clock error transmitted from the transmitter that transmits the satellite clock error after the computer transmits the value of other factor error that is an error other than the satellite clock error among the errors used for satellite positioning. A receiving step for receiving a value of;
The computer comprises a positioning step of performing satellite positioning using the value of the other factor error and the value of the satellite clock error received in the receiving step,
In the receiving step,
A satellite including a difference between the value of the other factor error measured by the transmitter at the timing when the transmitter transmits the value of the satellite clock error and the value of the other factor error transmitted by the transmitter A positioning method, wherein the computer receives a clock error value.

A reception step in which a computer repeatedly receives a data frame including a value of other factor error that is an error other than a satellite clock error among errors used for satellite positioning, and a plurality of satellite clock error values;
A storage step in which the computer stores the value of the other factor error received in the reception step in a predetermined storage area for each data frame;
Each time the computer receives a satellite clock error value in the receiving step, the other factor error value included in the same data frame as the satellite clock error value received in the receiving step is stored in the storage step. Positioning that performs satellite positioning by selecting one of the other factor error values of the past data frame and using the satellite clock error value received by the reception step and the selected other factor error value And a positioning method.

Moreover, what is described as “˜unit” may be realized by firmware stored in a storage device such as a ROM.
Alternatively, it may be implemented only by software, or only by hardware such as elements, devices, substrates, and wirings, by a combination of software and hardware, or by a combination of firmware.
Firmware and software are stored as programs in a recording medium such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a DVD.
The program is read by the CPU and executed by the CPU.
In other words, the program causes the computer to function as the “˜unit” in the above embodiment. Alternatively, the computer executes the procedure or method of “˜unit” in the above embodiment.

Here, two examples of the transmission program described in the above embodiment will be given.
After transmitting the value of the other factor error that is an error other than the satellite clock error among the errors used for satellite positioning, to the computer that transmits the value of the satellite clock error at the satellite clock error transmission timing that arrives at a predetermined period,
The time variation of the other factor error value is monitored, and when the satellite clock error transmission timing arrives, the difference between the transmitted other factor error value and the other factor error value at the arrival of the satellite clock error transmission timing is different. Other factor error fluctuation amount calculating step for calculating the factor error fluctuation amount and including the calculated other factor error fluctuation amount in the satellite clock error value to be transmitted;
A program for executing a transmission step of transmitting a satellite clock error value including the other factor error variation amount in the other factor error variation amount calculating step.

Satellite orbit that generates positioning reinforcement information including at least one of a tropospheric delay error value and an ionospheric delay error value for each area, and transmits the information together with the plurality of positioning reinforcement information for the plurality of areas. A positioning reinforcement information generating step of adding an error value to any one of the plurality of positioning reinforcement information;
A program for causing a computer to execute a transmission step of transmitting the plurality of positioning reinforcement information, including positioning reinforcement information to which the value of the satellite orbit error is added.

Two examples of the positioning program described in the above embodiment will be given.
The other factor error value and the satellite clock error value transmitted from the transmitter that transmits the satellite clock error after transmitting the other factor error value that is an error other than the satellite clock error among the errors used for satellite positioning Receiving step for receiving,
Using the value of the other factor error received by the reception step and the value of the satellite clock error, causing the computer to execute a positioning step for performing satellite positioning,
In the receiving step,
The computer includes a difference between another factor error value measured by the transmission device at a timing when the transmission device transmits the satellite clock error value and another factor error value transmitted by the transmission device. A program for receiving a satellite clock error value.

A reception step of repeatedly receiving a data frame including a value of other factor error which is an error other than satellite clock error among errors used for satellite positioning, and a plurality of satellite clock error values;
A storage step of storing the value of the other factor error received by the reception step in a predetermined storage area for each data frame;
Each time the satellite clock error value is received in the receiving step, the other factor error value included in the same data frame as the satellite clock error value received in the receiving step and the past data stored in the storing step are stored. A computer that selects any one of the other factor error values of the frame and performs a satellite positioning using the satellite clock error value received in the receiving step and the selected other factor error value. A program characterized by being executed.

As described above, the transmission device 101 and the positioning device 201 described in the above embodiments are computers including a CPU as a processing device, a memory as a storage device, a magnetic disk, and the like.
As described above, the functions indicated as “˜units” are realized by using these processing devices and storage devices.

  As mentioned above, although embodiment of this invention was described, you may implement in combination of 2 or more among these embodiment. Alternatively, one of these embodiments may be partially implemented. Alternatively, two or more of these embodiments may be partially combined. In addition, this invention is not limited to these embodiment, A various change is possible as needed.

  DESCRIPTION OF SYMBOLS 100 Center station, 101 Transmission apparatus, 111 Generation | occurrence | production part, 112 Inter | net synchronization part, 113 Integration part, 114 Period adjustment part, 115 Common period adjustment part, 116 Network period adjustment part, 117 Spatial compression_encoding part, 118 Time change monitor Storage unit, 201 positioning device, 300 GPS satellite, 400 quasi-zenith satellite, 500 positioning correction data transmission system, 600 positioning correction data, 601 time tag, 602 corrected satellite clock error, 603 satellite specific error, 604 region specific error, 605 satellite clock error, 606 consistency, 700 electronic reference point information, 701 positioning information, 702 electronic reference point, 703 positioning reinforcement information stream, 704 common reinforcement data stream for all networks, 705 unique reinforcement data stream, 710 electronic reference point set, 710a Electronic reference point set A, 710b Electronic reference point set B, 711 Electronic reference point server, 712a Network A, 712b Network B, 713 Timing manager unit, 714 Data storage unit, 715 Error manager unit, 716 Error detection unit, 717 Switch controller Unit, 750 interface unit, 760 coordinate value storage unit, 800 positioning information reception unit, 801 decoding unit, 802 reinforcement information expansion unit, 803 reliability evaluation unit, 804 positioning calculation unit, 805 storage unit.

Claims (6)

A transmitter that transmits a satellite clock error at a satellite clock error transmission timing that arrives at a predetermined period after transmitting an error other than a satellite clock error among errors used for satellite positioning,
The time variation of other factor errors is monitored, and when the satellite clock error transmission timing arrives, the difference between the transmitted other factor errors and the other factor error when the satellite clock error transmission timing arrives is calculated as the other factor error fluctuation amount. An other factor error fluctuation amount calculation unit that includes the calculated other factor error fluctuation amount in the satellite clock error to be transmitted;
And a transmitter that transmits a satellite clock error including the other factor error variation amount by the other factor error variation amount calculation unit. The transmitter is
After transmitting the other factor error, transmit a plurality of satellite clock errors at a plurality of times of satellite clock error transmission timing, and after transmitting the plurality of satellite clock errors, repeat the operation of transmitting a new other factor error,
The other factor error variation calculation unit
When the satellite clock error transmission timing arrives, the difference between the other factor error last transmitted by the transmission unit and the other factor error when the satellite clock error transmission timing arrives is calculated as the other factor error fluctuation amount. The transmission device according to claim 1. The transmitter is
After sending multiple types of other factor errors, send the satellite clock error at the satellite clock error transmission timing,
The other factor error variation calculation unit
For each type of other factor error, monitor the time variation of the other factor error,
When the satellite clock error transmission timing arrives, for each type of other factor error, calculate the difference between the transmitted other factor error and the other factor error when the satellite clock error transmission timing arrives as the other factor error fluctuation amount, 3. The transmission apparatus according to claim 1, wherein the other factor error fluctuation amount for each type of other factor error is included in the satellite clock error to be transmitted. The transmitter is
A plurality of other factor errors for a plurality of regions are transmitted according to a predetermined transmission order, and a satellite clock error is transmitted at a satellite clock error transmission timing that comes between transmissions of the other factor errors,
The other factor error variation calculation unit
For each region, monitor changes over time in other error factors,
When the satellite clock error transmission timing arrives, for each region, the difference between the transmitted other factor error and the other factor error when the satellite clock error transmission timing arrives is calculated as the other factor error fluctuation amount, and the transmission target satellite Generate the satellite clock error for each region, including the amount of error fluctuation of other factors for each region in the clock error,
The transmitter is
The transmission apparatus according to any one of claims 1 to 3, wherein the satellite clock error for all regions generated by the other factor error fluctuation amount calculation unit is transmitted at each satellite clock error transmission timing. The transmitter is
A plurality of other factor errors for a plurality of regions are transmitted according to a predetermined transmission order, and a satellite clock error is transmitted at a satellite clock error transmission timing that comes between transmissions of the other factor errors,
The other factor error variation calculation unit
For each region, monitor changes over time in other error factors,
When the satellite clock error transmission timing arrives, for each region, the difference between the transmitted other factor error and the other factor error when the satellite clock error transmission timing arrives is calculated as the other factor error fluctuation amount for each region. , Using the calculated other factor error variation amount for each region, calculate the other factor error variation amount that is commonly used for the entire plurality of regions, and include it in the satellite clock error to be transmitted,
The transmitter is
The satellite clock error including the other factor error fluctuation amount used in common to the plurality of regions is transmitted by the other factor error fluctuation amount calculation unit at each satellite clock error transmission timing. The transmission apparatus in any one of 1-3. The transmitter is
When the transmission of a plurality of other factor errors for the plurality of regions is completed, the operation of transmitting a new other factor error of each region according to the transmission order is repeated,
The other factor error variation calculation unit
When the satellite clock error transmission timing arrives, the difference between the other factor error last transmitted by the transmission unit and the other factor error when the satellite clock error transmission timing arrives is calculated for each region. The transmission device according to claim 4 or 5.

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