JP6204246B2 - Portable positioning device - Google Patents

Description

  The present invention relates to a technology of a portable positioning device that mounts an antenna of a mobile station in a reference side communication device (reference station) and an observation side communication device (mobile station) that performs relative positioning using a satellite positioning system.

  Conventionally, it is known to use a satellite positioning system to measure an accurate position. Positioning methods using GPS include single positioning and relative positioning. Relative positioning is used to obtain highly accurate position data. Relative positioning includes DGPS positioning and RTK-GPS positioning, and the accuracy of RTK-GPS positioning is higher. RTK-GPS positioning measures the phase at the reference station and the mobile station, transmits the phase data observed at the reference station to the observation point (mobile station), and at the GPS receiver at the observation point, the received data and the reference station transmit Analyze the data to determine the position of the observation point. A measurement device used at an observation point includes an antenna disposed on an upper portion of a rod-shaped body, a position calculation device connected to the antenna, and a communication device. At the time of measurement, the antenna attached to the upper part of the rod-like body is set up so as to be positioned vertically above the measurement point. Since an error would occur if it was not set up vertically, the rod-like body was erected on a table provided with a level and adjusted so that the table was in a horizontal plane. However, as the number of positioning positions increases, it takes time for horizontal adjustment, which is troublesome. In view of this, a technique is known in which an antenna and an inclination detecting means for detecting an inclination angle and an inclination direction are provided on a support so that a positioning position can be corrected (for example, see Patent Document 1).

JP-A-9-61510

  In the conventional position detecting device, a support column is erected on a table, and the table is a flat plate. Therefore, the mounting surface of the table may be inclined, but it must be placed at a flat positioning point. That is, when positioning a field such as a paddy field, there are cases where it is difficult to perform positioning because there are many uneven positioning points and the table is loose. In addition, since the position detection device of the prior art requires a biaxial gimbal, it becomes a large device and is difficult to handle.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a portable positioning device that can be easily carried and can be easily positioned without the need for installation.

  The problem to be solved by the present invention is as described above. Next, means for solving the problem will be described.

According to claim 1, in the positioning device of the satellite positioning system, a mobile satellite positioning antenna at one end of the rod-shaped body, means for detecting the orientation of the rod-shaped body, means for detecting the inclination angle of the rod-shaped body with respect to the vertical, A portable positioning device comprising a correction means for correcting a position between the other end of the body and the mobile satellite positioning antenna, wherein the mobile satellite positioning antenna is detachably attached to one end of the rod-shaped body, A rush resistor is provided at the other end of the rod-shaped body, and the rush resistor is controlled to slide in the axial direction of the rod-shaped body by an engaging member, and is rotatable with respect to the rod-shaped body. It can be tilted .

The positioning operation means according to claim 2 , wherein the mobile satellite positioning antenna is attached to an upper end of a grip provided at one end of the rod-shaped body, and is positioned above the grip and at a position close to the mobile satellite positioning antenna. Is provided.

  By using the means as described above, positioning can be performed even if the rod is tilted simply by positioning the other end of the rod-shaped body at the position where positioning is desired, and positioning can be performed even when riding on a vehicle. And can save time.

Schematic which shows a GPS satellite, a reference station, and a mobile station. The perspective view which shows a portable positioning device. The perspective view which shows other embodiment of a portable positioning device. The perspective view which shows other embodiment of a portable positioning device. The figure which shows the state of positioning.

  The satellite positioning system is a system that measures the current position using an artificial satellite. The satellite positioning system receives time signals transmitted from a plurality of satellites on the ground, and measures ground coordinates by measuring a slight delay difference between the radio waves. Three to four satellites are used for coordinate measurement. As a typical satellite positioning system, there is a GPS (Global Positioning System). In the case of a system (global positioning system) that targets the entire earth, such as GPS, a total of about 30 satellites are required to always target the entire earth. GPS is the name of the global positioning system operated by the United States. In addition to GPS, Russia's "GLANOSS", EU's "Galileo Satellite Project", and in Japan, construction of a "Quasi-Zenith Satellite System" that realizes high-precision positioning in Japan in cooperation with GPS is underway. In this embodiment, a method of positioning using GPS will be described.

  As a positioning method using GPS, various methods such as single positioning, relative positioning (DGPS (Differential GPS), RTK-GPS (Real-time kinematic-GPS) positioning, and the like can be mentioned. Since the positioning method used is the RTK-GPS positioning method, the RTK-GPS positioning method will be described with reference to Fig. 1. However, the portable positioning device of the present invention may be a positioning method that requires a mobile station antenna. The positioning method such as the VRS method is not limited.

  RTK-GPS (real-time kinematics-GPS) positioning is performed by simultaneously performing GPS observations on a reference station whose position is known and a mobile station whose position is to be obtained. The position of the mobile station is obtained in real time based on the position data of the reference station.

  In the present embodiment, a fixed communication device 21, a fixed satellite positioning antenna 22, and a data transmission antenna 23 are installed as reference stations 20 at predetermined positions that do not interfere with work. A mobile satellite positioning antenna 32 and a data receiving antenna 33 provided in the operating device 31 and the portable positioning device 40 are arranged as the mobile station 30, and the RTK-GPS (real-time kinematic-GPS) positioning of this embodiment is performed by the reference station 20 and the mobile station 30. Both the stations 30 measure the phase (relative positioning), and the data measured by the fixed communication device 21 of the reference station 20 is transmitted from the data transmission antenna 23 to the data reception antenna 33 of the mobile station 30.

  The operating device 31 of the mobile station 30 includes a receiving unit 35, a calculating unit 36, and a correcting unit 37. The receiving unit 35 is connected to the data receiving antenna 33 and inputs data obtained by the reference station 20 to the arithmetic unit 36 via the data receiving antenna 33 and the receiving unit 35. Further, signals from the GPS satellites 10, 10... Are received by the mobile satellite positioning antenna 32, input to the correction unit 37, corrected for position, which will be described later, and then input to the calculation unit 36 for analysis to calculate the position. Further, the operation device 31 is further provided with a display unit 38 so that the positioning status, the measured value, and the like can be displayed.

  As shown in FIG. 2, the portable positioning device 40 of the present invention is a stick type, and is provided with a grip 42 at one end (upper side) of a rod-like body 41 that is long enough for an operator to swing around. An antenna mounting portion 43 for attaching the mobile satellite positioning antenna 32 is formed at the upper end of the grip 42. The antenna mounting portion 43 is configured so that the mobile satellite positioning antenna 32 can be easily attached and detached. For example, the antenna mounting portion 43 is not only the portable positioning device 40 but also other mobile objects such as a vehicle by being plugged or screwed. It can be attached to.

  The other end (lower side) of the rod-like body 41 is formed as a pointed portion 44 so as to be easily stabbed into the ground surface, and a rush resistor 45 is provided at an upper position of a predetermined length from the other end (lower end). The rush resistor 45 is formed in a substantially disk shape, and a fixing hole for inserting and fixing the pointed portion 44 is formed in the center of the disk. The rush resistor 45 is locked to the rod-like body 41 by a ring or the like and cannot slide in the axial direction of the rod-like body 41, but is rotatable and attached to be tiltable. However, the shape of the inrush resistor 45 is not limited, and may be a polygon such as a quadrangle or a pentagon, a star shape, a ring shape, or the like, and the rod-like body 41 does not sink further than the inrush resistor 45. Any shape is acceptable.

  In the grip 42 or the antenna mounting portion 43, a sensor module 46 and a battery including a magnetic sensor for detecting an azimuth angle α and an inclination angle β with respect to the vertical are provided. However, the sensor module 46 may detect a magnetic field in the three axial directions orthogonal to each other and is not limited. The grip 42 is provided with positioning operation means 47. The positioning operation means 47 is constituted by a switch or the like, and the portable positioning device 40 is positioned at a position where positioning is desired and the positioning operation means 47 is operated to obtain the position data by positioning. The positioning operation means 47, the sensor module 46, and the mobile satellite positioning antenna 32 are connected to the operation device 31 by wire or wirelessly. Further, the portable positioning device 40 can be shaped as shown in FIG. That is, the structure of the lower part of the rod-shaped body 41 is the same as that described above, but a main body case 49 is provided in the upper part, and the sensor module 46, the battery, etc. are accommodated in the main body case 49, and the upper part of the main body case 49 is A mobile satellite positioning antenna 32 is attached, and a grip 42 is provided on the side of the main body case 49 so as to protrude laterally, and positioning operation means 47 is provided on the grip 42.

  Thus, for example, when it is desired to acquire the position data of the observation positions A1, A2, A3, and A4 around the field H as shown in FIG. 5 using the portable positioning device 40 and set the work range, the operator Hold the grip 42 and pierce the corner 44 (A1, A2, A3, A4) of the field H with the pointed portion 44 at the tip of the rod-like body 41. At this time, the tip of the rod-shaped body 41 can be inserted only by a predetermined length by the rush resistor 45, but the rod-shaped body 41 can be easily maintained in this state by the pointed portion 44 and the rush resistor 45.

  When the positioning operation means 47 is operated in this state, the center of the rod-like body 41 where the inrush resistor 45 is located becomes the positioning position A to be obtained. As shown in FIG. 2, the positioning position A and the observation position B of the mobile satellite positioning antenna 32 are misaligned. However, the sensor module 46 detects the azimuth angle α and the inclination angle β, and the correction unit 37 The shift can be corrected by correcting the position.

That is, since the length L between the positioning position A and the observation position B is known, as shown in FIG. 2, the X direction (north-south direction), Y direction (east-west direction), and Z direction (vertical direction) The amount of deviation is
x = Lsin βcos α, y = Lsin βsin α, z = Lcos β
The position data of the positioning position A can be obtained by adding (x · y · z) to the position data of the observation position B.

  Further, as shown in FIG. 3, the portable positioning device 40 may be configured such that a bubble level 48 is arranged at the center of the upper surface of the mobile satellite positioning antenna 32 instead of using the sensor module 46. In this case, the operator positions the portable positioning device 40 vertically so that the bubble in the level 48 is positioned at the upper center of the hemispherical body, and operates the positioning operation means 47 in this state to perform positioning. In this way, it is only necessary to correct the height L, the calculation can be performed easily, and the portable positioning device 40 can be configured at low cost. Although not shown, it is also possible to configure a positioning unit in which the operation device 31 and the mobile satellite positioning antenna 32 are integrally configured, and perform positioning by placing directly on the ground.

  As described above, in the positioning device of the satellite positioning system, at one end of the rod-shaped body 41, the mobile satellite positioning antenna 32 in the satellite positioning system, the means for detecting the orientation of the rod-shaped body 41, and the inclination angle of the rod-shaped body 41 with respect to the vertical direction. Sensor module 46 serving as a means for detecting the position, and a correction unit 37 serving as a correcting means for correcting the position between the other end of the rod-shaped body 41 and the mobile satellite positioning antenna. Therefore, the other end of the rod-shaped body 41 is desired to be positioned. Positioning can be performed simply by positioning it at a position, and positioning can be performed even when the vehicle is on the vehicle, thereby reducing time and effort required for positioning.

  In addition, since the grip 42 and the positioning operation means 47 are provided at one end of the rod-like body 41, the portable positioning device 40 can be held with one hand to position the observation point A at a desired position, and the positioning operation can be easily performed. it can.

  Further, since the rush resistor 45 is provided at the other end of the rod-like body 41, the other end of the rod-like body 41 does not sink into the ground, and positioning can be performed accurately and positioning can be performed.

32 Mobile Satellite Positioning Antenna 40 Portable Positioning Device 41 Rod-shaped Body 42 Grip 45 Inrush Resistance 46 Sensor Module 47 Positioning Operation Means 49 Body Case

Claims (2)

In a positioning device of a satellite positioning system, a mobile satellite positioning antenna at one end of a rod-shaped body, means for detecting the orientation of the rod-shaped body, means for detecting an inclination angle with respect to the vertical of the rod-shaped body, and movement with the other end of the rod-shaped body A portable positioning device comprising correction means for correcting the position between the satellite positioning antenna and
The mobile satellite positioning antenna is detachably attached to one end of the rod-shaped body,
A rush resistor is provided at the other end of the rod-shaped body,
A portable positioning device characterized in that the rush resistor is provided so as to be rotatable and tiltable with respect to the rod-shaped body, while sliding of the rod-shaped body in the axial direction is restricted by an engaging member . The mobile satellite positioning antenna is attached to an upper end of a grip provided at one end of the rod-shaped body,
The portable positioning device according to claim 1 , wherein positioning operation means is provided at a position near the mobile satellite positioning antenna above the grip.

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