JP6361354B2 - Positioning device, timing signal generating device, electronic device, and moving object - Google Patents

Description

  The present invention relates to a positioning device, a timing signal generation device, an electronic device, and a moving object.

  A GPS (Global Positioning System) that is one of Global Navigation Satellite System (GNSS) using an artificial satellite is widely known. A GPS satellite used for GPS is equipped with an extremely accurate atomic clock, and transmits a satellite signal on which orbit information, accurate time information, and the like of the GPS satellite are superimposed on the ground. A satellite signal transmitted from a GPS satellite is received by a GPS receiver. The GPS receiver is synchronized with the process of calculating the current position and time information of the GPS receiver based on orbit information and time information superimposed on the satellite signal, and Coordinated Universal Time (UTC). A process for generating an accurate timing signal (1PPS) is performed. Since the accuracy of 1PPS depends on the accuracy of the position information of the reception point to be set, it is important to set accurate position information in the GPS receiver.

  The GPS receiver described in Patent Document 1 is a destination GPS satellite based on a C / A code (Coarse / Acquisition Code) included in a satellite signal transmitted from each GPS satellite for three or more GPS satellites. After calculating the distance between each GPS satellite and GPS receiver as a pseudo distance, based on this pseudo distance and the position of each GPS satellite based on orbit information included in the satellite signal, Measure the position of the GPS receiver.

  The C / A code has a bit rate of 1.023 Mbps and the code length is 1,023 chips. Therefore, it can be considered that the C / A code runs side by side at intervals of about 300 km, which is the distance traveled by radio waves in 1 ms. Therefore, the pseudo distance can be calculated by calculating how many C / A codes are present between the GPS satellite and the GPS receiver. More specifically, the number of one period (1,023 chips) of the C / A code (the integer part of the C / A code) is calculated, and the phase of the C / A code (the fractional part of the C / A code) ) Is specified, the pseudorange can be calculated. Here, the integer part of the C / A code can be estimated if the approximate position of the GPS receiver is known with a certain accuracy (for example, within 150 km).

  However, in the GPS receiver described in Patent Document 1, for example, an integer of C / A codes existing between the GPS satellite and the GPS receiver as the GPS satellite moves while calculating the pseudorange. When the number of parts has changed, the pseudo distance is calculated while the number of integer parts of the C / A code is missed, so that there is a problem that the accuracy of the pseudo distance is lowered.

JP 2008-26135 A

  An object of the present invention is to provide a positioning device that can measure a pseudorange with high accuracy, and to provide a timing signal generating device, an electronic apparatus, and a moving body including the positioning device.

SUMMARY An advantage of some aspects of the invention is to solve at least a part of the problems described above, and the invention can be implemented as the following aspects or application examples.

[Application Example 1]
The positioning device of the present invention includes a first receiver that generates a timing signal using a satellite signal received at a first reception start timing;
A second receiver that generates a timing signal using the satellite signal received at a second reception start timing different from the first reception start timing;
A phase comparator that compares the phase of the timing signal from the first receiver and the timing signal from the second receiver to generate a comparison result;
A control unit for controlling the first receiver and the second receiver based on the comparison result;
It is characterized by providing.

  According to such a positioning device, in either one of the receivers, the satellite signal is based on the comparison result of the timing signals from the two receivers (first receiver and second receiver) having different reception start timings. When the pseudo code is calculated by counting the number of identification codes (eg, C / A code) included in the satellite between the satellite and the receiver, the counting error can be detected. Therefore, even when there is a count error of the identification code, the operations of the first receiver and the second receiver can be reset so that the reception start timing without the count error is reached. Therefore, the pseudorange can be accurately measured using the satellite signal received at the reception start timing when there is no count error in the identification code. Also, by using the measured pseudo distance, the position of the reception point can be measured with high accuracy, and a highly accurate timing signal can be generated and output.

[Application Example 2]
In the positioning device of the present invention, it is preferable that a difference between the first reception start timing and the second reception start timing is 1 second or more.

  As a result, the difference between the first reception start timing and the second reception start timing can be arbitrarily set with a relatively simple configuration using loop control.

[Application Example 3]
In the positioning device of the present invention, it is preferable that a timing signal generated by each of the first receiver and the second receiver is 1 PPS.

  Thereby, 1 PPS (Pulse per Second) can be generated and output as an accurate timing signal synchronized with Coordinated Universal Time (UTC).

[Application Example 4]
In the positioning device of the present invention, it is preferable that the control unit controls the first reception start timing and the second reception start timing based on the comparison result.
As a result, it is possible to maintain a state in which there is no miscounting of the identification code.

[Application Example 5]
In the positioning device of the present invention, the phase comparison unit calculates a phase shift amount between the timing signal from the first receiver and the timing signal from the second receiver,
The control unit changes the timing of the first receiver and the first receiver after changing the timing of at least one of the first reception start timing and the second reception start timing when the phase shift amount is larger than a specified value. It is preferable to cause the second receiver to generate a timing signal.

  As a result, when there is an identification code miscount, at least one of the first reception start timing and the second reception start timing is changed, and the timing signal Generation can be performed.

[Application Example 6]
In the positioning device of the present invention, when the phase shift amount is equal to or less than a specified value, the control unit holds the first receiver and the second reception start timing while holding the first reception start timing and the second reception start timing. It is preferable to cause the second receiver to generate a timing signal.

  As a result, the timing signal can be generated in a state where there is no miscount of the identification code.

[Application Example 7]
In the positioning device of the present invention, the specified value is preferably 1 μsec or more.

  Thereby, for example, when the C / A code is used as the identification code, the phase shift of the timing signal can be detected easily and with high accuracy.

[Application Example 8]
The positioning device of the present invention preferably includes a position information generation unit that generates position information of a reception point using the satellite signal.
Thereby, it is possible to generate the position information of the reception point with high accuracy.

[Application Example 9]
The timing signal generation device of the present invention includes the positioning device of the present invention,
An oscillator that outputs a clock signal;
A synchronization control unit for synchronizing the clock signal with the timing signal;
It is characterized by providing.

  Thus, by synchronizing the clock signal output from the oscillator with the accurate timing signal, it is possible to generate a clock signal with higher accuracy than the accuracy of the oscillator.

[Application Example 10]
In the timing signal generator of the present invention, the oscillator is preferably an atomic oscillator.

  Atomic oscillators have high long-term frequency stability. Therefore, by using an atomic oscillator as an oscillator to be synchronized with the timing signal, a highly accurate timing signal can be generated even when a satellite signal cannot be received for a long time.

[Application Example 11]
An electronic apparatus according to the present invention includes the positioning device according to the present invention.
Thereby, an electronic device having excellent reliability can be provided.

[Application Example 12]
The moving body of the present invention includes the positioning device of the present invention.
Thereby, the mobile body which has the outstanding reliability can be provided.

1 is a diagram illustrating a schematic configuration of a timing signal generation device according to a first embodiment of the present invention. It is a figure which shows the structure of the navigation message transmitted from a GPS satellite. It is a block diagram which shows the structural example of the GPS receiver with which the timing signal generation apparatus shown in FIG. 1 is provided. It is a figure for demonstrating the measuring method of the pseudo distance using an identification code (C / A code). (A) is a figure for demonstrating the correlation process of a C / A code and a replica C / A code, (b) is a graph which shows the relationship between a correlation integrated value and a code phase. It is a flowchart which shows an example of the process sequence of the positioning in the timing signal generator shown in FIG. 1, and the output of a timing signal. It is a figure which shows schematic structure of the timing signal generator which concerns on 2nd Embodiment of this invention. It is a flowchart which shows an example of the process sequence of the positioning in the timing signal generator shown in FIG. 7, and the output of a timing signal. It is a block diagram which shows embodiment of the electronic device of this invention. It is a figure which shows embodiment of the mobile body of this invention.

  Hereinafter, a positioning device, a timing signal generation device, an electronic apparatus, and a moving body of the present invention will be described in detail based on embodiments shown in the accompanying drawings.

1. Timing signal generator <First embodiment>
FIG. 1 is a diagram showing a schematic configuration of a timing signal generation device according to the first embodiment of the present invention.

  The timing signal generation device 1 shown in FIG. 1 includes a GPS receiver 10, a processing unit (CPU) 20, an atomic oscillator 30, a temperature sensor 40, and a GPS antenna 50.

  Note that the timing signal generation device 1 may be partly or entirely physically separated from each other or may be integrated. For example, the GPS receiver 10 and the processing unit (CPU) 20 may be realized as separate ICs, or the GPS receiver 10 and the processing unit (CPU) 20 may be realized as a one-chip IC. .

  The timing signal generator 1 receives a satellite signal transmitted from a GPS satellite 2 (an example of a position information satellite) and generates a highly accurate 1PPS.

  The GPS satellite 2 orbits a predetermined orbit above the earth, and superimposes a navigation message and a C / A code (Coarse / Acquisition Code) on a 1.57542 GHz radio wave (L1 wave) that is a carrier wave (with a carrier wave). The modulated satellite signal is transmitted to the ground.

  The C / A code is for identifying satellite signals of about 30 GPS satellites that are presently present, and is a unique pattern consisting of 1023 chips (1 ms period) in which each chip is either +1 or -1. is there. Therefore, by correlating the satellite signal and the pattern of each C / A code, the C / A code superimposed on the satellite signal can be detected.

  The satellite signal (specifically, navigation message) transmitted by each GPS satellite 2 includes orbit information indicating the position of each GPS satellite 2 on the orbit. Each GPS satellite 2 has an atomic clock, and the satellite signal includes extremely accurate time information measured by the atomic clock. Therefore, by receiving satellite signals from four or more GPS satellites 2 and performing positioning calculation using orbit information and time information included in each satellite signal, a reception point (location where the GPS antenna 50 is installed) Accurate information on the location and time can be obtained. Specifically, a four-dimensional equation having four variables as the three-dimensional position (x, y, z) and time t of the reception point may be established to find the solution.

  When the position of the reception point is known, the satellite signal from one or more GPS satellites 2 can be received, and the time information of the reception point can be obtained using the time information included in each satellite signal. .

  Also, information on the difference between the time of each GPS satellite 2 and the time of the reception point can be obtained using the orbit information included in each satellite signal. A slight time error of the atomic clock mounted on each GPS satellite 2 is measured by the control segment on the ground, and the satellite signal includes a time correction parameter for correcting the time error. By correcting the time at the reception point using this time correction parameter, it is possible to obtain extremely accurate time information.

FIG. 2 is a diagram showing a configuration of a navigation message transmitted from a GPS satellite.
As shown in FIG. 2 (A), the navigation message is configured as data with a main frame having a total number of 1500 bits as one unit. The main frame is divided into five sub-frames 1 to 5 each having 300 bits. Data of one subframe is transmitted from each GPS satellite 2 in 6 seconds. Accordingly, data of one main frame is transmitted from each GPS satellite 2 in 30 seconds.

  Subframe 1 includes satellite correction data such as week number data (WN). The week number data is information representing a week including the time of the GPS satellite 2. The starting time of the GPS satellite 2 is UTC (Universal Standard Time) on January 6, 1980, 00:00:00, and the week starting on this day has a week number 0. Week number data is updated on a weekly basis.

  The subframes 2 and 3 include ephemeris parameters (detailed orbit information of each GPS satellite 2). The subframes 4 and 5 include almanac parameters (general orbit information of all GPS satellites 2).

  Furthermore, at each head of subframes 1 to 5, a TLM (Telemetry) word storing 30-bit TLM (Telemetry word) data, and a HOW word storing 30-bit HOW (hand over word) data, It is included.

  Therefore, TLM words and HOW words are transmitted from the GPS satellite 2 at intervals of 6 seconds, whereas satellite correction data such as week number data, ephemeris parameters, and almanac parameters are transmitted at intervals of 30 seconds.

  As shown in FIG. 2B, the TLM word includes preamble data, a TLM message, a reserved bit, and parity data.

  As shown in FIG. 2C, the HOW word includes time information called TOW (Time of Week) (hereinafter also referred to as “Z count”). In the Z count data, the elapsed time from 0 o'clock every Sunday is displayed in seconds, and it returns to 0 at 0 o'clock on the next Sunday. That is, the Z count data is information in seconds indicated every week from the beginning of the week, and the elapsed time is a number expressed in units of 1.5 seconds. Here, the Z count data indicates time information at which the first bit of the next subframe data is transmitted. For example, the Z count data of subframe 1 indicates time information at which the first bit of subframe 2 is transmitted. The HOW word also includes 3-bit data (ID code) indicating the ID of the subframe. That is, ID codes “001”, “010”, “011”, “100”, and “101” are included in the HOW words of subframes 1 to 5 shown in FIG.

  By acquiring the week number data included in subframe 1 and the HOW word (Z count data) included in subframes 1 to 5, the time of GPS satellite 2 can be calculated. If the week number data is acquired previously and the elapsed time from the time when the week number data was acquired is counted internally, the current week number data of the GPS satellite 2 can be obtained without acquiring the week number data every time. Can be obtained. Therefore, if only the Z count data is acquired, the current time of the GPS satellite 2 can be known roughly.

  The satellite signal as described above is received by the GPS receiver 10 via the GPS antenna 50 shown in FIG.

  The GPS antenna 50 is an antenna that receives various radio waves including satellite signals, and is connected to the GPS receiver 10.

  The GPS receiver 10 includes two GPS receivers 10 a and 10 b, and performs various processes based on satellite signals received by the GPS receivers 10 a and 10 b via the GPS antenna 50. Here, the GPS receiver 10a is a “first receiver” that generates a timing signal (1PPS) using the satellite signal received at the first reception start timing, and the GPS receiver 10b starts the first reception. A “second receiver” that generates a timing signal (1PPS) using a satellite signal received at a second reception start timing different from the timing (the same satellite signal as the satellite signal received by the GPS receiver 10a). .

  Specifically, each of the GPS receivers 10a and 10b has a normal positioning mode (an example of a first mode) and a position fixing mode (an example of a second mode). Is set to either the normal positioning mode or the position fixing mode according to the control command (control command for mode setting).

  Each of the GPS receivers 10a and 10b receives satellite signals transmitted from a plurality of (preferably four or more) GPS satellites 2 in the normal positioning mode, and orbit information (specifically, the received satellite signals). Performs the positioning calculation based on the above-mentioned ephemeris data, almanac data, etc.) and time information (specifically, the above-described week number data, Z count data, etc.).

  Each of the GPS receivers 10a and 10b receives a satellite signal transmitted from at least one GPS satellite 2 in the fixed position mode, and receives the orbit information and time information included in the received satellite signal. Based on the position information of the points, 1 PPS (1 Pulse Per Second) is generated. 1 PPS (an example of a timing signal synchronized with a reference time) is a pulse signal that is completely synchronized with UTC (Universal Standard Time), and includes one pulse per second. As described above, since the satellite signal used by the GPS receiver 10 for generating the timing signal includes the orbit information and the time information, a timing signal accurately synchronized with the reference time can be generated.

Hereinafter, the configuration of the GPS receivers 10a and 10b will be described in detail.
FIG. 3 is a block diagram illustrating a configuration example of a GPS receiver included in the timing signal generation device illustrated in FIG. 1.

  Each of the GPS receivers 10a and 10b shown in FIG. 3 includes a SAW (Surface Acoustic Wave) filter 11, an RF processing unit 12, a baseband processing unit 13, and a temperature compensated crystal oscillator (TCXO). ) 14.

  The SAW filter 11 performs a process of extracting a satellite signal from the radio wave received by the GPS antenna 50. The SAW filter 11 is configured as a bandpass filter that passes a 1.5 GHz band signal.

  The RF processing unit 12 includes a PLL (Phase Locked Loop) 121, an LNA (Low Noise Amplifier) 122, a mixer 123, an IF amplifier 124, an IF (Intermediate Frequency) filter 125, and an ADC (A / D converter) 126. It is configured to include.

  The PLL 121 generates a clock signal obtained by multiplying the oscillation signal of the TCXO 14 that oscillates at about several tens of MHz to a frequency of 1.5 GHz band.

  The satellite signal extracted by the SAW filter 11 is amplified by the LNA 122. The satellite signal amplified by the LNA 122 is mixed with the clock signal output from the PLL 121 by the mixer 123 and down-converted to an intermediate frequency band (for example, several MHz) signal (IF signal). The signal mixed by the mixer 123 is amplified by the IF amplifier 124.

  Since the mixer 123 generates a high-frequency signal in the order of GHz along with the IF signal, the IF amplifier 124 amplifies the high-frequency signal together with the IF signal. The IF filter 125 passes the IF signal and removes the high-frequency signal (precisely, it is attenuated below a predetermined level). The IF signal that has passed through the IF filter 125 is converted into a digital signal by an ADC (A / D converter) 126.

  The baseband processing unit 13 includes a DSP (Digital Signal Processor) 131, a CPU (Central Processing Unit) 132, an SRAM (Static Random Access Memory) 133, and an RTC (Real Time Clock) 134, and an oscillation signal of the TCXO 14 Is used as a clock signal.

  The DSP 131 and the CPU 132 cooperate with each other to demodulate the baseband signal from the IF signal, acquire trajectory information and time information included in the navigation message, and perform processing in the normal positioning mode or position fixing mode.

  The SRAM 133 stores time information and orbit information acquired, position information of a reception point set in accordance with a predetermined control command (position setting control command), an elevation angle mask used in a position fixing mode, and the like. Is. The RTC 134 generates timing for performing baseband processing. The RTC 134 is counted up by the clock signal from the TCXO 14.

  Specifically, the baseband processing unit 13 generates a local code having the same pattern as each C / A code, and performs a process (satellite search) for correlating each C / A code included in the baseband signal with the local code. )I do. Then, the baseband processing unit 13 adjusts the local code generation timing so that the correlation value for each local code has a peak, and when the correlation value is equal to or greater than the threshold, the local code is set as the C / A code. It is determined that the GPS satellite 2 is synchronized (GPS satellite 2 is captured). Note that GPS employs a CDMA (Code Division Multiple Access) system in which all GPS satellites 2 transmit satellite signals of the same frequency using different C / A codes. Therefore, it is possible to search for a GPS satellite 2 that can be captured by determining the C / A code included in the received satellite signal.

  Further, the baseband processing unit 13 mixes a local code and a baseband signal having the same pattern as the C / A code of the GPS satellite 2 in order to acquire the orbit information and time information of the captured GPS satellite 2. I do. A navigation message including the orbit information and time information of the captured GPS satellite 2 is demodulated in the mixed signal. Then, the baseband processing unit 13 performs processing for acquiring trajectory information and time information included in the navigation message and storing them in the SRAM 133.

  The baseband processing unit 13 receives a predetermined control command (specifically, a mode setting control command), and is set to either the normal positioning mode or the position fixing mode. In the normal positioning mode, the baseband processing unit 13 performs positioning calculation using orbit information and time information of four or more GPS satellites 2 stored in the SRAM 133.

  Further, the baseband processing unit 13 uses the orbit information of one or more GPS satellites 2 stored in the SRAM 133 and the position information of the reception points stored in the SRAM 133 in the position fixing mode. 1PPS is output. Specifically, the baseband processing unit 13 includes a 1PPS counter that counts the generation timing of each 1PPS pulse in a part of the RTC 134, and uses the orbit information of the GPS satellite 2 and the position information of the reception point. The propagation delay time required for the satellite signal transmitted from the GPS satellite 2 to reach the reception point is calculated, and the set value of the 1PPS counter is changed to the optimum value based on this propagation delay time.

  Note that the baseband processing unit 13 may output 1 PPS based on the time information of the reception point obtained by the positioning calculation in the normal positioning mode, and the positioning calculation may be performed if a plurality of GPS satellites 2 can be captured in the position fixing mode. May be performed.

  In addition, the baseband processing unit 13 outputs NMEA data including various information such as position information and time information as a result of positioning calculation, reception status (number of GPS satellites 2 captured, satellite signal strength, etc.).

  The operation of the GPS receiver 10 configured as described above is controlled by the processing unit (CPU) 20 shown in FIG.

  The processing unit 20 transmits various control commands to the GPS receiver 10 to control the operation of the GPS receiver 10, receives 1PPS and NMEA data output from the GPS receiver 10, and performs various processes. The processing unit 20 may perform various processes according to a program stored in an arbitrary memory, for example.

  The processing unit 20 includes a phase comparator 21, a loop filter 22, a DSP (Digital Signal Processor) 23, a frequency divider 24, a GPS control unit 25, and a phase comparator 26. Note that the DSP 23 and the GPS control unit 25 may be composed of a single component.

  The DSP 23 acquires NMEA data periodically (for example, every second) from the GPS receiver 10 (any one of the GPS receivers 10a and 10b), and the position information included in the NMEA data (normally by the GPS receiver 10). The result of the positioning calculation in the positioning mode) is collected to create statistical information for a predetermined time, and based on the statistical information, processing for generating position information of the reception point is performed. For example, the position information of the reception point is generated based on an average value, a mode value, or a median value of a plurality of positioning calculation results in the normal positioning mode by the GPS receiver 10. Here, the DSP 23 is a “position information generation unit” that generates position information of a reception point using the positioning result of the GPS receiver 10a or 10b.

  The GPS control unit 25 is a “control unit” that controls the GPS receivers 10 a and 10 b, and transmits various control commands to the GPS receivers 10 a and 10 b to control the operation of the GPS receiver 10. Specifically, the GPS control unit 25 transmits a control command for starting positioning to the GPS receivers 10a and 10b based on the comparison result of the phase comparator 26, and the positioning by the GPS receivers 10a and 10b is different from each other. A process of starting at a predetermined timing is performed. Further, the GPS control unit 25 transmits a mode setting control command to the GPS receiver 10 and performs a process of switching the GPS receiver 10 from the normal positioning mode to the position fixing mode. Further, the GPS control unit 25 transmits a position setting control command to the GPS receiver 10 before switching the GPS receiver 10 from the normal positioning mode to the position fixing mode, and receives the position information of the reception point generated by the DSP 23. Processing to set in the GPS receiver 10 is performed.

  The phase comparator 26 performs phase comparison between 1 PPS (timing signal) output from the GPS receiver 10 a and 1 PPS (timing signal) output from the GPS receiver 10 b. Here, the phase comparator 26 is a “phase comparator” that calculates the amount of phase shift between the timing signal from the GPS receiver 10a and the timing signal from the GPS receiver 10b. The phase difference signal as a comparison result of the phase comparator 26 is input to the GPS control unit 25. Thereby, the GPS control part 25 can determine the presence or absence of the count mistake in the calculation of the pseudo distance mentioned later based on the comparison result of the phase comparator 26. FIG.

  The frequency divider 24 divides the clock signal (frequency: f) output from the atomic oscillator 30 by f and outputs a 1 Hz frequency-divided clock signal.

  The phase comparator 21 compares the phase of the 1 PPS output from the GPS receiver 10 a with the 1 Hz frequency-divided clock signal output from the frequency divider 24. The phase difference signal as a comparison result of the phase comparator 21 is input to the atomic oscillator 30 via the loop filter 22. The parameters of the loop filter 22 are set by the DSP 23.

  The 1 Hz frequency-divided clock signal output from the frequency divider 24 is synchronized with 1 PPS output from the GPS receiver 10a, and the timing signal generating device 1 synchronizes this frequency-divided clock signal with UTC with extremely high frequency accuracy. Output to the outside as high 1PPS. In addition, the timing signal generation device 1 outputs the latest NMEA data to the outside every second in synchronization with 1 PPS.

  The atomic oscillator 30 is an oscillator that can output a clock signal with high frequency accuracy using energy transition of atoms. For example, an atomic oscillator using rubidium atoms or cesium atoms is widely known. As the atomic oscillator 30, for example, an atomic oscillator using an EIT (Electromagnetically Induced Transparency) phenomenon (also called a CPT (Coherent Population Trapping) phenomenon), an atomic oscillator using an optical micro double resonance phenomenon, or the like can be used. . The timing signal generator 1 also outputs a clock signal having a frequency f output from the atomic oscillator 30 to the outside.

  The atomic oscillator 30 is configured such that the frequency can be finely adjusted according to the output voltage (control voltage) of the loop filter 22, and as described above, the phase comparator 21, the loop filter 22, the DSP 23, and the frequency divider 24. The clock signal output from the atomic oscillator 30 is completely synchronized with 1 PPS output from the GPS receiver 10a. That is, the configuration of the phase comparator 21, the loop filter 22, the DSP 23, and the frequency divider 24 functions as a “synchronization control unit” that synchronizes the clock signal output from the atomic oscillator 30 with 1 PPS. In addition, since the frequency temperature characteristic of the atomic oscillator 30 is not flat by itself, the temperature sensor 40 is disposed in the vicinity of the atomic oscillator 30, and the DSP 23 has a phase corresponding to the detection value (detection temperature) of the temperature sensor 40. By adjusting the output voltage of the comparator 21, the temperature temperature characteristic of the atomic oscillator 30 is subjected to temperature compensation.

  When a situation (holdover) occurs in which the GPS receiver 10 cannot receive a satellite signal, the accuracy of 1 PPS output from the GPS receiver 10 deteriorates, or the GPS receiver 10 stops outputting 1 PPS. . In such a case, the processing unit 20 may stop the process of synchronizing the clock signal output from the atomic oscillator 30 with 1 PPS output from the GPS receiver 10 and cause the atomic oscillator 30 to self-oscillate. In this way, the timing signal generation device 1 can output 1 PPS with high frequency accuracy due to free-running oscillation of the atomic oscillator 30 even when the accuracy of 1 PPS output from the GPS receiver 10 deteriorates. Note that even if a double oven or single oven thermostat crystal oscillator (OCXO) is used in place of the atomic oscillator 30, 1 PPS with high frequency accuracy due to free-running oscillation can be output.

Hereinafter, positioning by the GPS receivers 10a and 10b will be described in detail.
FIG. 4 is a diagram for explaining a pseudo distance measurement method using an identification code (C / A code).

  As shown in FIG. 4, for example, a plurality of C / A codes are continuous between the GPS satellite 2 and the timing signal generator 1 (more specifically, between the GPS satellite 2 and the GPS antenna 50). Can be seen as being in line. Here, the distance between the GPS satellite 2 and the timing signal generator 1 is not normally an integral multiple of the length of the C / A code (about 300 km), and there is a code fraction C / Aa. That is, between the GPS satellite 2 and the timing signal generator 1, there are an integer multiple portion and a fractional portion of the C / A code.

  Therefore, the total length of the integer multiple portion and the fractional portion of the C / A code is measured as a “pseudo distance” that is a distance including an error between the GPS satellite 2 and the timing signal generation device 1. The timing signal generation device 1 measures pseudoranges for three or more GPS satellites 2 and measures (positions) the position of a reception point using the measured three or more pseudoranges.

  In the present specification, the code fraction C / Aa described above is referred to as a code phase. The code phase can be indicated, for example, by the number of the 1023 chip in the C / A code, or can be indicated in terms of distance. When calculating the pseudo distance, the code phase is converted into a distance and used.

  Regarding the measurement of the length of the integer multiple portion of the C / A code, the integral multiple portion of the C / A code can be specified by using the approximate distance between the GPS satellite 2 and the reception point. Here, the approximate distance can be calculated based on the position of the GPS satellite 2 based on the ephemeris parameter and the approximate position of the reception point. In addition, since the length of one C / A code is about 300 km, the approximate position of the reception point used for calculating the approximate distance may be an error with respect to the position of the regular reception point within 150 km. This is position information obtained by the previous positioning.

  Regarding the measurement of the length of the fractional part of the C / A code, as indicated by the arrow X1 in FIG. 4, the phase of the replica C / A code is moved while the phase of the C / A code and the replica C / A code are moved. By performing the correlation process, the fractional part of the C / A code can be specified. At this time, the timing signal generation device 1 performs the correlation process while changing the synchronization frequency. Further, such correlation processing includes coherent processing and incoherent processing. In such correlation processing, the phase where the correlation integrated value is maximized is the code fraction C / Aa.

  FIG. 5A is a diagram for explaining the correlation processing between the C / A code and the replica C / A code, and FIG. 5B is a graph showing the relationship between the correlation integrated value and the code phase.

  Coherent is a process for obtaining a correlation between the C / A code received by the timing signal generation device 1 and the replica C / A code. The replica C / A code is a code generated by the timing signal generator 1.

  For example, as shown in FIG. 5A, if the coherent time is 5 msec, the correlation value between the C / A code and the replica C / A code synchronously integrated in the time of 5 msec is calculated. As a result of the coherent processing, a correlated phase (code phase) and a correlation value are output.

  Incoherent is a process of calculating a correlation integrated value (incoherent value) by integrating the correlation values of coherent results. As a result of the correlation process, the code phase output by the coherent process and the correlation integrated value are output.

  As shown in FIG. 5B, the code phase CP1 corresponding to the maximum correlation integrated value Pmax is the code phase of the replica C / A code, that is, the code phase of the C / A code. Then, for example, the timing signal generation device 1 sets the correlation integrated value with the smaller correlation integrated value in the code phase that is one-half chip away from the code phase CP1 as the noise correlation integrated value Pnoise.

  Further, the timing signal generation device 1 defines a value obtained by dividing the difference between Pmax and Pnoise by Pmax as the signal strength XPR. When a signal having a specific electric field strength is input, the calculated values of Pmax and signal strength XPR can be obtained by experiments. Therefore, the timing signal generation device 1 can calculate the electric field strength of the satellite signal received by the timing signal generation device 1 from Pmax and the signal strength XPR. This electric field strength means the electric field strength of the satellite signal that reaches the GPS antenna 50 of the timing signal generation device 1.

  Here, the higher the electric field strength, the more the code phase can be specified even if the incoherent time described above is short, and the accuracy of the code phase is high. On the other hand, when the electric field strength is weak, the code phase cannot be specified unless the incoherent time is lengthened, and the accuracy of the code phase becomes lower than when the electric field strength is strong.

  Although the pseudo distance is measured as described above, the length of the integer multiple portion of the C / A code can be measured relatively quickly, whereas the length of the fractional portion of the C / A code is measured. This measurement may take a long time because the time required for the measurement changes depending on the reception status and the like. Therefore, even if the measurement of the length of the integer multiple portion of the C / A code has been completed, the GPS satellite 2 moves with the GPS while the length of the fractional portion of the C / A code is being measured. There may be a case where the number of integer parts of the C / A code existing between the satellite 2 and the reception point changes to cause a count error. In such a case, since the pseudo distance is calculated in a state where the number of integer parts of the C / A code is missed, the accuracy of the pseudo distance is lowered.

  Therefore, in the timing signal generation device 1, the two GPS receivers 10a and 10b are mounted as described above, and positioning by the GPS receivers 10a and 10b is started at predetermined timings different from each other, and the comparison by the phase comparator 26 is performed. Based on the result, it is determined whether or not there is a counting error when calculating the pseudo distance, and when it is determined that there is a counting error, positioning of the GPS receivers 10a and 10b is performed again.

  More specifically, in the timing signal generating device 1, the GPS receiver 10a generates a timing signal (1PPS) using the satellite signal received at the first reception start timing, and the GPS receiver 10b has the first signal. A timing signal (1PPS) is generated using the satellite signal received at the second reception start timing different from the reception start timing (the same satellite signal as the satellite signal received by the GPS receiver 10a).

  Then, the phase comparator 26 compares the phases of the timing signal from the GPS receiver 10a and the timing signal from the GPS receiver 10b to generate a comparison result, and the GPS control unit 25 is based on the comparison result. The GPS receivers 10a and 10b are controlled.

  Specifically, the GPS control unit 25 controls the first reception start timing and the second reception start timing based on the comparison result of the phase comparator 26. Thereby, the reception start timing of GPS receiver 10a, 10b can be changed as needed, and a count mistake can be prevented. That is, it is possible to maintain a state where there is no miscounting of the identification code.

  Hereinafter, the control of the reception start timing of the GPS receivers 10a and 10b by the GPS control unit 25 will be described.

  FIG. 6 is a flowchart showing an example of a processing procedure of positioning and timing signal output in the timing signal generation device shown in FIG.

  First, it is determined whether or not both of the GPS receivers 10a and 10b are capable of positioning (step S1). When both the GPS receivers 10a and 10b are ready for positioning, the GPS receiver 10a starts positioning (step S2). The timing at which the GPS receiver 10a starts positioning is the “first reception start timing”.

  Thereafter, it is determined whether or not a predetermined time has elapsed (step S3). When the predetermined time has elapsed, positioning of the GPS receiver 10b is started (step S4). The timing at which the GPS receiver 10b starts positioning is the “second reception start timing”, which is delayed from the first reception start timing by a predetermined time in step S3.

  Here, it is preferable that the difference between the first reception start timing and the second reception start timing is 1 second or more. As a result, the difference between the first reception start timing and the second reception start timing can be arbitrarily set with a relatively simple configuration using loop control.

  Next, after the time necessary for positioning of the GPS receivers 10a and 10b has elapsed, the positioning of the GPS receivers 10a and 10b is terminated (step S5). After the positioning is completed, the GPS receivers 10a and 10b each generate 1PPS using the obtained positioning results.

  Next, based on the comparison result of the phase comparator 26, it is determined whether or not the phase difference between 1PPS from the GPS receiver 10a and 1PPS from the GPS receiver 10b is within a predetermined range (step S6). If the phase difference is not within the predetermined range, it is determined that there has been a count error in the calculation of the pseudo distance, the process proceeds to step S2 described above, and positioning by the GPS receivers 10a and 10b is performed again. Thereby, at least one of the first reception start timing and the second reception start timing is changed. At this time, the predetermined time set in step S3 may be changed.

  As described above, the GPS control unit 25 performs the first reception start timing and the second reception start when the amount of phase shift between the 1PPS from the GPS receiver 10a and the 1PPS from the GPS receiver 10b is larger than the specified value. After changing the timing of at least one of the timings, the GPS receivers 10a and 10b are caused to generate 1PPS. As a result, when there is a C / A code count error, at least one of the first reception start timing and the second reception start timing is changed so that there is no C / A code count error. 1PPS can be generated from the GPS receivers 10a and 10b.

  Here, the specified value used for determining whether or not the phase difference is within the predetermined range in step S6 is preferably 1 μsec or more, and more specifically, is preferably set to about 1 μsec. Thereby, for example, when a C / A code is used as the identification code, a phase shift of 1 PPS can be detected easily and with high accuracy.

  On the other hand, when the phase difference is within the predetermined range, it is determined that there is no count error when calculating the pseudorange, and the GPS signal is received by the phase comparator 21, the loop filter 22, the DSP 23, and the frequency divider 24. PLL processing is performed to output 1 PPS output from 10a in complete synchronization with the clock signal output from the atomic oscillator 30 (step S7). As a result, it is possible to output highly accurate 1PPS without counting errors when calculating the pseudorange.

  As described above, the GPS control unit 25 performs the first reception start timing and the second reception start when the amount of phase shift between the 1PPS from the GPS receiver 10a and the 1PPS from the GPS receiver 10b is equal to or less than the specified value. The GPS receivers 10a and 10b are caused to generate 1 PPS while maintaining the timing. Thereby, 1PPS can be generated from the GPS receivers 10a and 10b in a state where there is no C / A code count error.

  This 1PPS output is continued until an end instruction is given (step S8), and when an end instruction is given, the output ends (step S9).

  According to such positioning and timing signal output procedures, one of the receivers is included in the satellite signal based on the comparison result of 1 PPS from the two GPS receivers 10a and 10b having different reception start timings. When a pseudo distance is calculated by counting the number of C / A codes (an example of an identification code) between the GPS satellite 2 and the reception point, it is possible to detect the counting error. Therefore, even when there is a C / A code count error, the operations of the GPS receivers 10a and 10b can be reset so that the reception start timing without a count error is reached. Therefore, it is possible to accurately measure the pseudorange using the satellite signal received at the reception start timing when there is no C / A code count error. Further, by using the measured pseudo distance, it is possible to measure the position of the reception point with high accuracy and to generate / output highly accurate 1PPS.

  Here, since the timing signals generated by the GPS receivers 10a and 10b are each 1 PPS, 1 PPS (Pulse per Second) is generated and output as an accurate timing signal synchronized with Coordinated Universal Time (UTC). be able to.

  Further, since the DSP 23 generates the position information of the reception point using the positioning result of the high-accuracy GPS receiver 10a or 10b as described above, it is possible to generate the position information of the reception point with high accuracy.

Second Embodiment
FIG. 7 is a diagram showing a schematic configuration of a timing signal generation device according to the second embodiment of the present invention.

  This embodiment is the same as the first embodiment described above except that the number of GPS receivers is different and a switch and a phase comparator are added accordingly.

  In the following description, the second embodiment will be described with a focus on differences from the above-described embodiment, and description of similar matters will be omitted. Moreover, in FIG. 7, the same code | symbol is attached | subjected about the structure similar to embodiment mentioned above.

  A timing signal generating apparatus 1A shown in FIG. 7 includes a GPS receiver 10A, a processing unit (CPU) 20A, an atomic oscillator 30, a temperature sensor 40, and a GPS antenna 50.

  The GPS receiver 10 </ b> A includes three GPS receivers 10 a, 10 b, and 10 c, and performs various processes based on satellite signals received by the GPS receivers 10 a, 10 b, and 10 c via the GPS antenna 50. Here, the GPS receiver 10a is a “first receiver” that generates a timing signal (1PPS) using the satellite signal received at the first reception start timing, and the GPS receiver 10b starts the first reception. A “second receiver” that generates a timing signal (1PPS) using a satellite signal received at a second reception start timing different from the timing (the same satellite signal as the satellite signal received by the GPS receiver 10a). . The GPS receiver 10c uses a satellite signal (the same satellite signal as the satellite signal received by the GPS receiver 10a) received at a third reception start timing different from the first reception start timing and the second reception start timing. Thus, it is a “third receiver” that generates the timing signal (1PPS).

  The processing unit 20A includes a phase comparator 21, a loop filter 22, a DSP (Digital Signal Processor) 23, a frequency divider 24, a GPS control unit 25, phase comparators 26 and 27, and a switch 28.

  The phase comparator 27 performs phase comparison between 1 PPS (timing signal) output from the GPS receiver 10 b and 1 PPS (timing signal) output from the GPS receiver 10 c. Here, the phase comparator 27 is a “phase comparator” that calculates the amount of phase shift between the timing signal from the GPS receiver 10 b and the timing signal from the GPS receiver 10 c. The phase difference signal as a comparison result of the phase comparator 27 is input to the GPS control unit 25. As a result, the GPS control unit 25 can determine the presence or absence of a counting error when calculating a pseudo distance, which will be described later, based on the comparison result of the phase comparator 27.

  The switch 28 is provided between the GPS receiver 10 a and the phase comparator 21. Not only 1PPS from the GPS receiver 10a but also 1PPS from the GPS receiver 10b are input to the switch 28. The switch 28 selects and outputs either the 1PPS from the GPS receiver 10a or the GPS receiver 10b to the phase comparator 21. This selection is performed by the GPS control unit 25 based on the comparison results of the phase comparators 26 and 27.

  Hereinafter, control of the reception start timing of the GPS receivers 10a, 10b, and 10c will be described.

  FIG. 8 is a flowchart showing an example of a processing procedure of positioning and timing signal output in the timing signal generation device shown in FIG.

  First, it is determined whether or not all of the GPS receivers 10a, 10b, and 10c are in a state where positioning is possible (step S10). When all of the GPS receivers 10a, 10b, and 10c are ready for positioning, the GPS receiver 10a starts positioning (step S2).

  Thereafter, it is determined whether or not a predetermined time has elapsed (step S3). When the predetermined time has elapsed, positioning of the GPS receiver 10b is started (step S4).

  Further, it is determined whether or not a predetermined time has elapsed (step S11), and when it has elapsed, positioning of the GPS receiver 10c is started (step S12). The timing at which the GPS receiver 10c starts positioning is the “third reception start timing”, which is delayed from the second reception start timing by a predetermined time in step S11.

  Here, the difference between the second reception start timing and the third reception start timing is preferably 1 second or more. Thereby, the shift | offset | difference of a 2nd reception start timing and a 3rd reception start timing can be arbitrarily set with a comparatively simple structure using loop control.

  Next, after the time necessary for positioning of the GPS receivers 10a, 10b, and 10c has elapsed, the positioning of the GPS receivers 10a, 10b, and 10c is terminated (step S13). After the positioning is finished, the GPS receivers 10a, 10b, and 10c each generate 1PPS using the obtained positioning results.

  Next, based on the comparison result of the phase comparator 26, it is determined whether or not the phase difference between 1PPS from the GPS receiver 10a and 1PPS from the GPS receiver 10b is within a predetermined range (step S6). If the phase difference based on the comparison result of the phase comparator 26 is not within the predetermined range, the position of 1PPS from the GPS receiver 10b and 1PPS from the GPS receiver 10c are determined based on the comparison result of the phase comparator 27. It is determined whether or not the phase difference is within a predetermined range (step S15).

  If the phase difference based on the comparison result of the phase comparator 27 is not within the predetermined range, it is determined that there is a count error in the calculation of the pseudo distance, and the process proceeds to the above-described step S2, and the GPS receivers 10a and 10b. Repeat positioning by 10c. Thereby, at least one of the first reception start timing, the second reception start timing, and the third reception start timing is changed. At this time, you may change the predetermined time set to any one of step S3 and step S11.

  On the other hand, when the phase difference based on the comparison result of the phase comparator 27 is within the predetermined range, it is determined that there is no count error when calculating the pseudo distance in the GPS receivers 10b and 10c, and the switch 28 is switched. The GPS receiver 10b is selected and PLL processing is performed (step S16). As a result, it is possible to output highly accurate 1PPS without counting errors when calculating the pseudorange.

  Further, when the phase difference based on the comparison result of the phase comparator 26 is within a predetermined range, it is determined that there is no count error in calculating the pseudo distance in the GPS receivers 10a and 10b, and the switch 28 is switched. The GPS receiver 10a is selected and PLL processing is performed (step S14). As a result, it is possible to output highly accurate 1PPS without counting errors when calculating the pseudorange.

  The output of 1 PPS after the selection of the switch 28 is continued until an end instruction is given (step S8), and when an end instruction is given, the output ends (step S9).

  According to the timing signal generating apparatus 1A as described above, since the count error in the pseudo distance calculation is detected using the three GPS receivers 10a, 10b, and 10c, the probability of the re-calculation of the pseudo distance is reduced. And reliability can be improved.

  In this embodiment, based on the phase difference between 1PPS from the GPS receiver 10a and 1PPS from the GPS receiver 10b, and the phase difference between 1PPS from the GPS receiver 10b and 1PPS from the GPS receiver 10c. In addition, although the case of detecting a count error in the calculation of the pseudo distance has been described, in addition to this, the calculation of the pseudo distance is performed based on the phase difference between the 1PPS from the GPS receiver 10a and the 1PPS from the GPS receiver 10c. A count error may be detected. In this case, when the phase difference between 1PPS from the GPS receiver 10a and 1PPS from the GPS receiver 10c is within a predetermined range, the GPS processing may be performed by selecting the GPS receiver 10a or the GPS receiver 10c.

2. Next, an embodiment of an electronic device of the present invention will be described.

FIG. 9 is a block diagram showing an embodiment of the electronic apparatus of the present invention.
9 includes a timing signal generation device 310, a CPU (Central Processing Unit) 320, an operation unit 330, a ROM (Read Only Memory) 340, a RAM (Random Access Memory) 350, a communication unit 360, and a display unit 370. It is comprised including.

  The timing signal generation device 310 is, for example, the timing signal generation device (1 or 1A) of the first embodiment or the second embodiment described above, and receives a satellite signal and receives a high signal as described above. A precision timing signal (1PPS) is generated and output to the outside. Thereby, the electronic device 300 with higher reliability at a lower cost can be realized.

  The CPU 320 performs various calculation processes and control processes in accordance with programs stored in the ROM 340 and the like. Specifically, the CPU 320 synchronizes with the timing signal (1PPS) and the clock signal output from the timing signal generation device 310, performs various processes according to the operation signal from the operation unit 330, data communication with the outside In order to perform the process, a process of controlling the communication unit 360, a process of transmitting a display signal for displaying various information on the display unit 370, and the like are performed.

  The operation unit 330 is an input device including operation keys, button switches, and the like, and outputs an operation signal corresponding to an operation by the user to the CPU 320.

  The ROM 340 stores programs, data, and the like for the CPU 320 to perform various calculation processes and control processes.

  The RAM 350 is used as a work area of the CPU 320, and temporarily stores programs and data read from the ROM 340, data input from the operation unit 330, calculation results executed by the CPU 320 according to various programs, and the like.

  The communication unit 360 performs various controls for establishing data communication between the CPU 320 and an external device.

  The display unit 370 is a display device configured by an LCD (Liquid Crystal Display) or the like, and displays various types of information based on a display signal input from the CPU 320. The display unit 370 may be provided with a touch panel that functions as the operation unit 330.

  Various electronic devices are conceivable as such an electronic device 300, and are not particularly limited. For example, a time management server that realizes synchronization with a standard time (time server), time management that issues time stamps, and the like Examples include devices (time stamp servers) and frequency reference devices such as base stations.

3. Mobile Object FIG. 10 is a diagram showing an embodiment of a mobile object of the present invention.

  A moving body 400 shown in FIG. 10 includes a timing signal generation device 410, a car navigation device 420, controllers 430, 440, 450, a battery 460, and a backup battery 470.

  As the timing signal generation device 410, the timing signal generation device 1 of each of the above-described embodiments can be applied. For example, when the moving body 400 is moving, the timing signal generation device 410 performs a positioning calculation in real time in the normal positioning mode and outputs 1 PPS, a clock signal, and NMEA data. Further, for example, when the moving body 400 is stopped, the timing signal generation device 410 performs positioning calculation a plurality of times in the normal positioning mode, and then sets it as the current position information. In the position fixing mode, the timing signal generation device 410 sets 1PPS, Output NMEA data.

  The car navigation device 420 displays the position, time, and other various information on the display using the NMEA data output from the timing signal generation device 410 in synchronization with the 1PPS output from the timing signal generation device 410 and the clock signal. .

  The controllers 430, 440, and 450 perform various controls such as an engine system, a brake system, and a keyless entry system. The controllers 430, 440, and 450 may perform various controls in synchronization with the clock signal output from the timing signal generation device 410.

  Since the moving body 400 of the present embodiment includes the timing signal generation device 410, high reliability can be ensured both during movement and during stoppage.

  As such a moving body 400, various moving bodies can be considered, and examples thereof include automobiles (including electric automobiles), aircraft such as jets and helicopters, ships, rockets, and artificial satellites.

  As described above, the positioning device, the timing signal generation device, the electronic device, and the moving body of the present invention have been described based on the illustrated embodiments, but the present invention is not limited to these.

  In addition, the present invention can be replaced with an arbitrary configuration that exhibits the same function as that of the above-described embodiment, and an arbitrary configuration can be added.

  Moreover, you may make it this invention combine suitably the arbitrary structures of each embodiment mentioned above.

  Further, in each of the above-described embodiments, the timing signal generation device using GPS is taken as an example, but a global navigation satellite system (GNSS) other than GPS, for example, Galileo, GLONASS, or the like may be used.

DESCRIPTION OF SYMBOLS 1 ... Timing signal generator 1A ... Timing signal generator 2 ... GPS satellite 10 ... GPS receiver 10A ... GPS receiver 10a ... GPS receiver 10b ... GPS receiver 10c ... GPS receiver 11 SAW filter 12 RF processing unit 13 Baseband processing unit 14 TCXO
20 ... Processing unit 20A ... Processing unit 21 ... Phase comparator 22 ... Loop filter 23 ... DSP
24 ... Frequency divider 25 ... GPS controller 26 ... Phase comparator 27 ... Phase comparator 28 ... Switch 30 ... Atomic oscillator 40 ... Temperature sensor 50 ... Antenna 121 ... PLL
122 ... LNA
123 ... Mixer 124 ... IF amplifier 125 ... IF filter 126 ... ADC
131 ... DSP
132 ... CPU
133 ... SRAM
134 ... RTC
300 ... Electronic equipment 310 ... Timing signal generator 320 ... CPU
330 ... Operation unit 340 ... ROM
350 ... RAM
360 Communication unit 370 Display unit 400 Moving body 410 Timing signal generation device 420 Car navigation device 430 Controller 440 Controller 450 Controller 460 Battery 470 Backup battery

Claims (12)

A first receiver that generates a timing signal using a satellite signal received at a first reception start timing;
A second receiver that generates a timing signal using the satellite signal received at a second reception start timing different from the first reception start timing;
A phase comparator that compares the phase of the timing signal from the first receiver and the timing signal from the second receiver to generate a comparison result;
A control unit for controlling the first receiver and the second receiver based on the comparison result;
A positioning device comprising:   The positioning device according to claim 1, wherein a difference between the first reception start timing and the second reception start timing is 1 second or more.   The positioning device according to claim 1 or 2, wherein a timing signal generated by each of the first receiver and the second receiver is 1 PPS.   The positioning device according to any one of claims 1 to 3, wherein the control unit controls the first reception start timing and the second reception start timing based on the comparison result. The phase comparator calculates a phase shift amount between the timing signal from the first receiver and the timing signal from the second receiver;
The control unit changes the timing of the first receiver and the first receiver after changing the timing of at least one of the first reception start timing and the second reception start timing when the phase shift amount is larger than a specified value. The positioning device according to claim 1, wherein the second receiver generates a timing signal.   When the phase shift amount is equal to or less than a predetermined value, the control unit sends timing signals to the first receiver and the second receiver while maintaining the first reception start timing and the second reception start timing. The positioning device according to claim 5, wherein the generation of the position is performed.   The positioning device according to claim 5 or 6, wherein the specified value is 1 μsec or more.   The positioning apparatus according to claim 1, further comprising a position information generation unit that generates position information of a reception point using the satellite signal. A positioning device according to any one of claims 1 to 8,
An oscillator that outputs a clock signal;
A synchronization control unit for synchronizing the clock signal with the timing signal;
A timing signal generating device comprising:   The timing signal generator according to claim 9, wherein the oscillator is an atomic oscillator.   An electronic apparatus comprising the positioning device according to claim 1.   A moving body comprising the positioning device according to claim 1.

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