AU2011360286A1 - Positioning augmentation information generating device, GNSS receiver, positioning augmentation system, and positioning augmentation method - Google Patents

Positioning augmentation information generating device, GNSS receiver, positioning augmentation system, and positioning augmentation method Download PDF

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AU2011360286A1
AU2011360286A1 AU2011360286A AU2011360286A AU2011360286A1 AU 2011360286 A1 AU2011360286 A1 AU 2011360286A1 AU 2011360286 A AU2011360286 A AU 2011360286A AU 2011360286 A AU2011360286 A AU 2011360286A AU 2011360286 A1 AU2011360286 A1 AU 2011360286A1
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correction amount
error
unit
correction
amount
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AU2011360286B2 (en
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Masakazu MIYA
Masayuki Saito
Yuki Sato
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/07Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections

Abstract

Provided is a positioning augmentation system that can provided users with information on errors caused by the compression of correction amounts and that enables the error information to be effectively used uniformly over a wide area, regardless of location. A correction-amount generating section (1) generates a correction amount from a GNSS observation amount of an electronic-reference-station network consisting of a plurality of electronic reference stations. A correction-amount compressing section (2) compresses the correction amount generated by the correction-amount generating section (1) by subjecting the correction amount to a predetermined compression process. A correction-amount error calculating section (3) calculates the error with respect to a true correction amount, which is an ideal correction amount to be used on the side of a user's GNSS receiver (100) and not including any correction-amount error caused by compression, transmission delay, etc., and generates information on said correction-amount error. The GNSS receiver (100) performs positioning calculation by using information on the compressed correction amount, the information on said correction-amount error, and the received GNSS observation amount.

Description

Description Title of Invention: POSITIONING AUGMENTATION INFORMATION GENERATING DEVICE, GNSS RECEIVER, POSITIONING AUGMENTATION SYSTEM, AND POSITIONING AUGMENTATION METHOD Technical Field [0001]I The present invention relates to a positioning augmentation information generating device to be used for estimating an error included in a GNSS signal from global navigation satellite systems (GNSSs) such as GPS satellites, and providing a user with the error as a correction amount, a GNSS receiver, a positioning augnentation system, and a positioning augmentation method. Background Art [0002] Positioning that uses the GNSS such as the GPS satellites is widely general. A location of a receiver on the earth or in the outer space can be measured by receiving radio waves from four or more GNSSs by the receiver. In general, the radio wave from the GNSS includes an error caused by the satellite such as an error in a clock on the satellite, an error caused by an atmospheric state such as a delay by the ionosphere, and an error caused by tie receiver such as a niultipath. Due to an influence of the errors, the positioning accuracy is approximately 10 m. [0003] On the other hand, the positioning accuracy can be increased by using measurement data by an electronic reference poin the coor dinate of which is known, and the like to estimate some of the above-mentioned errors, and .1 providing the errors as correction amounts (as a synonym of this term, augmentation data). A system for realizing the increase in accuracy is referred to is a positioning augmentation system, and many forms are proposed and implemented. [0004] Of the positioning augmentation systems, if the correction amount is uniformly delivered by a satellite-based augmentation system (SBAS) or the like to users in a wide area such as all over Japan, a bandwidth for the data transmission is low. Thus, a technology for compressing and delivering the correction amount is proposed. If the correction amount is compressed, the correction amount itself includes an error with respect to the non-compressed correction amount. Therefore, a technology for providing a user with information on the error on the correction amount itself, or removing the error in the correction amount itself to improve the positioning by the user is required. [0005] As another conventional technology, there is proposed a satellite navigation augmentation system including a known-point SBAS receiver for receiving SBAS augmentation data and calculating an error in the received augmentation data and an unknown-point SBAS receiver for receiving error information on the augmentation data calculated by the known-point SBAS receiver, correcting the augmentation data, and carrying out positioning by using the corrected augmentation data (for example, refer to Patent Literature 1). [0006] Moreover, as another conventional technology, there is proposed a widely known format for estimating a correction amount at an electronic reference point having a known position, and delivering the estimated correction amount and information (user differential range error: UDRE) on an estimation error to a user at an unknown point close to this electronic reference point (for 2.
example, refer to Non Patent Literature 1). [0007] Further, as another conventional technology, there is proposed a positioning augmentation system for estimating a correction amount at an arbitrary unknown point in the network by using observation amounts by an electronic reference point network constituted by combining a plurality of electronic reference point having known positions, and outputting simultaneously information (user range accuracy: URS) on an estimation error (for example, refer to Non Patent Literature 2). [0008] In addition, as conventional technologies relating to the present invention, for example, there are technologies disclosed in Patent Literature 2 and Non Patent Literatures 3 and 4. Citation List Patent Literature [0009] [PTL 1] JP 4109370 B [PTL 2] JP 2004-125667 A Non Patent Literature [0010] [NPL 1] Radio Technical Cornmission for Maritime Service. RTCM RECOMMENDED STANDARDS FOR DIFFERENTIAL GNSS SERVICE VERSION 2.2. p. 4-10 [NPL 21 Wubbena, G,, A. Bagge, M. Shcmitz (2001). RTK Network based on Geo++ GNSMART - Concepts, Implementation, Results. Presented at the International Technical Meeting, ION GPS-01. Salt Lake City, Utah. [NPL 3] Sumio Usui et al, (2010) Centimeter Positioning Au.igmentation Systern Using Quasi-Zenith Satellite LEX Band and Experiment for Private Sector 3 Usage. Japan Institute of Navigation, GPS/GNSS Symposium 2010, pp. 217-223. [NPL 4] B. Hofmann-Wellenhof (2005), GPS Theory and Practice. Springer Japan. p. 215 Sunmary of Invention Technical Problem [0011] On this occasion, the satellite navigation augmentation system as disclosed in Patent Literature I is configured so as to calculate the error in the augmentation data based on a difference between a pseudorange between the known-point SBAS receiver and a satellite calculated based on the augmentation data and navigation data and a true distance between the known-point SBAS receiver and the satellite calculated based on known position coordinates. Therefore, information on the error in the augmentation data is local, and effectiveness thereof is thus dependent on the distance from the known-point SBAS receiver. [0012] Moreover, in a format disclosed in Non Patent Literature 1, the correction amount is calculated based on the navigation data and known position coordinates of the electronic reference point. As a result, both the estimated correction amount and the information for the estimation error are local, and the effectiveness thereof is dependent on the distance from the electronic reference point. [0013] Further, in the positioning augmentation system disclosed in Non Patent Literature 2, observation amounts at a plurality of electronic reference points are used. Therefore, the information on the estimation error in the correction 4 amount can be acquired independently of a location. However, in the positioning augmentation system, there is such a problem that an error caused by compressing the correction amount is not considered. [0014] The present invention has been made in view of above-mentioned problems, and therefore has an object to provide a positioning augmentation information generating device capable of providing a user with information on an error caused by compression of a correction amount, which is effective niformlv in a wide area independently of a location, a GNSS receiver, a positioning augmentation system, and a positioning augmentation method, Solution to Problems [0015] A positioning augmentation information generating device of the present invention includes: a correction amount generation unit for generating a correction amount from a GNSS observation amount obtained in an electronic reference point network constituted by a plurality of electronic reference points; a correction amount compression unit for compressing the correction amount generated by the correction amount generation unit; and a correction amount error calculation unit for calculating, by using the correction amount generated by the correction amount generation unit and the correction amount compressed by the correction amount compression unit, a correction amount error, which is an error in a correction amount used on a user side caused by the compression and a transmission delay with respect to a true correction amount, to generate information on the error, and providing a user with the generated information. [0016] Further, a GNSS receiver of the present invention is configured to receive a compressed correction amount and information on an error in the 5 correction amount, which are delivered from a positioning augmentation information generating device, via the same communication line, to carry out positioning calculation. [0017] Further, a positioning augmentation system of the present invention is constituted by arranging the positioning augmentation information generating device according to the present invention on a service provider side, and arranging the GNSS receiver according to the present invention on a user side. [001.8] Further, a positioning augmentation method of the present invention is includes: a correction amount generation step of generating a correction amount, from a GNSS observation amount obtained in an electronic reference point network constituted by a plurality of electronic reference points: a correction amount compression step of compressing the correction amount generated in the correction amount generation step; a correction amount error calculation step of calculating, by using the correction amount generated in the correction amount generation step and the correction amount compressed in the correction arnount compression step, a correction amount error, which is an error in a correction amount used on a user side caused by the compression and a transmission delay with respect to a true correction amount, to generate information on the error, and providing a user with the generated information; and a positioning calculation step of receiving the compressed correction amount generated in the correction amount compression step and the information on the error in the correction amount generated in the correction amount error calculation step via the same communication line to carry out positioning calculation. Advantageous Effects of Invention [0019] According to the positioning augmentation information generating device, the GNSS receiver, the positioning augmentation system, and the positioning augmentation method of the present invention, the correction amount generation unit generates the correction amount from the GNSS observation amounts in the electronic reference point network constituted by the plurality of electronic reference points, and the correction amount error calculation unit calculates the correction arnount error, which is the error in the correction amount used on the user side caused by the compression and the transmission delay with respect to the true correction amount. Thus, the information on the error caused by compressing the correction amount can be provided to a user, and, the effectiveness of the information on the error can be uniform in a wide area independently of location. Brief Description of Drawings 10020] FIG. I is a block diagram illustrating a positioning augmentation system according to a first embodiment of the present invention. FIG. 2 is a block diagram illustrating a positioning augmentation system according to a second embodiment of the present invention. FIG. 3 is a block diagram illustrating a positioning augmentation system according to a third embodiment of the present invention, FIG. 4 is a table showing types of correction amount error. FIG. 5 is a block diagram illustrating a delay simulation unit of FIG. 3. FIG. 6 is a table showing definition of types of a user. FIG. 7 is a table showing a user type/error type table, FIG. 8 is an explanatory diagram illustrating an operation of a correction amount use recommendation/non-recommendation determination unit of FIG. 3. FIG. 9 is an explanatory diagram illustrating an operation of a correction amount use/non-use determination unit of FIG. 3, FIG. 10 is an explanatory diagram illustrating an operation of a correction amount selection unit of FIG. 3. FIG. 11 is a block diagram illustrating a positioning augmentation system according to a fourth embodiment of the present invention. FIG. 12 is an explanatory diagram illustrating an operation of an error evaluation unit of FIG. 11. FIG. 13 is an explanatory diagram illustrating an operation of a correction amount use/non-use determination unit of FIG. 11. FIG. 14 is a block diagram illustrating a positioning augmentation system according to a fifth embodiment of the present invention. FIG. 15 is an explanatory diagram illustrating an operation of an error value quantization unit of FIG. 14. FIG. 1.6 is an explanatory diagram illustrating an operation of a correction arnount total error calculation unit of FIG. 14. FIG. 17 is a block diagram illustrating a GNSS receiver out of a positioning augmentation system according to a sixth embodiment of the present invention. FIG. 18 is an explanatory diagram illustrating an operation of a positioning calculation unit of FIG. 17. Description of Embodiments [0021] A description is now given of embodiments of the present invention 8 referring to the drawings. First Embodiment FIG. 1 is a block diagram illustrating a positioning augmentation system according to a first embodiment of the present invention. In FIG, 1, the positioning augmentation system includes a positioning augmentation information generating device 50 on a center side, and a GNSS receiver 100 on a user side. The positioning augmentation information generating device 50 includes a correction amount generation unit 1, a correction amount compression unit 2, and a correction amount error calculation unit 3. The correction amount generation unit 1 generates a correction amount based on GNSS observation amounts of an electronic reference point network including a plurality of electronic reference points by the method disclosed in Non Patent Literature 2, The correction amount compression unit 2 compresses the correction amount by applying predetermined compression processing to the correction amount generated by the correction amount generation unit 1 [0022] The correction amount error calculation unit 3 calculates an error with respect to a true correction amount, which is an ideal correction amount that does not include a correction amount error that is caused by the compression, a transmission delay, and the like and used on a GNSS receiver 100 side (hereinafter referred to as "correction amount error"), and generates information on the correction amount error. [0023] The positioning augmentation information generating device 50 can deliver the information via communication lines 4 arid 8, which are satellite links as disclosed in Non Patent Literature 3, to the GNSS receiver 100. Note 9 that, for the communication lines 4 and 8, for example, a radio beacon, a telephone line, and FM multiplexed waves may be used in addition to the satellite links. Moreover, the communication lines 4 and 8 may be of the same type, or different types. [0024] The positioning augmentation information generating device 50 transmits information on the compressed correction amount by the correction amount compression unit 2 and information on the correction amount error generated by the correction amount error calculation unit 3 to the GNSS receiver 100. The GNSS receiver 100 carries out positioning calculation by using the information on the compressed correction amount, the information on the correction amount error, and a received (observed) GNSS observation amount. As a result, the GNSS receiver 100 can carry out positioning calculation by considering the correction amount error. [0025] According to the first embodiment, the following effects [1A] to [IF] can be acquired. [IA]: By inputting the compressed correction amount into the correction amount error calculation unit 3, the error caused by compressing the correction amount can be calculated. [0026] [1B]: As the correction amount input to the correction amount error calculation unit 3, by using the correction amount generated by inputting to the correction amount generation unit I the GNSS observation amount of the electronic reference point network constituted by combining a plurality of electronic reference points, the information on the correction amount error which is effective across the network independently of the location can be generated. 10 [0027] [1C]: Such a configuration that the information on the correction amount and the information on the correction amount error are generated in the same positioning augmentation information generating device 50 can provide such a configuration that the same communication line and the same com niunication method are used for the delivery of the correction amount and the information on the correction amount error. [0028] [ID]: By using the information on the correction amount error output by the correction amount error calculation unit 3, accuracies in distance measurement and positioning when the user uses the compressed correction amount output by the correction amount compression unit 2 can be estimated. [0029] [If]: By acquiring the information n the correction amount error for each of the GNSS satellites, and by determining, when the positioning is carried out bv the GNSS receiver 100, the use/non-use of the compressed correction amount for each of the satellites., for example, excluding satellites large in correction amount error from the positioning calculation, stable positioning can be provided on the GNSS receiver 100 side, [0030] [IF]: By building a database on a location, season, time zone, and the like of information on the correction amount error, a performance of the positioning augmentation system can be statistically acquired, and a correction amount suited to a user environment can be provided for the user in a planned manner, [0031] On this occasion, the satellite navigation augmentation system as disclosed in Patent Literature I is configured to receive the information on the error in augmentation data from a known-point SBAS receiver. As a result, an unknown-point SBAS receiver requires, in addition to communication at means/communication lines to/from the SBAS satellites, communication means/a comnwication line to/from the known-point SBAS receiver, In contrast, the first embodiment can use the same line as the communication lines 4 and 8 to simplify the configuration. [0032] Second Embodiment In a second embodiment, a description is given of such a configuration that the correction amount compression unit 2 compresses temporally and spatially the compression amount, and the correction amount error calculation unit 3 stepwise calculates errors in the correction amount temporally and spatially compressed. FIG. 2 is a block diagram illustrating a positioning augmentation system according to the second embodiment of the present invention, Note that, FIG, 2 illustrates the positioning augmentation system while the GNSS receiver 100 and the communication lines 4 and 8 are omitted. [0033] In FIG. 2, the correction amount compression unit 2 according to the second embodiment includes a temporal compression unit 2a and a spatial compression unit 2b. The temporal compression unit 2a temporally compresses the correction amount generated by the correction amount generation unit I by the method disclosed in Non Patent Literature 3, for example. The spatial compression unit 2b spatially compresses the correction amount temporally compressed by the temporal compression unit 2a by the method disclosed in Non Patent Literature 3, for example. [0034] Moreover, the correction amount error calculation unit 3 according to the second embodiment includes a temporal compression error calculation unit 3a. a spatial compression error calculation unit 3b, a delay simulation unit 3c, and a delay error calculation unit 3d. The temporal compression error calculation 12 unit 3a calculates a temporal compression error in the correction amount by using the correction amount from the correction amount generation unit I and the temporally compressed correction amount from the temporal compression unit 2a. [0035] The spatial compression error calculation unit 3b calculates a spatial compression error by using the temporally compressed correction amount from the temporal compression unit 2a and the temporally and spatially compressed correction amount from the spatial compression unit 2b. The delay simulation unit 3c applies a delay (delay corresponding to a delay in transmission to the GNSS receiver 100) to the temporally and spatially compressed correction amount from the spatial compression error calculation unit 3b, and transmits the delayed correction amount to the delay error calculation unit 3d. [0036] The delay error calculation unit 3d calculates a delay error in the correction amount by using the temporally and spatially compressed correction amount from the spatial compression error calculation unit 3b and the delayed correction amount from the delay simulation unit 3c. Thus, according to the second embodiment, the temporal compression error calculation unit 3a, the spatial compression error calculation unit 3b, and the delay error calculation unit 3d respectively calculate (compute) the temporal compression error in the correction amount, the spatial compression error in the correction amount, and the delay error in the correction amount as the correction amount error. The other configuration is the same as that of the first embodiment, [0037] According to the positioning augmentation system of the second embodiment, the following effects [2A] to [2D] can be acquired. [2A]: The correction amount compression unit 2 according to the first 13 embodiment is separated into the temporal compression unit 2a and the spatial compression unit 2b. As a result, the compression amount can be stepwise compressed, and such a configuration as to divide the correction amount error calculation unit 3 according to the first embodiment into the temporal compression error calculation unit 3a and the spatial compression error calculation unit 3b can be provided. [0038] [2B]: By arranging the delay simulation unit 3c at a subsequent stage of the temporal compression unit 2a and the spatial compression unit 2b, a configuration of providing the delay error calculation unit 3d for calculating only the correction amount error caused by the delay is enabled. [0039] [2C]: The effects of [2A] and [2B] enable to acquire the correction amount error independently as the tenporal compression error, the spatial compression error, and the error caused by delay, and a plurality of types of indices can be included in information on the correction amount error. [0040] [2D]: By including the plurality of types of indices into the information on the correction amount error, the indices can be individually combined for a plurality of types of users. As a result, accuracies of the distance measurement/positioning can be individually estimated in the case where the compressed correction amount is used, and the use/non -use of the compressed correction amount can be individually determined. [0041] On this occasion, the conventional satellite navigation augmentation system disclosed in Patent Literature 1 calculates the error included in the augmentation data in the error calculation unit. However, the conventional satellite navigation augmentation system is configured so as to calculate the error of the augmentation data based on the difference between the pseudorange 14 between the known-point SBAS receiver and a satellite calculated based on the augmentation data and navigation data and the true distance between the known-point SBAS receiver and the satellite calculated based on known position coordinates. Therefore, the above-mentioned conventional satellite navigation augmentation system cannot calculate the correction amount error as a plurality of types of indices, which are the temporal error, the spatial error, and the error caused by the delay, and cannot acquire the effects of [2C and [2D]. [0042] Note that, the temporal compression unit 9a and the spatial compression unit 2b of FIG. 2 according to the second embodiment may be switched each other. Such a configuration that the temporal compression error calculation unit 3a and the spatial compression error calculation unit 3b are mutually switched can provide the same effect as in the second embodiment. [0043] Moreover, the delay simulation unit 3c and the delay error calculation unit 3d of FIG. 2 according to the second embodiment may be arranged at a preceding stage of the temporal compression unit 2a and the spatial compression unit 2b. This arrangement can provide the same effect as in the second embodiment. [0044] Third Embodiment In a third embodiment, a description is given of an example where indices of a plurality of types are included in the information on the correction amount errors in order to determine the use/non-use of the correction amount based on criteria different from each other for each user. FIG. 3 is a block diagram illustrating a positioning augmentation system according to the third embodiment of the present invention. In FIG. 3, the positioning augmentation information generating device 50 according to the third embodiment further I5 includes, in addition to the configuration illustrated in FIG. 2, a threshold value setting unit 5, a multi-type user definition unit 6 (center-side user definition unit). and a correction amount use recommendation/non-recommendation determination unit 7. [0045] To the threshold value setting unit 5, threshold values for the respective temporal compression error, spatial compression error, and correction amount error caused by delay calculated by the configuration of FIG. 2 are set in advance. These threshold values are used to determine the recommendation/non-recommendation of use of the correction amount on the user side. By using the threshold values, on the center side, use on the user side of a correction amount large in correction amount error is not recommended, and the use on the user side of a correction amount small in correction amount error is recommended. [0046] The multi-type user definition unit 6 stores a user type/error type table on which combinations of the respective errors with a plurality of types of users are defined in advance. The correction amount use recommendation/non-recommendation determination unit 7 compares each of the correction amount errors with each of the threshold values from the threshold value setting unit 5 to generate, based on the user type/error type table in the multi-type user definition unit 6, a use recommendations /non--reconmiendatioi bit for the correction amount for each of the user types and each of the satellites. [00471 The GNSS receiver 100 according to the third embodiment includes a user type selection unit 9, a correction amount use/non-use determination unit 10, a correction amount selection unit 1 1, and a positioning calculation unit 12. 16 The user type selection unit 9 stores a user type to which a user using the GNSS receiver 100 belongs, and which is selected by the user from a plurality of user types. Alternatively, the user type selection unit 9 automatically selects a user type from the plurality of user types depending on a distance from the closest spatial compression reference point registered in advance and a reception type of the own GNSS receiver 100, and stores the selected user type. [0048] The correction amount use/non-use determination unit 10 outputs the correction amount use/non-use bit for each of the satellites by using the user type stored in the user type selection unit 9 and the use recommendation/non-recommendation bit for the correction amount for each of user/each of satellites delivered via the communication line 8. [0049] The correction arnount selection unit 11 selects only correction amounts for satellites to be used by using the compressed correction amounts delivered via the communication line 4 and the correction amount use/non-use bits for the respective satellites from the correction amount use/non-use determination unit 10. The positioning calculation unit 12 carries out the positioning calculation by using the correction amounts selected by the correction amount selection unit 11 and a GNSS observation amounts received by a GNSS reception unit. The other configuration is the same as that of the second embodiment. [0050] A description is now given of an operation. The correction amount generation unit 1 generates correction amounts based on GNSS observation amounts from the electronic reference point network by the method disclosed in Non Patent Literature 2, for example. The temporal compression unit 2a temporally compresses the correction amounts output by the correction amount generation unit 1 by the method disclosed in Non Patent Literature 3, for 17 example. Moreover, the spatial compression unit 2b spatially compresses the temporally compressed correction amounts output by the temporal compression unit 2a by the method disclosed in Non Patent Literature 3, for example. [0051] A description is now given of operations of the temporal compression error calculation unit 3a, the spatial compression error calculation unit 3b, and the delay error calculation unit 3d. FIG. 4 is a table showing types of correction amount error. The temporal compression error calculation unit 3a calculates, as shown in FI. 4, two types of errors including a frequency independent term 1-1 and a frequency dependent term 12 as the temporal compression error (hereinafter also referred to as "errors 1 -1 and 1-2"). [0052] On this occasion, out of the temporal compression errors, the frequency independent term 1-1 is calculated by subtracting a frequency independent term of a non-compressed correction amount from the correction amount generation unit 1 from a frequency independent term of the temporally compressed correction amount from the temporal compression unit 2a. Moreover, out of the temporal compression errors, the frequency dependent term 1-2 is calculated by subtracting a frequency dependent term of the non-compressed correction amount from the correction amount generation unit 1 from a frequency dependent term of the temporally compressed correction amount from the temporal compression unit 2a. [0053] The spatial compression error calculation unit 3b calculates six types of errors including a tropospheric delay (short distance) 2-1, a tropospheric delay (medium distance) 2-2, a tropospheric delay (long distance) 2-3, an ionospheric delay (short distance) 2-4, an ionospheric delay (medium distance) 2-5, and an ionospheric delay (long distance) 2-6 as the spatial compression error 18 (hereinafter also referred to as "errors 2-1 to 26"). On this occasion, the spatial compression method disclosed in Non Patent Literature 3 provides a spatial compression reference point serving as a reference of the compression, and it is assumed that the spatial compression error differs depending on a distance from a spatial compression reference point. [0054] The spatial compression error tropospheric delay (short distance) 2-1 is calculated by subtracting, from a tropospheric delay amount at a short distance location from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b, a tropospheric delay amount at the same location of the temporally compressed correction amount from the temporal compression unit 2a. [0055] The spatial compression error tropospheric delay (medium distance) 2-2 is calculated by subtracting, from a tropospheric delay amount at a medium distance location from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b. a tropospheric delay amount at the same location of the temporally compressed correction amount from the temporal compression unit 2a. [0056] The spatial compression error tropospheric delay (long distance) 2-3 is calculated by subtracting, from a tropospheric delay amount at a long distance location from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b, a tropospheric delay amount at the same location of the temporally compressed correction amount from the temporal compression unit 2a. [0057] The spatial compression error ionospheric delay (short distance) 2-4 is calculated by subtracting, from an ionospheric delay amount at a short distance 19 location from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b, an ionospheric delay amount at the same location of the temporally compressed correction amount from the temporal compression unit 2a. [0058] The spatial compression error ionospheric delay (medium distance) 2-5 is calculated by subtracting, from an ionospheric delay amount at a medium distance location from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b, an ionospheric delay amount at the same location of the temporally compressed correction amount from the temporal compression unit 2 a. [0059] The spatial compression error ionospheric delay (long distance) 2-6 is calculated by subtracting, from an ionospheric delay amount at a long distance location from the spatial compression reference point of the temporally and spatially compressed correction amount from the spatial compression unit 2b, an ionospheric delay amount at the same location of the temporally compressed correction amount from the temporal compression unit 2a. [0060] The delay error calculation unit 3d calculates, as shown in FIG 4, two types of errors including a frequency independent term 3-1 and a frequency dependent term 3-2 as the delay error (hereinafter also referred to as "errors 3-1 and 3-2"). The delay error frequency independent term 3-1 is calculated by subtracting a frequency independent term of the temporally and spatially compressed correction amount from the spatially compression unit 2b from a frequency independent term of the temporally and spatially compressed and delayed correction amount, out of the correction amounts from the delay simulation unit 3c. 20 [0061] The delay error frequency dependent term 3-2 is calculated by subtracting a frequency dependent term of the temporally and spatially compressed correction amount from the spatially compression unit 2b from a frequency dependent term of the temporally and spatially compressed and delayed correction amount, out of the correction amounts from the delay simulation unit 3c, Note that, the processing by the temporal compression error calculation unit 3a, the spatial compression error calculation unit 3b, the delay simulation unit 3c, and the delay error calculation unit 3d is carried out for each of the satellites for which the correction amount is delivered. [0062] On this occasion, in the threshold value setting unit 5, based on specifications and experience of a provider, threshold values are set respectively to the errors 1-1 and 1-2 by the temporal compression error calculation unit 3a, the errors 2-1 to 2-6 by the spatial compression error calculation unit 3b, and the errors 3-1 and 3-2 by the delay error calculation unit 3d. [0063] Referring to FIG. 5, a description is now given of an operation of the delay simulation unit 3c. On this occasion, a time from a GNSS time corresponding to the correction amount generated by the correction amount generation unit I and a time when the compressed correction amount is used by a user is referred to as a delay time. On this occasion, the delay time is X seconds. The delay simulation unit 3c includes, as illustrated in FIG. 5, a buffer corresponding to X seconds, and causes the temporally and spatially compressed correction amount output by the spatial compression unit 2b to wait for X seconds, thereby generating the temporally and spatially compressed and delayed correction amount. [0064] Referring to FIGS. 6 and 7. a description is now given of an operation of 21 the multi-type user definition unit 6. As shown in FIG. 6, the types of users are defined in advance to the multi-type user definition unit 6 in order to acquire the effect of [ID] according to the first embodiment. Specifically, to the multi-type user definition unit 6, 24 types of users acquired by combining four temporal classifications: synchronous 1 Hz or higher, synchronous 0.2 Hz or lower, asynchronous 1 Hz or higher, and asynchronous 0.2 Hz or lower and six spatial classifications: single frequency short distance, single frequency medium distance, single frequency long distance, multi-frequency short distance, multi-frequency medium distance, and multi-frequency long distance with each other are defined. [0065] Moreover, the multi-type user definition unit 6 outputs the user type/error type table for defining combinations between the respective types of users and the respective types of errors 1-1 to 3-2, specifically, presences/absences of errors as shown in FIG. 7 (or holds the user type/error type table as a database). [0066] On this occasion, rows of FIG. 7 represent the types of users, and columns of FIG. 7 represent the types of errors. In the table of FIG. 7, an error marked by "o" represents that the error is included in a correction amount error of a compressed correction amount used by a corresponding type of user. For example, the table shows that a compressed correction amount used by a 15th asynchronous 1 Hz or high/multi frequency short distance user includes, as the correction amount error, the temporal compression error frequency independent term 1-1, the spatial compression error tropospheric delay (short distance) 2-1, and the delay error frequency independent term 3-1. [0067] Referring to FIG. 8, a description is now given of an operation of the 22 correction amount use recommendation/non-recommendation determination unit 7. The correction amount use recommendation/non-recommendation determination unit 7 determines whether or not the respective values of the errors 1-1 and 1-2 calculated by the temporal compression error calculation unit 3a, the errors 2-1 to 2-6 calculated by the spatial compression error calculation unit 3b, and the errors 3-1 and 3-2 calculated by the delay error calculation unit 3d are equal to or less than the respective threshold values for the errors output by the threshold value setting unit 5 (sets "1" when the error is equal to or less than the threshold value, and sets "0" when the error is larger than the threshold value). The determination by the correction amount use recommendation/non-recommendation determination unit 7 is carried out for each of the types of errors and each of the satellites for which the correction amount is delivered. [0068] Then, the correction amount use recommendation/non-recommendation determination unit 7 uses the determination result to set, to the respective types of users in the user type/error type table output by the multi-type user definition unit 6, a use recommendation/non-recommendation bit for the correction amount for the user/satellite to "1" when all types of errors included in the correction amount in the user type/error type table are equal to or less than the respective threshold values (when the logical AND is 1), In cases other than the above-mentioned case, the use recommendation/non-recommendation bit for the correction amount for the user/satellite is set to "0". [0069] The correction amount use recommendation/non-recommendation determination unit 7 carries out the processing for all the types of users and all the satellites, and outputs the use recommendation/non-recommendation bit for 23 the correction amount for each of the plurality of types of users and each of the satellites. For example, if the number of satellites for which the correction amounts are delivered is nine, the output of the correction amount use recommendation/non-recommendation determination unit 7 is a total of 216 bits (24 user typesx9 satellites). [0070] Referring to FIG. 9, a description is now given of an operation of the correction amount use/non-use determination unit 10. The correction amount use/non-use determination unit 10 extracts the use recommendation/non-recommendation bit for the correction amount for each of the satellites corresponding to the user type from the user type selection unit 9 from the use recommendation/non-recommendation bits for the correction amounts for the respective plurality of types of users and the respective satellites delivered via the communication line 8. and generates the correction amount use/non-use bit for each of the satellites. [0071] Referring to FIG. 10, a description is now given of an operation of the correction amount selection unit 11. The correction amount selection unit 11 refers to, for the compressed correction amounts for the respective satellites delivered via the communication line 4, the correction amount use/non-use bits for the respective satellites from the correction amount use/non-use determination unit 10, and transmits only correction amounts for the satellite having "1" set as the correction amount use/non-use bit to the positioning calculation unit 12, [0072] On the other hand, the correction amount selection unit -11 discards correction amounts for the satellite having "0" set as the correction amount use/non-use bit. Then, the positioning calculation unit 12 carries out the 24 positioning calculation by using the correction amounts output by the correction amount selection unit 11 and observation amounts by the method disclosed in Non Patent Literature 4. for example. [0073] According to the third embodiment, the following effects [3A] to [3J) can be acquired. [3A]: The temporal compression error calculation unit 3a outputs the temporal compression error as the frequency independent term and the frequency dependent term separated from each other. As a result, a user using a single frequency and a user using multi-frequencies can determine the use/non-use of the compressed correction amount depending on the criteria different from one another. [0074] [33]: The spatial compression error calculation unit 3b outputs the spatial compression error as the tropospheric delay and the ionospheric delay separated from each other. As a result, a user using a single frequency and a user using multi-frequencies can determine the use/non-use of the compressed correction amount depending on the criteria different from each another. [0075] [3C]: The spatial compression error calculation unit 3b outputs the tropospheric delay of the spatial compression error as the tropospheric delay (short distance), the tropospheric delay (medium distance), and the tropospheric delay (long distance) separated from one another. As a result, users different in distance from a spatial compression reference point can determine the use/non-use of the compressed correction amount based on different criteria. [0076] [3D]: Tihe spatial compression error calculation unit 3b outputs the ionospheric delay of the spatial compression error as the ionospheric delay (short distance), the ionospheric delay (medium distance), and the ionospheric 25 delay (long distance) separated from one another, As a result, users different in distance from a spatial compression reference point can determine the use/non-use of the compressed correction amount based on different criteria, [0077] [3E]: The delay error calculation unit 3d outputs the delay error independently of the errors caused by the compressions. As a result, a user of the synchronous reception type and a user of the asynchronous reception type can determine the use/non-use of the compressed correction amount depending in the criteria different from each another. [0078] [3F]: The delay error calculation unit 3d outputs the delay error as the frequency independent term and the frequency dependent term separated from each other. As a result. a user using a single frequency and a user using multi-frequencies can determine the use/non-use of the compressed correction amount depending on the criteria different from each another. [0079] [3G]: The correction amount use recommendation/non-recommendation determination unit 7 carries out the processing of acquiring the logical AND (AND processing) of the states where the value of the included error is equal to or less than the threshold value in the user type/error type table, As a result, the value of the correction amount use reconmendation/non-recommendation bit can be output as a value on a safe side. [0080] [3H]: The correction amount use recomiendation/non-recommendatioI determination unit 7 carries out the processing of acquiring the logical AND of the states where the value of the included error is equal to or less than the threshold value in the user type/error type table. As a result, specific values of the respective errors, which may reflect the characteristics of the system, can be hidden from the user. 26 [0081] [31]: The correction amount use recommendation/non-r commendation determination unit 7 generates the use recommendation/non-recommendation bits of the correction amount for the respective user types and the respective satellites, and hence the use/non-use bits for the correction amount optimal for a user type output by the user type selection unit 9 can be acquired. As a result, an excessively high evaluation and an excessively low evaluation of the error can be avoided. [00821 [3]: By using the use/non-use bits for the correction amount optimal for the user type, a satellite large in the correction amount errors can be excluded from the positioning calculation, and stable positioning calculation can thus be provided on the user side. [0083] On this occasion, in the satellite navigation augmentation system in Patent Literature 1, effectiveness of the error information on the augmentation data depends on the distance from the known-point SBAS receiver. In contrast, according to the third embodimrent, by deriving the errors for the short distance, the medium distance, and the long distance respectively for the tropospheric delay and the ionospheric delay of the spatial compression error in the correction amount, the effectiveness of the information on the correction amount errors does not depend on the location of the user. [0084] Moreover, the satellite navigation augmentation system according to Patent Literature I is configured so that the known point SBAS receiver calculates the error in the augmentation data. In contrast, the third embodiment is configured so that the correction amount errors are calculated on the center side, Thus, the correction amount and the correction amount error information can be delivered on the same line, and if the same line is used for the 27 communication lines 4 and 8, and a communication line to the known-point SBAS receiver is not necessary on the user side. [0085] Further, a configuration of a positioning device according to Patent Literature 2 is partially common to the third embodiment in such a point that the positioning device includes an augmentation information use determination unit and the augmentation information use determination unit passes only correction amounts which can be used for the positioning calculation to a positioning unit. However, the augmentation information use determination unit according to the Patent Literature 2 is intended to save a memory for storing the correction amounts, and the augmentation information use determination unit cannot remove satellites large in the correction amount error and stabilize the positioning performance as in the third embodiment. Moreover, the augmentation information use determination unit of the positioning device according to Patent Literature 2 receives orbits of satellites and an own location as inputs, has a function of calculating tracking possibility, and is different from the third embodiment both in input/output configuration and function. [0086] Fourth Embodiment In the third embodiment, the positioning augmentation information generating device 50 includes the multi-type user definition unit 6, and the correction amount use recommendation/non-recommendation determination unit 7 determines, by using the user type/error type table of the multi-type user definition unit 6, the recommendation/non-recomnendation of the use of the correction amount for each of the users and each of the satellites. In contrast, according to a fourth embodiment, the GNSS receiver 100 includes a multidtype user definition unit 14 and a correction amount use/non-use determination unit 28 15, and the correction amount use/non-use determination unit 15 determines, by using a user type/error type table of the multi-type user definition unit 14, the use/non-use of the correction amount for each of the satellites. [0087] FIG. 1 1 is a block diagram illustrating the positioning augmentation system according to the fourth embodiment of the present invention. In FIG. 11, the positioning augmentation information generating device 50 according to the fourth embodiment includes, in addition to the configuration illustrated in FIG. 2, the threshold value setting unit 5 and an error evaluation unit 13 In the threshold value setting unit 5, threshold values for the respective temporal compression error, spatial compression error, and correction amount error caused by delay calculated by the configuration in FIG. 2 are set in advance, The error evaluation unit 13 compares the respective plurality of types of correction amount errors and the respective threshold values set in the threshold value setting unit 5 with each other to generate evaluation result bits for each of the types of errors and each of the satellites. [00881 The GNSS receiver 100 according to the fourth embodiment includes the user type selection unit 9, the correction amount selection unit 11, the positioning calculation unit 12, the multi-type user definition unit (receiver-side user definition unit) 14, and the correction amount use/non-use determination unit 15. Note that, functions of the user type selection unit 9, the correction amount selection unit 11, and the positioning calculation unit 12 are the same as the functions of the user type selection unit 9, the correction amount selection unit 11, and the positioning calculation unit 12 according to the third embodiment. [0089] The multi-type user definition unit 14, similarly to the multi-type user 29 definition unit 6 according to the third embodiment, outputs a user type/error type table for defining combinations between the respective types of users and the respective types of errors 1-1 to 3-2, namely, presences/absences of errors as shown in FIG. 7 (or holds the user type/error type table as a database) . [0090] The correction amount use/non-use determination unit 15 outputs, by using the evaluation result bits for the respective error types and the respective satellite types delivered via the communication line 8, and the user type/error type table output by the multi-type user definition unit 14, a use/non-use bit for a correction amount for each of the satellites corresponding to the user type output by the user type selection unit 9. The other configuration is the same as that of the third embodiment. [0091] A description is now given of the operation. The operations of the correction amount generation unit 1, the temporal compression unit 2a, the spatial compression unit 2b, the temporal compression error calculation unit 3a, the spatial compression error calculation unit 3b, the delay simulation unit 3c, the delay error calculation unit 3d, the communication line 4, the threshold value seating unit 5, the conmunication line 8, the user type selection unit 9, the correction amount selection unit 11, and the positioning calculation unit 12 are the same as the operations according to the third embodiment. [0092] Referring to FIG, 12., a description is now given of an operation of the error evaluation unit 13. Similarly to the correction amount use recommendation/rnon-recommendation determination unit 7 according to the third embodiment, the error evaluation unit 13 determines whether or not the respective values of the errors 1-1 and 1-2 from the temporal compression error calculation unit 3a, the errors 2-1 to 2-6 from the spatial compression error 30 calculation unit 3b, and the errors 3-1 and 3-2 from the delay error calculation unit 3d are equal to or less than the respective threshold values for the errors output by the threshold value setting unit 5 (sets "1" if the error is equal to or less than the threshold value, and sets "0" if the error is larger than the threshold value). Moreover, the error evaluation unit 13 makes the determination for each of the error types and each of the satellites for which the correction amount is delivered, and generates the resultant as an error evaluation result bit for each of the error types and each of the satellite types. [0093] Referring to FIG. 13, a description is now given of an operation of the correction amount use/non-use determination unit 15. The correction amount use/non-use determination unit 15 refers to the user type/error type table of the multi-type user definition unit 14 to extract the presence/absence of each of the errors corresponding to the user types stored in the user type selection unit 9. Moreover, the correction amount use/non-use determination unit 15 sets, for each of the satellites for which the correction amount is delivered, the correction amount use/non-use bit to "1" if all the error evaluation results for the respective error types and the respective satellites delivered via the communication line 8 are "1", and, otherwise, sets the correction amount use/non-use bit to "0". [0094] According to the fourth embodiment, in addition to the effects of the first and second embodiments, and the effects [3A]-[3F] of the third embodiment, the following effects can be acquired. [4A]: The configuration of delivering the error evaluation result bits for the respective types of errors and the respective satellites can reduce the data amount of the error information compared with the third embodiment (third embodiment 216 bits-+fourth embodiment 90 bits). 31 [0095] [4B]: The configuration of delivering the error evaluation result bits for the respective types of errors and the respective satellites can provide such a configuration that each of the error evaluation result bits is increased to two or more bits to add information on each of the errors. [0096] [4C]: Moreover, an algorithm for determining the correction amount use/non-use by using the added information on each of the errors can be freely designed. [0097] [4D]: The configuration of creating the user type/error type table on the user side can provide such a configuration that, independently of the user types/error types intended by the center side, a user can uniquely define the user types and the error types. [0098] Fifth Embodiment According to a fifth embodiment, a description is given of a specific configuration in which the error evaluation result bit is increased to two or more bits, which is described in the effects [4B] and [4C] of the fourth embodiment. [0099] According to the fourth embodiment, as illustrated in FIG. 11., the positioning augmentation information generating device 50 includes the threshold value setting unit 5, and the error evaluation unit 13 determines, by using a threshold value for each of the errors of the threshold value setting unit 5, whether or not each of errors of each of the error types and each of the satellites is within a permissible range. [0100] In contrast, according to the fifth embodiment, the GNSS receiver 100 includes a threshold value setting unit 19 for setting a threshold value for a total error, and a correction amount use/non-use determination unit 20 determines, by using the threshold value for the total error of the threshold value setting unit 19, 32 whether or not the total error for each of the satellites is within a permissible range. [0101] FIG. 14 is a block diagram illustrating the positioning augmentation system according to the fifth embodiment of the present invention. In FIG. 14, the positioning augmentation information generating device 50 according to the fifth embodiment includes, in addition to the configuration illustrated in FIG. 2, an error value quantization unit 16 and an error quantization definition unit 17. In the error quantization definition unit 17, offsets and numerical resolutions for quantizing the temporal compression error, the spatial compression error, and the correction amount error caused by delay calculated by the configuration in FIG. 2 are set in advance. [0102] The error value quantization unit 16 applies, to each of the plurality of types of correction amount errors, each of the offsets and each of the numerical resolutions set in the error quantization definition unit 17 to generate an error quantized into a level for each of the error types and each of the satellites. [0103] The GNSS receiver 100 according to the fifth embodiment includes the user type selection unit 9, the correction amount selection unit 11, the positioning calculation unit 12, the multi-type user definition unit (receiver-side user definition unit) 14, a correction amount total error calculation unit 18, the threshold value setting unit 19, and the correction amount use/non-use determination unit 20. Note that, functions of the user type selection unit 9, the correction amount selection unit 11, the positioning calculation unit 12, and the multi-type user definition unit (receiver-side user definition unit) 14 are the same as the functions of the user type selection unit 9, the correction amount selection unit 11, the positioning calculation unit 12, and the mult-type user 33 definition unit (receiver-side user definition unit) 14 according to the fourth embodiment. [0104] The correction amount total error calculation unit 18 outputs, by using the errors quantized into levels for the respective error types and the respective satellites delivered via the communication line 8, and the user types/error types output by the multi-type user definition unit 14, a total error of correction amounts for each of the satellites corresponding to the user type output by the user type selection unit 9. [0105] The correction amount use/non-use determination unit 20 outputs a use/non-use hit for the correction amount for each of the satellites by using the total error of the correction amounts for each of the satellites output by the correction amount total error calculation unit 18 and the threshold value for the total error set by the threshold value setting unit 19. The other configuration is the same as that of the fourth embodiment. [0106] A description is now given of the operation. The operations of the correction amount generation unit 1, the temporal compression unit 2a, the spatial compression unit 2b, the temporal compression error calculation unit 3a, the spatial compression error calculation unit 3b., the delay simulation unit 3c, the delay error calculation unit 3d, the communication line 4, the communication line 8, the user type selection unit 9, the correction amount selection unit 11, the positioning calculation unit 12, and the multi-type user definition unit (receiver-side user definition unit) 14 of the fifth embodiment are the same as the operations according to the fourth embodiment. [0107] Referring to FIG. 15, a description is now given of an operation of the error value quantization unit 16. The error value quantization unit 16 quantizes 34 the respective values of the errors 1-1 and 1-2 from the temporal compression error calculation unit 3a, the errors 2-1 to 2-6 from the spatial compression error calculation unit 3b, and the errors 3-1 and 3-2 from the delay error calculation unit 3d by using the offset values and the numerical resolutions output by the error quantization definition unit 17. [0108] Referring to FIG. 16, a description is now given of an operation of the correction amount total error calculation unit 18. The correction amount total error calculation unit 18 refers to the user type/error type table of the multi-type user definition unit 14, and selects and sums, depending on the user type stored in the user type selection unit 9, errors quantized into levels for the respective error types and the respective satellites delivered via the communication line 8 to output a total error for each of the satellites. [0109] According to the fifth embodiment, in addition to the effects of the first and second embodiments, the effects [3A]-[3F] of the third embodiment, and the effects [4C] and [4D] of the fourth embodiment, the following effects can be acquired. [5A]: The configuration including the threshold value setting unit 19 on the user side can determine use/non-use of the correction amount for each of the satellites based on a threshold value for an error in a correction amount permitted by a positioning algorithm of an individual user. [0110] Sixth Embodiment According to the fifth embodiment, the GNSS receiver 100 carries out the processing of the correction amount total error calculation unit 18 and the correction amount use/non-use determination unit 20 by using the errors quantized into levels for the respective error types and the respective satellites 35 delivered via the communication line 8, selects the correction amount in the correction amount selection unit 11 based on the use/non-use bit for the correction amount for each of the satellites output by the correction amount use/non-use determination unit 20, and carries out the positioning calculation in the positioning calculation unit 12. [0111] In contrast, according to the sixth embodiment, the GNSS receiver 100 carries out the positioning calculation by directly inputting to a positioning calculation unit 21 the errors quantized into levels for the respective error types and the respective satellites delivered via the communication line 8. [0112] FIG. 17 is a block diagram illustrating the GNSS receiver 100 out of the positioning augmentation system according to the sixth embodiment of the present invention. As a corresponding positioning augmentation information generating device, the same positioning augmentation information generating device as the positioning augmentation information generating device 50 according to the fifth embodiment is assumed. [0113] In FIG. 17, the GNSS receiver 100 according to the sixth embodiment, compared with the GNSS receiver 100 according to the fifth embodiment, does not include the correction amount selection unit 11, the correction amount total error calculation unit 18, the threshold value setting unit 19, and the correction amount use/non-use determination unit 20. The GNSS receiver 100 includes, in place of the positioning calculation unit 12, the positioning calculation unit 10-114] A description is now given of the operation. An operation of the positioning augmentation information generating device 50 of delivering the compressed correction amounts and the errors quantized into levels for the 36 respective error types and the respective satellites to the GNSS receiver 1.00 according to the sixth embodiment via the communication lines 4 and 8, respectively, is the same as the operation according the fifth embodiment. In the GNSS receiver 100, operations of the communication lines 4 and 8, the user type selection unit 9, and the multi-type user definition unit (receiver-side user definition unit) 14 are the same as those of the fourth embodiment, [0115] Referring to FIG. 18, a description is now given of an operation of the positioning calculation unit 21. A noise matrix calculation unit 21a in the positioning calculation unit 21 refers to the user type/error type table of the multi-type user definition unit 14 by using the errors quantized into levels for the respective error types and the respective satellites delivered via the communication line 8, and generates, depending on the user types stored in the user type selection unit 9, an observation noise matrix and a process noise matrix used for an estimator. [0116] On the other hand, an observation amount correction or virtual reference point observation amount generation unit 21b in the positioning calculation unit 21 corrects a user observation amount by using the compressed correction amounts delivered via the communication line 4, and outputs the observation amount after the correction, or an observation amount at a virtual reference point. [0117] Then, an estimator 21c in the positioning calculation unit 21 collectively processes the observation noise matrix and the process noise matrix generated by the noise matrix calculation unit 21a, and the observation amount after the correction or the observation amount at the virtual reference point generated by the observation amount correction or virtual reference point observation amount 37 generation unit 21b to output a positioning result. [0118] According to the sixth embodiment, in addition to the effects of the first and second embodiments, the effects [3A]-[3F] of the third embodiment, and the effects [4C] and [4D] of the fourth embodiment, the following effects can be acquired. [0119] [6A]: The configuration of directly inputting the errors quantized into levels for the respective error types and the respective satellites to the positioning calculation unit 21 enables, as a result of the use of the information on the correction amount errors, not only the determination of the use/non-use of the correction amounts, but also direct reflection to information on estimation accuracy of a positioning solution such as a finally acquired covariance matrix. 38
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