JP2000180528A - Method for measuring position of mobile object and its system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To construct a highly precise and inexpensive LPS mobile object position- measuring system in which the physical constraint of a device for position measurement can be reduced, and maintaining performance can be increased, and any political constraint can be prevented. SOLUTION: One or more ground base stations A1, A2, A3,... are allowed to transmit radio waves for position specification. Also, one or more relay mobile stations B1, B2, B3,... are allowed to detect and recognize their own positions from the radio waves for position specification. Then, the radio waves for position specification from one or more relay mobile stations B1, B2, B3,... whose own positions are detected and recognized and the radio waves for position specification from one or more ground base stations A1, A2, A3,... are received, and the relative phase difference of a mobile object M, for example, a time difference is detected so that the present position information of the mobile object M can be obtained. In this case, each relay mobile station B1, B2, B3,... is defined as an airplane, ship, automobile, or mobile using object which is respectively equipped with a receiver R, position computer P, and transmitter T, and provided with a function for automatically correcting a position and a time for transmitting a delay time based on time data to the mobile object M.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving object positioning method for measuring a current position of a moving object using an LPS (Local Positioning System) and a moving object positioning system.

[0002]

2. Description of the Related Art Conventionally, as a technique for acquiring the current position of a mobile object, a distance between the satellite and a terrestrial mobile object is measured from time data or the like transmitted from a GPS (Global Positioning System) satellite and the like. 2. Description of the Related Art A system that can determine the latitude, longitude, and altitude of a moving object by positioning is known. That is, as shown in FIG. 2, a mobile positioning system used as a car navigation system, for example, has a large number of GPS satellites (artificial satellites) S1, S2, which cover the earth.
Among the S3, S4..., For example, four GPS satellites S1,
The radio waves transmitted from the transmitters T of S2, S3, and S4 are received by the receiver R provided in the mobile body M, and the position of the mobile body M is calculated from the difference between the transmission time and the reception time. For this reason, such a GPS system tracks an artificial satellite, seeks the latest information of the satellite, updates the information inside the satellite, and an artificial satellite that transmits various information necessary for position determination to a receiving side. And a receiving station that receives a signal from an artificial satellite to determine a receiving position. The ground station tracks satellites and collects various information about the satellites.They also calculate satellite orbits, obtain orbit prediction information that predicts changes in the orbit, and transmit this to transmit information inside the satellite. There is a control center station or the like for updating the information of the above.

[0003]

However, in the above-mentioned conventional technology, the GPS satellites S1, S2, S
3, S4 ... limit by remote control, physical limitation of device,
In other words, the weight, size,
Political restrictions such as restrictions on atmospheric pressure, etc., inadequate maintainability of equipment in outer space, and intentional deterioration of transmission and reception accuracy by the U.S. Department of Defense for defense reasons are added. In addition, there are various problems such as that the cost of launching and maintaining the satellite is expensive. In addition, in the case of terrestrial communication with a receiving station with a base station installed on the ground, for example, uneven terrain on the ground such as mountains, buildings, cliffs, etc. becomes a radio wave obstruction, so there are many places where radio waves can not reach, so There was also a problem that position calculation became impossible.

Accordingly, the present invention has been made in view of the above-described circumstances that existed in the past, and has been developed to realize three-dimensional positioning without using a conventional expensive and highly maintainable GPS satellite. Position can be calculated with unit accuracy, and the physical constraints of the position measurement device are small, maintainability is high, there is no political restriction, it can be high accuracy and cheap, for example, high precision map creation, Control of ports, airports, vehicles, etc.
It is an object of the present invention to provide a mobile object positioning method and a mobile object positioning system that can be used for position control or the like of an aircraft or a vehicle with millimeter accuracy.

[0005]

In order to achieve the above-mentioned object, in a mobile positioning method according to the present invention, a position identification transmitted from one or a plurality of terrestrial base stations A1, A2, A3,. One or more relay mobile stations B1, B2, B3,... Respectively detect and recognize their own positions by radio waves for use, and at least one relay mobile station B1, B2, B3,. , And a position specifying radio wave transmitted from one or more ground base stations A1, A2, A3,..., And detects a relative phase difference of the mobile unit M. To obtain the current location information of Or a plurality of relay mobile stations B which detect and recognize their own position by position specifying radio waves transmitted from one or more ground base stations A1, A2, A3,.
, B2, B3,..., And a plurality of relay mobile stations B1, B2, B3,. , To acquire the current position information of the moving object M. Alternatively, it receives the position specifying radio wave transmitted from one or more ground base stations A1, A2, A3,.
And one or more terrestrial base stations A1,
A plurality of relay mobile stations B1, B whose positions are detected and recognized by position specifying radio waves transmitted from A2, A3,.
, B3,..., And a second phase difference of the moving object M is detected, and a difference between the first phase difference and the second phase difference is detected. The current position information of the moving object M is obtained based on the relative phase difference. Alternatively, the current position information of the moving object M based on the relative phase difference of the moving object M is obtained from the ground base stations A1, A2, A3.
Or the position of the mobile unit M can be determined from the difference in distance, direction, and transmission / reception time by the position specifying radio wave transmitted from the mobile relay stations B1, B2, B3,.
On the other hand, in the mobile positioning system according to the present invention, a plurality of relay mobile stations B1 and B1 that detect and recognize their own positions are provided.
The distance and direction between each of the relay mobile stations B1, B2, B3... And the mobile object M are measured by the position specifying radio wave transmitted from the mobile object M, and the latitude, longitude, and altitude of the mobile object M are measured by three-dimensional positioning. Has a position measuring means (R, P) for calculating Or one or more terrestrial base stations A1, A2, A3,... Transmitting position specifying radio waves, and functioning as a satellite by the position specifying radio waves transmitted from the terrestrial base stations A1, A2, A3,. , A plurality of relay mobile stations B1, B2, B3,.
And a plurality of position measurement radio waves from the ground base stations A1, A2, A3... And at least one relay mobile station B1, B2, B3. Means (R, P).
Alternatively, one or more terrestrial base stations A1, A2, A
1 and a plurality of terrestrial base stations A1, A2, A3,..., And a first position measuring means for receiving the position specifying radio wave transmitted from. .. Received by the at least one relay mobile station B1, B2, B3,... To detect and recognize its own position, And second position measuring means for acquiring the current position information, and the current position information of the moving body M is acquired by the relative first and second position measuring means. The relay mobile stations B1, B2, B3,... Measured using the plurality of ground base stations A1, A2, A3,... Are transmitted to the mobile unit M as delay signals based on distance, direction, and time data. Each of the mobile stations B1, B2, B3,... May have an automatic position / time correction function. Further, the relay mobile stations B1, B2, B3,... May be an aircraft, a ship, a car having a receiver R, a position calculator P, a transmitter T, or another mobile (mobile information terminal) having a mobile phone, a PHS, a relay antenna or the like. ). Further, the current position information of the relay mobile stations B1, B2, B3,...
A2, A3... Can be configured to be obtained by the respective mobile communication systems.

In the mobile positioning system and the mobile positioning method according to the present invention configured as described above, position specifying radio waves are received from a plurality of relay mobile stations B1, B2, B3,. The position of the mobile unit M is determined from the difference between the transmission time and the reception time in the specific radio wave, and the mobile unit M
Is obtained, thereby enabling three-dimensional positioning of the moving object M. Alternatively, a plurality of relay mobile stations B1, B2, B3... Receive position specifying radio waves transmitted from one or a plurality of terrestrial base stations A1, A2, A3, and from the relay mobile stations B1, B2, B3. The relative position difference of the moving object M is detected by receiving the transmitted position specifying radio wave, and the current position information of the moving object M is acquired based on the calculated data of the relative phase difference. Enables three-dimensional positioning of M. Alternatively, the moving object M is 1
.. Detects a first phase difference of one or more terrestrial base stations A1, A2, A3,... And transmits one or more terrestrial base stations A1, A2, A3. At least one of the relay mobile stations B1, B2, B3...
To detect and recognize its own position, receive position specifying radio waves transmitted from the relay mobile stations B1, B2, B3,..., Detect a second phase difference, and detect the first phase difference. The current position information of the moving object M is acquired based on the calculated data of the relative phase difference between the phase difference and the second phase difference, thereby enabling three-dimensional positioning of the moving object M. A plurality of terrestrial base stations A1, A2, A3... Traverse the earth and communicate with each other to constantly correct and synchronize position identification radio waves, and a plurality of relay mobile stations B1, B2 functioning as satellites. , B3,... Branch from the ground base stations A1, A2, A3,... And are synchronized with the position specifying radio waves of the ground base stations A1, A2, A3,. And the ground base station A1,
Relay mobile stations B1, B2, measured using A2, A3,.
.. Are transmitted to the mobile unit M as a delay signal based on the distance, azimuth, and time data. Further, the relay mobile stations B1, B2, B3... Are an aircraft, a ship, a car having the receiver R, the position calculator P, the transmitter T, or another mobile having a mobile phone, a PHS, a relay antenna or the like. Radio waves from the terrestrial base stations A1, A2, A3,...
A plurality of relay mobile stations B whose positions have been analyzed and recognized by
1, B2, B3... Each of the relay mobile stations B1, B2, B3... Is measured, and the latitude, longitude, and altitude of the moving object M are simultaneously measured by three-dimensional positioning. Moreover, the direction in which the mobile unit M runs is determined based on each frequency change due to the Doppler effect of the radio waves transmitted from the plurality of relay mobile stations B1, B2, B3,. Also, the current position information of the relay mobile stations B1, B2, B3,... And the current position information of the mobile unit M are obtained by the mobile communication system with the plurality of ground base stations A1, A2, A3,. Even if direct radio waves for position identification from A1, A2, A3,... Cannot be obtained, any of the plurality of relay mobile stations B1, B2, B3,. Relay mobile station B1, B
2, B3,... And the position of the moving object M is obtained.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of the present invention will be described with reference to FIG. 1. As shown in the figure, a mobile positioning system according to the present embodiment is an LP that does not use a GPS satellite.
Based on S (Local Positioning System), which is applied to a high-precision car navigation system, for example, which detects latitude, longitude, and altitude as the current position and displays it three-dimensionally with map information It is. Therefore, as shown in the figure, a large number of ground base stations A1, A2, A3,... Serving as backbones are scatteredly installed at various positions on the earth so as to transmit position specifying radio waves for direct transmission to the mobile unit M. The general communication network is configured in the same manner. And, for example, three ground base stations A
1, A2, A3 and one of a plurality of backbone base stations
One terrestrial base station A1, A2 or A1, A3 or A
2, a plurality of attached base stations that detect / recognize their own position by receiving the position specifying radio wave transmitted from A3, for example, land, sea, and the air, moving in the air, for example, a relay mobile station of each form, for example, a transportation system B1, B2, B3,...

That is, the relay mobile stations B1, B2, B3,.
Are terrestrial base stations A1, A2, A3 as satellites for transmitting to a mobile unit M for acquiring current position information and as an alternative to the terrestrial base stations A1, A2, A3,. … With or relay mobile station B
1, B2, B3... Function independently. Each of the relay mobile stations B1, B2, B3,... Has a receiver R for receiving position specifying radio waves from, for example, three terrestrial base stations A1, A2, A3, and a position specified by the receiver R. It is provided with a position calculator P for analyzing and recognizing its own position by radio waves for use, and a transmitter T for transmitting a position detection signal calculated by the position calculator P to the mobile unit M. , Ships, cars, etc., or mobile phones, PHS, other vehicles equipped with relay antennas, etc. It may be a so-called mobile (portable information terminal) that can be moved. Note that L of the present embodiment is
The PS mobile object positioning system may be applied to various positioning systems that obtain position information for positioning the current position and the like in, for example, creating a map and controlling the position of various mobile objects, in addition to the car navigation system. Of course.

The LPS mobile positioning system according to this embodiment directly receives the position specifying radio waves transmitted from the plurality of ground base stations A1, A2, A3,. A first position measuring means for obtaining relative current position information of the moving object M by obtaining a propagation delay time difference, and a position specifying radio wave transmitted from a plurality of ground base stations A1, A2, A3,. Receiver R of any of a plurality of relay mobile stations B1, B2, B3,.
The position calculator P analyzes and detects its own position coordinates, and transmits this position information signal to the mobile unit M by the transmitter T. The mobile unit M equipped with the receiver R and the position calculator P receives the position information signal and sets it as reference coordinates such as a distance and an azimuth from any one of the plurality of relay mobile stations B1, B2, B3. A relative second position measuring means for acquiring the current position information of the moving body M, and a relative phase difference between the relative first position measuring means and the second position measuring means. Is calculated, and based on the calculated data, the current position information of the moving object M by three-dimensional positioning is obtained with millimeter accuracy. At this time, the positions of the respective relay mobile stations B1, B2, B3... Measured using the plurality of ground base stations A1, A2, A3... Are transmitted to the mobile unit M as delay signals based on distance, direction, and time data. Relay mobile stations B1, B2, B3 ...
Has an automatic position / time correction function.

The above-mentioned ground base station A as the backbone
1, A2, A3... And a relay mobile station B as an attached base station
1, B2, B3,..., Allocation, frequency allocation, location selection, and the like are appropriately selected so as to accurately obtain phase relationship information necessary for position calculation. That is, the ground base stations A1, A2, A
3 and relay mobile stations B1, B2, B3, which are attached base stations.
As a specific assignment method, for example, for example, any two ground base stations (for example, A
, A2) is transmitted to any of the relay mobile stations B1, B2, B3,..., And the positions of the relay mobile stations B1, B2, B3,. And the relay mobile stations B1, B
., B3... Can be transmitted to the mobile unit M by a 2: 1 assignment system.

Of course, the present invention is not limited to this, and as another configuration, for example, position specifying radio waves from three terrestrial base stations A1, A2, A3 and a plurality of these terrestrial base stations A1, A
2, A3... Are transmitted to one relay mobile station (for example, B1) and the position calculator P calculates the position of the relay mobile station B1 itself. M: current position information is acquired in a 3: 1 allocation method, or a position specifying radio wave transmitted from one ground base station A1 and a plurality of ground base stations A1, A2, A3
… Three location mobile stations B
1, B2, and B3 to receive the position detection signals of the relay mobile stations B1, B2, and B3 calculated by the respective position calculators P and acquire the current position information of the mobile unit M:
3 allocation method, or one relay mobile station B1 receives a position specifying radio wave transmitted from one ground base station A1 and a position specifying radio wave transmitted from another ground base station A1. Various combinations such as the 1: 1 allocation method, the other 1: 2 allocation method, and the 2: 2 allocation method for receiving the position detection signal of the relay mobile station B1 itself and calculating the current position information of the mobile unit M calculated by It can be.

In any case, one or more relay mobile stations B1, B2, B3 are transmitted by one or more terrestrial base stations A1, A2, A3,.
.., Each of which detects and recognizes its own position, and detects and recognizes its own position in at least one relay mobile station B1,
Receive the position specifying radio waves from B2, B3,... And the position specifying radio waves transmitted from one or more ground base stations A1, A2, A3,. It is only necessary to acquire the current position information of the moving object M, and the number of distributions, the ratio of the ratio, and the like are not limited.

Further, one or more terrestrial base stations A1,
A plurality of relay mobile stations B1, B2, B3... Receive the position specifying radio waves transmitted from A2, A3..., And receive the position specifying radio waves from the relay mobile stations B1, B2, B3. The relative phase difference of M may be detected, and the current position information of the moving object M may be obtained based on the calculated data of the relative phase difference. Further, a plurality of relay mobile stations B
1, B2, B3,..., And the position of the mobile unit M is determined from the difference between the transmission time and the reception time, that is, a plurality of relay mobile stations B1, B2, B3.
The distance between each of the relay mobile stations B1, B2, B3,... Is measured from the time data transmitted from...
A method of determining longitude and altitude may be adopted.

Furthermore, a plurality of ground base stations A1, A2, A
3, each of the relay mobile stations B1, B2, B3,.
In addition to the above-described position / time automatic correction function method, the mutual signal method includes, for example, a position signal method, a time signal method, a frequency band allocation method, and a plurality of ground base stations A1, A2, A
3. Synchronization method between a plurality of ground base stations A1, A2, A3
.. And the relay mobile stations B1, B2, B3.

Next, an example of the position measuring method according to the present embodiment will be described. As shown in FIG.
The first phase difference of the moving object M is detected by, for example, directly receiving position specifying radio waves transmitted from 1, A2, A3,.
At the same time, any one of the plurality of relay mobile stations B1, B2, B3,... Receives the respective position specifying radio waves transmitted from the plurality of ground base stations A1, A2, A3,. B1, B2, B3... Each analyze and detect their own position coordinates, transmit this position information signal to the mobile unit M,
The mobile unit M receives the position specifying signals from the relay mobile stations B1, B2, B3,... And detects the second phase difference. At this time, the positions of the respective relay mobile stations B1, B2, B3,... Measured using the ground base stations A1, A2, A3,. Then, position calculation is performed based on the relative phase difference between the first phase difference and the second phase difference. In this way, the distance, direction, and the like between each of the relay mobile stations B1, B2, B3,... And the mobile M are measured from the time data transmitted from each of the relay mobile stations B1, B2, B3,. The latitude, longitude, and altitude of the body M are measured simultaneously with millimeter accuracy. At this time, the direction in which the moving body M runs can also be determined based on each frequency change due to the Doppler effect of the radio waves transmitted from the plurality of relay mobile stations B1, B2, B3,.

In this embodiment, the position of each of the relay mobile stations B1, B2, B3... Measured using a plurality of ground base stations A1, A2, A3. M, but the other configurations are not shown, but the current position information of each of the relay mobile stations B1, B2, B3... It can also be obtained by a digital mobile communication system of the CDMA (Code Division Multiple Access) system with the stations A1, A2, A3,. That is, according to the CDMA (code division multiple access) system, a pseudo-noise code sequence utilizing a feature of a spread spectrum communication system in which a modulated wave is spread over a spectrum band wider than the bandwidth of information to perform communication is used. A plurality of channels can be identified and multiple access can be performed. If the propagation delay time difference between the coded spreading codes from the ground base stations A1, A2, A3,. The stations B1, B2, B3,... And the mobile unit M can be positioned. Since the operation and effect based on the configuration are substantially the same as those of the above-described embodiment, the description thereof will be omitted.

[0017]

As described above, according to the moving object positioning method according to the present invention, the limitation of the conventional GPS (global positioning system) satellite by remote control, the physical restriction of the device, the maintainability of the device in outer space, High maintainability without the U.S. Department of Defense having various problems such as political restrictions such as intentional deterioration of transmission / reception accuracy for defense reasons, and high costs for satellite launch and maintenance. A high-precision and inexpensive LPS mobile positioning system without political restrictions can be provided. That is, it detects its own position,
One or more relay mobile stations B1, B2, B3 to recognize
Are replaced by one or more of a plurality of ground base stations A1, A2, A3,.
Inconveniences in the positioning system using only A2, A3,... Can be solved, and three-dimensional positioning can be easily and accurately performed without using a conventional expensive and highly maintainable GPS satellite. For example, even if there are many places where radio waves cannot reach due to irregularities on the surface of the ground such as mountains, buildings, cliffs, etc., the latitude, longitude and altitude of the moving object M can be measured simultaneously by three-dimensional positioning, and the millimeter Accurate position calculation can be performed with unit accuracy, and it can be used for, for example, high-accuracy map creation, control of ports, airports, vehicles, and the like, and position control of ships, aircraft, vehicles, and the like. Also, a plurality of relay mobile stations B1, B2, B3
.. Can be accurately determined based on each frequency change due to the Doppler effect of the transmitted radio wave.

On the other hand, in the mobile positioning system according to the present invention, the physical restrictions of the position measuring device can be reduced as compared with the conventional mobile positioning system using GPS satellites, and the mobile positioning system can be reduced. The position of M can be obtained easily and in a short time. In addition, it is possible to construct a highly accurate and inexpensive LPS mobile positioning system that is highly maintainable, free of political restrictions, and can be constructed.

Also, a plurality of ground base stations A1, A2, A3
A plurality of relay mobile stations B1, B2, B3 measured using ...
... relay mobile stations B1 and B to transmit their position to mobile unit M as a delay signal based on distance, direction and time data
2, B3... Each has an automatic position / time correction function, so that simultaneous measurement of the latitude, longitude, and altitude of the moving object M can be performed in real time by three-dimensional positioning. In addition, as an application / use example, let alone a car navigation system, for example, as a substitute for a beacon for creating a high-precision map such as a three-dimensional map, and controlling position and attitude at the time of takeoff and landing of an aircraft. In addition, LPS mobile positioning for vehicle position control, human position confirmation, mobile control of aircraft, etc. as an aircraft / high-precision pilot guide, and autopilot of automobiles, aircraft, ships, space submarine unmanned space vehicles, etc. System available.

The relay mobile stations B1, B2, B3,...
Is configured to be an aircraft having a receiver R, a position calculator P, and a transmitter T, a ship, a car, or other mobile having a mobile phone, a PHS relay antenna, or the like, so that a plurality of relay mobile stations B1, B2 , B3..., The latitude, longitude, and altitude of the moving object M can be simultaneously measured by three-dimensional positioning, so that the position of the moving object M can be accurately and quickly measured. Can be sought.

A plurality of relay mobile stations B1, B2, B3
Since the current position information and the current position information of the mobile unit M are obtained by the mobile communication system with the plurality of ground base stations A1, A2, A3,.
, A3,... Cannot be obtained, for example, even when the mobile object M has entered the shadow of the radio wave, the own mobile station transmitted from one of the plurality of relay mobile stations B1, B2, B3,. By receiving the position information signal, the position of the moving object M can be obtained easily and in a short time.

Further, a plurality of ground base stations A1, A2, A
.., The relay mobile stations B1, B2, B3,..., And the mobile unit M include a position signal system, a time signal system, a frequency band allocation system, and synchronization among a plurality of ground base stations A1, A2, A3,. , A synchronization method between the plurality of ground base stations A1, A2, A3,... And the relay mobile stations B1, B2, B3,..., Or a position / time automatic correction function method. Accurate position calculation becomes possible.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a system according to an embodiment of the present invention.

FIG. 2 is a system schematic diagram showing a conventional technique.

[Explanation of Codes] A1, A2, A3 ... ground base station B1, B2, B
3: Relay mobile station M: Mobile R: Receiver P: Position calculator T: Transmitter S1, S2, S3, S4: GPS satellite

Claims (10)

[Claims] 1. A method for causing one or a plurality of relay mobile stations to detect and recognize their own positions by means of position specifying radio waves transmitted from one or a plurality of terrestrial base stations, and detecting and recognizing their own positions. Receiving a position specifying radio wave from at least one relay mobile station and a position specifying radio wave transmitted from one or more ground base stations to detect a relative phase difference of the mobile body, A mobile positioning method characterized by acquiring current position information. 2. Receiving position specifying radio waves from a plurality of relay mobile stations detecting and recognizing its own position using position specifying radio waves transmitted from one or a plurality of ground base stations, and transmitting a plurality of respective relays A mobile object positioning method comprising: receiving a position specifying radio wave from a mobile station, detecting a relative phase difference of the mobile object, and acquiring current position information of the mobile object. 3. A position transmitting radio wave received from one or a plurality of ground base stations by receiving a position specifying radio wave transmitted from one or a plurality of ground base stations to detect a first phase difference of a mobile unit. A position specifying radio wave transmitted from at least one of the plurality of relay mobile stations whose position is detected and recognized by the specifying radio wave is received, and a second phase difference of the moving object is detected, and these are detected. A moving object positioning method, comprising: acquiring current position information of a moving object based on a relative phase difference between a first phase difference and a second phase difference. 4. The current position information of the moving object based on the relative phase difference of the moving object is obtained from a difference in distance, direction, and transmission / reception time of a position specifying radio wave transmitted from a ground base station or a mobile relay station. 4. The moving object positioning method according to claim 1, wherein the position is determined. 5. The distance and azimuth between each of the relay mobile stations and each of the mobile units based on position specifying radio waves transmitted from a plurality of relay mobile stations for detecting and recognizing the position of the mobile unit, and the mobile unit is determined by three-dimensional positioning. 1. A mobile positioning system comprising a position measuring means for determining the latitude, longitude, and altitude of a moving object. 6. One or a plurality of terrestrial base stations for transmitting position specifying radio waves, and their own positions are detected and recognized by being made to function as satellites by the position specifying radio waves transmitted from the terrestrial base stations. A plurality of relay mobile stations,
And a position measuring means for receiving a plurality of position specifying radio waves from the ground base station and at least one relay mobile station to obtain current position information of the mobile unit. 7. A first position measuring means for receiving position specifying radio waves transmitted from one or a plurality of terrestrial base stations to obtain relative current position information of a mobile unit, The mobile phone is made to function as a satellite by the positioning radio wave transmitted from the ground base station and receives and transmits the positioning radio wave transmitted from at least one relay mobile station for detecting and recognizing its own position. A second position measuring means for acquiring the current position information, wherein the relative first and second position measuring means acquire the current position information of the moving body; Body positioning system. 8. The relay mobile station transmits a position of the relay mobile station itself measured using a plurality of ground base stations to the mobile unit as a delay signal based on distance, direction, and time data.
8. An automatic position / time correction function.
The mobile positioning system according to any one of the above. 9. The relay mobile station according to claim 4, wherein the relay mobile station is an aircraft having a receiver, a position calculator, a transmitter, a ship, a car, or another mobile having a mobile phone, a PHS, a relay antenna, or the like. A mobile positioning system as described. 10. The mobile positioning system according to claim 5, wherein the current location information of the relay mobile station and the current location information of the mobile are acquired by a mobile communication system with each of the ground base stations. .