JP2002006026A - Target position guiding system and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable the user of a target position guiding system to easily grasp the positional relation between the position of a mobile station and a target spot from a displayed information map and to further improve the efficiency of the target position finding work of the user and the operability of the system by automatically enlarging and the displayed information map. SOLUTION: When the user searching a target position installs the GPS antenna 3A of a portable fixed station to an already known position and sets an unknown target position, such as a measuring point, etc., this target position guiding system calculates the present position of a mobile station based on observational information sent from the GPS receiver 3 of the fixed station and observational information received by means of the GPS antenna 2A of the portable mobile station and graphically displays the information map indicating the relation between the target position and the present position of the mobile station on the display device of a portable electronic plate 1. Therefore, the user can easily move the mobile station to the target position in accordance with the information map. When the information map changes from a navigation guide map to an enlarged map, the expanding factor of the map is automatically changed correspondingly to the positional relation between the target position and present position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a target position guidance system for guiding a mobile station to a target position by displaying a current position and an unknown target position of the mobile station on a display device, more specifically, a portable system. GPS (Global
Positioning System: Using a global positioning system, a portable display device displays a guide screen to target locations such as stakeout points for stakeout on roads and residential lands in surveying work, Target position guidance system suitable for searching for the target position in real time with the help of
And a recording medium therefor.

[0002]

2. Description of the Related Art In a surveying work, for example, when a road or a residential land is designed, there is a work called "measurement setting" in which a new road is staken at a location corresponding to a position on a drawing. This work is a very important work that is indispensable for the survey design work, and is a work that is frequently performed. In order to carry out this surveying, in principle, it is sufficient to know the coordinates of the currently known reference position and the surveying point (target position) to be staken. In particular, the position is confirmed using a GPS device and an existing data collector. In this case, graphic display and enlarged display cannot be performed, and only the numerical value of the point-to-point distance is determined.

[0003]

SUMMARY OF THE INVENTION In view of such circumstances, the present invention displays a guide screen using display means attached to an observation device to easily determine a positional relationship with target coordinates such as a measurement point. A target position that can be grasped and the guide screen is automatically enlarged in accordance with the relationship with the target position, so that the efficiency and operability of the target position searching operation can be further improved. It is intended to provide a guidance system.

[0004]

According to a first aspect of the present invention, means for setting an unknown target position, GPS observation information sent from a fixed station at a known position, and portable movement Means for calculating the current position of the mobile station based on the GPS observation information received by the station, and display for graphically displaying the relationship between the set target position and the calculated current position of the mobile station on a portable display device And a target position guidance system comprising a control means.

According to a second feature of the present invention, a means for setting an unknown target position, a GPS observation information sent from a fixed station at a known position, and a GPS observation information received by a mobile station. Means for calculating the current position of the mobile station, based on the distance between the set target position and the calculated current position of the mobile station. A target position guidance system having display control means for displaying a graphic, a step of setting an unknown target position, GPS observation information sent from a fixed station at a known position, and received by the mobile station Obtaining GPS observation information, calculating the current position of the mobile station based on both GPS observation information, and calculating the distance between the set target position and the calculated mobile station current position And a step of controlling the relationship between the two positions graphically displayed on the display device to an enlargement factor corresponding to the calculated distance. Is done.

In the present invention, the fixed station is a portable GPS receiver and is installed at a known position. Also,
The display control means has a function of displaying at least one of a trajectory of the mobile station to the current position, a direction from the mobile station current position to the target position, and a current position of the sun.

According to the first feature of the present invention, when an unknown target position such as a surveying point is set, GPS observation information sent from a fixed station at a known position and the portable terminal can be carried. The current position of the mobile station is calculated based on the GPS observation information received by the mobile station, and the relationship between the set target position and the calculated mobile station current position is graphically displayed on a portable display device. Therefore, the user carrying the display device follows the guidance screen (navigation guide screen / enlarged view screen) displayed graphically.
The GPS mobile station can be easily moved to the target position. Therefore, simply indicating the calculated stake out point,
Like a car navigation system, it is guided to the target position by visual assistance based on GPS observation, and it is not necessary to secure visibility through 3D measurement and search for buried objects whose position coordinates are known only. , Easy to do. In addition, since the user can work while checking his / her position on the screen, work efficiency is dramatically improved.

According to the second feature of the present invention, when an unknown target position such as a surveying point is set, GPS observation information transmitted from a fixed station at a known position and reception by a portable mobile station are provided. Based on the obtained GPS observation information, the current position of the mobile station is calculated, and the distance between the set target position and the calculated current position of the mobile station is calculated, and is graphically displayed on a portable display device. The relationship between the two positions is controlled to a desired magnification according to the calculated distance. Therefore, a screen representing the positional relationship between the target position such as the survey setting target point and the current position is enlarged and displayed as an enlarged view screen, and the enlargement ratio of the enlarged view screen depends on the positional relationship between the target position and the current position. Since it is automatically changed in response, the work efficiency and operability can be further improved.

In the present invention, when a portable fixed station is installed at a known position and an unknown target position such as a surveying point is set, the GPS transmitted from the fixed station is set.
The current position of the mobile station is calculated based on the observation information and the GPS observation information received by the mobile station, and the relationship between the set target position and the calculated mobile station current position is graphically displayed on a display device. Therefore, the user searching for the target position sets an arbitrary known reference point as a fixed station, and then follows the GPS display according to the guide screen displayed graphically.
The mobile station can be easily moved to the target position.

Further, in the present invention, not only is the current position of the mobile station plotted against the target position,
The trajectory to the current position of the mobile station, the direction from the current position of the mobile station to the target position, the current position of the sun, and the like are also displayed. For example, the display of the moved trajectory indicates which direction the vehicle has traveled relative to the target point, and the display of the target direction indicates the direction from the mobile station to the target position. Can easily approach the target point sensuously. In addition, by aligning the mark indicating the sun with the current direction of the sun, the direction of the measurement target point is very easy to understand, and the target point can be easily found.

[0011]

Preferred embodiments of the present invention will be described below in detail with reference to the drawings. The following embodiment is merely an example, and various modifications can be made without departing from the spirit of the present invention.

[Outline of System] FIG. 1 is a schematic view of a surveying operation using a target position guidance system according to an embodiment of the present invention, and FIG. 2 is a diagram of the target position guidance system according to an embodiment of the present invention. FIG. 2 shows an overall hardware block diagram. In this example, the target position guidance system includes a digital observation data processing device 1, a first GPS device (mobile station) 2
And a second GPS device (fixed station) 3, and the observation data processing device 1 is a portable CAD system for on-site surveying using a personal computer, and is commonly referred to as an “electronic flat panel” or a “on-site computer” ( Less than,
"Electronic flat plate". ). The electronic flat plate 1 has a normal observation data processing function of processing GPS observation data at an observation site, and in particular, a mobile station obtained from observation information obtained by the two GPS devices 1 and 2 for measurement work. It has a function of displaying a guidance screen suitable for guiding the first GPS device 2 as a mobile station to a measurement target point on the display of the electronic flat plate 1 based on the coordinate data and given measurement target point coordinate data. are doing.

In short, this target position guidance system uses FIG. 1 to install a GPS antenna 3A of a portable fixed station 3 at a known position and set an unknown target position such as a surveying point. The current position of the mobile station 2 is calculated based on the observation information sent from the fixed station GPS receiver 3 and the observation information received by the GPS antenna 2A of the portable mobile station 2, and the set target position is set. Is displayed graphically on the display device of the portable electronic flat panel 1, so that the user searching for the target position can display the guide screen according to the guidance screen.
The PS mobile station 2 can be easily moved to the target position. When near the target position, the guidance screen changes from the navigation guidance screen at the beginning of the search to the enlarged view screen, and in this enlarged view screen, the display magnification automatically changes according to the positional relationship between the target position and the current position. Is done.

In FIG. 2, the electronic flat plate 1 functions as a host computer for mainly performing the measurement support work according to the present invention, as described above, and includes a CPU (central processing unit) 11, a system memory 12, and an external memory. A storage device 13, an input operation device 14 having a pen-shaped operator, a display device 15 such as a display, an interface 16, and the like are provided. These devices 11 to 16 are connected to each other via a bus 17.

The CPU 11 for controlling the system performs various controls in accordance with various observation application programs, and in particular, a processing program relating to the measurement point guidance according to the present invention [“GPS-RTK (real-time kinematic) measurement program”. In the following, this program is simply referred to as “RT”.
It may be called "K measurement". ], The screen control for the surveying point search operation is performed, and the system memory (ROM &
The RAM (RAM) 12 includes a ROM (read only memory) storing basic programs and fixed data / parameters, and a RAM (random access memory) temporarily storing various observation application programs and data. Further, the external storage device 13 is provided with an HDD (hard disk drive), and can store various processing programs / data including measurement point guidance and the like. As the storage device, a storage medium such as a memory card or an FDD (floppy disk) / CD-R / MO (magneto-optical) disk can be added / added.

Further, the input operation device 14 mainly performs a simple instruction operation on a screen using a pen-shaped operator while visually recognizing various screens displayed on a display 15 such as a color liquid crystal display (LCD). Thus, various kinds of processing for supporting the surveying work can be performed.

The electronic flat plate 1 has, via an interface 16, a second GPS receiver, which performs a GPS on-site observation.
A connection with the GPS device 3 or the first GPS device 2 is possible. For example, each of the GPS devices 3 and 2 can be communicably connected by wire (serial communication cable). Also,
The first GPS device 2 transmits a transmission signal from the second GPS device 3 via a communication device (a wireless modem such as an MCA wireless device or a power-saving wireless device, or various wireless communication means such as a mobile phone or a PHS) 5, 4. Can be received. The interface 16 is also used to connect the electronic flat plate 1 to an observation data editing host computer (not shown) located indoors after the site observation.

The second GPS device 3, as shown in FIG.
Used as a fixed station (known station), the receiving antenna 3A of the second GPS device 3 is installed at a reference position point having a currently known reference coordinate value. In addition, the first GPS device 2 is used as a mobile station for determining a surveying point to be piled, and as shown in FIG. ) Can be moved by the user. Receiving antenna 2A of first GPS device 2
When the satellite radio wave is received by the electronic flat panel 1, the electronic flat plate 1 receives the received observation data and the second GPS obtained through the communication devices 5 and 4.
By processing the signal data from the device 3, the current position of the mobile station 2 (antenna 2A) is immediately calculated and reflected on the display 15. Therefore, the user (one alone) performing the surveying work can quickly and easily approach the first GPS device 2 to the surveying target point according to the guidance of the guide screen displayed on the display of the electronic flat plate 1.

FIG. 3 is a functional block diagram showing schematic functions of the target position guidance system according to one embodiment of the present invention. In one embodiment of the present invention, an electronic flat plate 1 is provided.
First, as shown in the function block B1, the second GPS device 3 which is a known station is
The observation conditions are set, an observation start instruction is issued, and the known station coordinates are plotted and displayed on the display 15. Next, as shown in the function block B2, the GPS observation conditions (including the coordinates of the measurement points) for the measurement work are set for the first GPS device 2 as the mobile station, and the observation start instruction (including the initialization) is made. To obtain the three-dimensional coordinates of the mobile station.

In the function block B3, data relating to the position of the mobile station, such as the coordinates of the mobile station (numerical display and plot display), the trajectory of the mobile station, the measurement points, and the like, based on the three-dimensional coordinate values of the mobile station. Coordinates of the target position (plot display), distance between mobile station and known point, distance between mobile station and measurement point,
dx, dy, the direction from the mobile station to the target position, and the like are displayed on the display 15. Also, based on the display deviation, etc., the standard deviation, the number of satellites (including sky plot display),
A PDOP (index indicating a satellite arrangement state) is displayed. In this way, by converting the observation data into the position data corresponding to the electronic flat plate 1, plotting and displaying each coordinate, and displaying the trajectory of the moving mobile station, the positional relationship of the mobile station can be easily determined. You can figure out.

In the function block B4, the mobile station 3
The relationship between the measurement point and the mobile station is further enlarged and displayed on the display 15 based on the dimensional coordinate values and the coordinate values of the measurement point (target position). In this enlarged display, the enlargement ratio is automatically changed according to the positional relationship between the stake-out point and the mobile station. For example, the maximum radius ∞ (Infinity) to a minimum radius of 2 cm are sequentially enlarged (here, the maximum magnification of 2 cm corresponds to the accuracy guaranteed by the GPS observation accuracy). in this way,
By enlarging and displaying the positional relationship with the surveying point, the efficiency and operability of the surveying operation can be further improved.

[Work Flow of Entire Measurement Work] FIGS. 4 and 5 show an example of a work flow of the entire measurement work using the target position guidance system according to one embodiment of the present invention.

[1] Setting work on the base station side When this surveying work is started, first, in steps S1 to S1.
In S8, the GPS receiver of the base station, that is, the second GPS
The setting work of the device 3 is performed. The setting on the known station side starts with connecting the second GPS device 3 to the electronic flat plate 1 in the first step S1. For this, first,
As shown in FIG. 1, a tripod is set up on a stake (or stud) at a known point and the G of the second GPS device (fixed station GPS receiver) 3 is set.
Install the PS antenna 3A and then the GPS antenna 3A
And GPS receiver 3 with an antenna cable.
The power of the receiver 3 is turned on, and the GPS receiver 3 is started. Further, a communication cable (RS-2) is connected to the GPS receiver 3.
The communication device 5 on the fixed station side is connected by a 32C cable), and the power of the fixed station communication device 5 is turned on.

Next, the fixed station GPS receiver 3 is connected to the electronic flat plate 1 by a communication cable (RS-232C cable), the electronic flat plate 1 is started, and a processing program ("RTK") relating to the guidance of the surveying point according to the present invention. Measurement) is started, and a “GPS measurement establishment screen” as shown in FIG. 6 is displayed on the display 15.

In the next step S2, a coordinate system is set. This coordinate system is a coordinate system defined by the notification of the Ministry of Construction and the Ordinance for Enforcement of the National Land Inspection Act, which corresponds to the area where surveying is carried out, and it is divided from Hokkaido to Okinawa into 19 plane rectangular coordinate systems. . In this step S2, for example, as shown in the GPS measurement setup screen of FIG. 6, for example, "coordinate system 6" is input, and the "known point setting" button is hit (instruction operation), and as shown in FIG. "Known point setting screen"
Is displayed on the display 15.

In subsequent steps S3 and S4, FIG.
A known point setting screen is used to set the names and coordinates of known points. In other words, if you hit a known point from this screen,
The name (station name) of known points and coordinate values [latitude (Lat), longitude (Lg), ground height (Height)] are automatically read. Next, in step S5, the height (antenna height) from the stake (or stud) of the known point to the fixed station receiving antenna 3A is input, and then the process proceeds to step S6.

In step S6, it is determined whether or not a condition change setting is to be made. In this system example, it is possible to make a setting for changing the observation condition. If this condition change setting is to be made (YES), the process proceeds to step S7 by instructing "observation condition" on the known point setting screen in FIG. Then, the observation condition can be changed using the “condition setting screen” as shown in FIG. 8 (in the illustrated example, the number of satellites = 4 as the satellite condition).
Or more, PDOP = 7.0 is set). Here, the observation conditions that can be changed include, for example, the following: (1) Number of satellites = normally set to “5”;
(2) PDOP value.

If "OK" is hit when the condition setting is completed, the process of step S7 is completed and the screen returns to the original known point setting screen (FIG. 7). In addition, in the condition setting screen of FIG. 8, if “check list” is checked,
The measurement points can be designated in advance under these conditions, and the measurement can be performed collectively.

If the condition change is not set in step S6 (NO) or if the process in step S7 is completed, the process proceeds to step S8. When the "OK" button is hit on the known point setting screen (FIG. 7), the fixed station reception is performed. The known point information (name entered in step S3, step S4
Is set. On the screen of the display 15 of the electronic flat plate 1, a message “Please connect the electronic flat plate to the moving side” (not shown) is displayed, and the setting operation on the fixed station side (known point side) ends. . Therefore,
The electronic flat plate 1 is disconnected from the connection with the fixed-station GPS receiver 3 via the RS-232C cable, the GPS receiver 3 is kept operating, and the data observed by the fixed-station GPS receiver 3 is transmitted via the communication device 5 to the mobile station. Side, and the electronic plate 1 is moved to the mobile station side, and step S9 is performed.
The operation moves to the following mobile station.

[2] Preparatory work on the mobile station side The setting on the mobile station side is performed in the first step S9 in the first step.
It starts by connecting a GPS device (mobile station GPS receiver) 2 to the electronic flat plate 1. For this purpose, first, when measuring,
The mobile station GPS antenna 2A is installed on the GPS antenna pole of the mobile station GPS receiver 2 to be used (a bubble tube required for standing vertically is attached to the GPS antenna pole). Next, the GPS antenna 2A attached to the apex of the antenna pole and the GPS receiver 2 are connected by an antenna cable, and the power of the GPS receiver 2 is turned on.
To start the GPS receiver 2. Further, a communication cable (RS-232C cable) is connected to the communication device 4 on the mobile station side.
To connect to the GPS receiver 2 and turn on the power of the communication device 4.

By the operation in step S9,
As shown in FIG. 1, the user who performs the surveying work has G
To start the measurement work with the GPS pole with the PS antenna 2A attached in one hand, the mobile station GPS receiver 2, the communication device 4, and the backpack containing the battery on the back, and the electronic flat plate 1 attached to the front. Is completed, and the process proceeds to step S10 (FIG. 5).

[3] Measurement work on the mobile station side In steps S10 to S13, using the electronic flat plate 1, the mobile station (2) determines the position information with the fixed station (3) (determines the integer value bias). The "initialization" process to be performed is performed. Specifically, this initialization uses satellite information from five or more satellites and two satellite radio waves L1 and L2 to receive information on the known point (3A) side via the communication devices 5 and 4. In the meantime, the position of the known point (3A) and the mobile station (2A) are accurately calculated to calculate where the mobile station (2A) is currently located in the Japanese coordinate system. Its accuracy is 10 mm + 2 ppm (horizontal range is 10 km or less) for the horizontal position and 20 mm + for the vertical position.
2 ppm.

The initialization method includes a method of automatically performing initialization by an OTF program when “OTF (on-the-fly) is present” and a manual initialization when “OTF is not present”. There are two options for how to do this. Generally, when reception of satellites such as buildings is interrupted during GPS observation (referred to as “cycle slip”), it is necessary to perform the above-described initialization again to recalculate the current position on the mobile station side. The OTF program is a program for automatically starting initialization and calculating the current position of a moving mobile station when the number of satellites becomes 5 or more even if the mobile station is moving (manufactured by Trimble, USA). ) Is pre-installed in the GPS receiver 2. At present, GPS radio waves have a first frequency (L1) and a second frequency (L2), and only a GPS receiver that can handle these two frequencies is an OTF.
It is possible to have a function, and with this function, it is possible to determine the initialization at an unknown point.

Therefore, in step S10, "OTF
It is determined whether or not “Yes”, and in the case of “With OTF” (YE
In step S11, automatic initialization is performed in step S11.
If "none" (NO), manual initialization is performed in step S12. Then, in step S13, the process waits until it is determined that the initialization has been completed by the automatic initialization or the manual initialization. When it is determined that the initialization has been completed, the process proceeds to step S14.

In step S14, data relating to the mobile station such as a target position to be a measurement point is input or selected. For example, enter the number or name of the stake out point,
Alternatively, a point to be measured is selected from the map displayed on the screen of the display 15 of the electronic flat plate 1 and hit, and data to be measured is selected. The data to be selected has coordinate values.

FIG. 9 shows an example of the "measuring work screen" displayed on the display 15 of the electronic flat plate 1 in this case [FIG.
Appears on the "RTK-GPS measurement" button on the GPS measurement setup screen. ]. In this example, the coordinates (X, Y, Z) of the target position of the stake-out point and the distance from the current position of the mobile station to the target position of the stake-out point are displayed, and the height of the antenna on the mobile station side is displayed. The height of the antenna can be changed at any time according to the situation at the site, so that observations can be made. In other words, to increase observation accuracy, GP
The lower the height of the S pole, the better. However, if it is low, the radio wave of the satellite is likely to be cut off and a cycle slip is likely to occur. Therefore, the height can be changed each time according to the situation at the site.

Further, on the measurement work screen of FIG. 9, the number of received satellites, PD
Standard deviations (horizontal value and vertical value) representing the OP and GPS observation accuracy are displayed. Note that the condition setting screen as shown in FIG. 8 described above is called on the display 15 by using the “observation condition” button on this measurement work screen, and this screen is used to perform the same operations as described in steps S6 and S7. Various conditions can be set.

Further, "Satellite" is displayed on the measurement work screen of FIG.
A button is also provided, and when this "satellite" command is hit, the position of the currently received satellite is changed as shown in FIG.
It is displayed on the sky map screen called “Skyplot”. In the screen example of FIG. 10, not only the satellite arrangement is simply shown, but also which satellite is being received on the mobile station side, which satellite is being received on the known point side, The colors of the satellite marks are color-coded according to the reception status so that the number of satellites and the number of satellites can be clearly understood. For example, satellites received at both the mobile station and the known point are displayed in green, only the mobile station side is displayed in blue, and only L1 reception is displayed in red.

On this sky plot screen, only the mobile station side can display the sky plot so that both can be determined to be receiving, and also the number of each sky plotted satellite by the display color of the satellite mark. (For example, “2
Regarding 3 ″), by numerically displaying the azimuth angle, the elevation angle, and the signal strength of the radio waves L1 and L2, whether or not there is a bias due to the directions of the satellites receiving at both the mobile station and the known point is determined. Since it is possible to know in which direction the side should be moved to avoid obstacles, it is very useful for taking measures to cope with a cycle slip or the like when it occurs.

In the following step S15, it is determined whether or not there is a cycle slip (reception of satellites such as buildings is interrupted during RTK observation). As mentioned above, GPS
In the observation processing, radio waves must always be received from five or more GPS satellites, but this is hindered by some influence, and the number of satellites becomes four or less, and initialization is lost. Therefore, if a cycle slip occurs during the surveying work, the initialization is lost. If there is a cycle slip (YES), the process returns to step S10, and the initialization is performed again in steps S11 and S12. During the transition, the measurement and setting process cannot be performed. If there is no cycle slip (NO), the process proceeds to step S16.

In step S16, the coordinate data of the mobile station (2A) is obtained in real time from the information from the satellite radio wave, the observation data by the radio wave from the fixed station (3), and the observation data of the mobile station (2). Based on the coordinate data, the mobile station (2
The relation of the current position of (A) is displayed on the guide screen of the display 15 in the electronic flat plate 1. Thereby, the mobile station (2A) can be easily guided to the target position to be the surveying point. The guide screen can be changed from the initial navigation guide screen to the enlarged screen as the current position of the mobile station approaches the target position, and the enlarged screen is further displayed by the enlarged display processing described later. The mobile station is automatically enlarged and displayed sequentially in accordance with the relationship between the mobile station and the current position of the mobile station, so that the mobile station can be efficiently guided to the target position and navigation can be performed with a precision of mm unit.

The enlarged screen becomes a maximum enlarged screen displaying a circle with a minimum radius of 2 cm, and the mobile station current position is stabilized near the target position at the center of the maximum enlarged screen.
When the mobile station is brought closer, it is possible to indicate “the staking point is here” at the tip of the GPS antenna pole, and this point is determined as the staking point. When the survey points are determined in this way, in the next step S17, a stake or stud is driven into the determined survey points, and the process proceeds to step S18.

In step S18, it is determined whether or not there is still a point to be measured. That is, if the first surveying is completed and there is a next surveying point (YES), step S14 is performed.
Then, the mobile station (1, 2) inputs or selects the next measurement point. Here, as described above, the user inputs the number or name of the surveying point, or selects the next point to be surveyed from the map displayed on the screen of the display 15 of the electronic flat plate 1 and hits the target. , Steps S15 to S
At 17 the same is repeated. Then, step S18
Then, if it is determined that there is no longer any point to be measured (NO), the entire work flow ends.

[Details of Enlarged Display Processing and Measurement Point Determination Work] FIGS. 11 and 12 show flowcharts of the enlarged display processing and the measurement point determination work according to one embodiment of the present invention. In other words, this flowchart shows step S of the entire work flow.
16 shows the enlarged display processing and the work of determining the measurement setting point in 16 in detail.

[1] Guidance by Navigation Guidance Screen In one embodiment of the present invention, when the measurement work is started in step Q1, the navigation guidance as shown in FIG. The screen appears. On this screen, a current state map including a target position serving as a survey setting point and a current position of the mobile station (3A) is displayed.
On this map, the target position is plotted and displayed with "x" marks, and based on the mobile station coordinate data, the current position of the mobile station is plotted and displayed with "o" marks. The direction is indicated by a “→” mark. When the mobile station moves, the current position display mark (○)
Is moved and displayed, and the trajectory of the mobile station is displayed by a line that can be distinguished from the others, for example, a red line. In addition, on this screen, the distance to the measurement target point, the horizontal distance, the vertical distance, the specific height (depth), the direction (for example, southwest), and the like are also displayed in a window.

When moving the mobile station, the surveyor can easily determine in which direction the user is proceeding with respect to the surveying target point based on the position and locus of the mobile station displayed on the navigation guide screen. In addition, the direction to the designated target position can be clearly grasped in the field at the site. Therefore, the mobile station is guided by the display of the moving trajectory and the target direction as shown in step Q2 without being affected by the field of view between the target position of the staking point and the current position of the mobile station. You can go in the direction of the point (x).

When the mobile station approaches a target measuring point (x) to a certain extent (for example, 50 m), in step Q4, the "enlarged screen" button in the window on the navigation guide screen is operated by a pen-shaped operation. When the user clicks on the “enlarge screen” command by clicking on the child 14, step Q 5
And an enlarged view screen is displayed. In addition, as in step Q3 indicated by a broken line, it is determined whether or not the distance D between the target position of the stake-out point and the current position of the mobile station is smaller than a predetermined distance Da (for example, 50 m). Then, an automatic unit that automatically shifts to the display processing of the enlarged view screen after step Q4 may be adopted.

[2] Guidance by Enlarged View Screen In step Q5, the enlarged view screen displayed by the enlarged screen command indicates the position of the survey setting target point by a survey mark "x" at the center of the screen. A large-diameter and small-diameter double circle (circle) for displaying the distance from the measurement target point with the point as the center is displayed. These circles are the maximum predetermined distances Da and Db (for example, Da = 50 m, Db = 20 m) on the initial enlarged view screen (not shown).
Represents In addition, near the outside of the large diameter circle, FIG.
As in (the lower right in the sky plot), a sun mark is displayed in the direction where the sun is located at the time of the observation. By matching the position of the sun mark with the actual sun, the direction where the measurement target point exists can be easily known, and can be adopted also in the navigation guidance screen. Note that, similarly to the navigation guide screen, the trajectory of the mobile station and the target direction to the measurement target point may be additionally displayed on the enlarged view screen.

Therefore, in step Q6, when the mobile station is moved toward the surveying target point in accordance with the enlarged view screen, in step Q7, as the distance D decreases, the enlarged view screen is displayed. Are automatically enlarged sequentially. For example, if the distance D is 20 m (Db), 10 m,
Each time the diameter is reduced to 5 m, 1 m, 50 cm, 10 cm, 5 cm or less, the distance represented by the large-diameter circle is correspondingly changed to 20 m (Db), 10 m, 5 m, 1 m, 50 c
m, 10 cm, 5 cm (Dy) [The small diameter circles are 10 m, 5 m, 2 m, 50 cm, 20 cm,
5 cm, 2 cm (Dz)], and the drawing is enlarged and displayed.

As described above, the enlarged display of the map is repeatedly displayed on the guide screen of the display 16, and the mobile station is brought closer to the target measurement point according to the display. In this case, it is preferable to switch the magnification so that the position of the mobile station represented by the mark “○” always falls between the double circles. FIG. 14 shows an example of the “enlarged view screen (1)” when the measurement approaching point is approached within 1 m, and FIG. 15 is an example of the “enlarged view screen (1) when approaching the surveying setup point within 5 cm. 2)).

In FIG. 14, a sun mark displayed near the left side of the large-diameter circle indicates the position of the sun. The direction of the target point is very easy to understand, and the target point can be easily found. The sun mark moves according to the time zone and is displayed by calculating the position of the sun in the spring, summer, autumn and winter at the position of Japan Standard Time. It may be calculated or corrected by the calculation.)

If the rotation angle of the map display is set to 0 degree, the forward direction of the electronic flat plate 1 becomes the north direction. The direction can be clearly understood, and the measurement work can be easily performed even on a day or at night when the sun is not visible. Further, as another method, if the direction of the known point is displayed on the electronic flat plate 1, the enlarged view screen is directed to the known point direction, so that it is possible to clearly recognize in which direction the measuring point is located. .

In accordance with the enlarged image screen which is automatically enlarged in this way, as the mobile station moves toward the measurement target point and approaches the target position, the distance represented by each circle decreases. When the distance D becomes equal to or less than a predetermined distance Dy (for example, 5 cm), the display 15 of the electronic flat plate 1 displays the enlarged view screen in which the maximum is enlarged. The predetermined distances Dy and Dz (for example, Dy = 5 cm and Dz = 2 cm) are shown in FIG.

In step Q8, the current position (局) of the mobile station moves to the measurement target point at the center (×) within the small-diameter circle having the radius Dz on the maximum enlarged view screen as shown in FIG. Move the mobile station closer to the target point,
Find the target point in units. Then, in step Q9, it is determined whether or not this mobile station current position (○) is stable near the center (×). Here, if it is not stable,
The operation of approaching the mobile station in step Q8 is performed until the operation is stabilized. If the operation is stable, the process proceeds to step Q10, where a stable position is determined as the surveying point. Then, the work for determining the surveying point is completed, and the process returns to step S17 (FIG. 5) of the entire work, and a stake or stud is inserted at the marked position.

In the above-described embodiment, the description has been given of the case where the surveying point is guided as the target position. However, the present invention is not limited to the surveying point, but may be any method for searching for an unknown target point whose coordinate value is known. It can be applied to guidance to a target position.
In the embodiment, a mobile GPS receiver is installed at an arbitrary reference point as a known station (fixed station) for transmitting observation data for correction from the reference position to the mobile station. A configuration in which an electronic reference point is used as a fixed station and correction information is received by a mobile station via an MCA radio control station so that an information service from an electronic reference point is used instead of using a fixed fixed-point GPS receiver. It may be.

[0056]

As described above, according to the present invention, when an unknown target position such as a surveying point is set, the GPS observation information sent from a fixed station at a known position, The current position of the mobile station is calculated based on the GPS observation information received by the mobile station, and a guidance screen (navigation guide screen / enlarged view screen) indicating the relationship between the set target position and the calculated mobile station current position )But,
Since the graphic is displayed on the portable display device, the user carrying the display device is guided to the target position in accordance with the guidance screen by simply pointing the calculated surveying point, and moves the GPS mobile station to the target position. Can be easily moved. Therefore, it is possible to easily perform three-dimensional measurement and search for a buried object whose position coordinates are known without the necessity of securing visibility. In addition, since the user can work while checking his / her position on the screen, work efficiency is dramatically improved.

According to the present invention, when an unknown target position such as a survey setting point is set, the GPS observation information sent from the fixed station at the known position and the GPS observation information received by the portable mobile station are set. Based on the information, the current position of the mobile station is calculated, and the distance between the set target position and the calculated current position of the mobile station is calculated. Is controlled to an enlargement ratio corresponding to the calculated distance.
Therefore, a screen representing the positional relationship between the target position such as the survey setting target point and the current position is enlarged and displayed (enlarged image screen), and the magnification of the enlarged image screen is determined by the positional relationship between the target position and the current position. Is automatically changed in accordance with the condition, the work efficiency and operability can be further improved.

According to the present invention, when a portable fixed station is set at a known position and an unknown target position such as a surveying point is set, the GPS observation information sent from the fixed station and the portable fixed station are set. The current position of the mobile station is calculated based on the GPS observation information received by the mobile station, and the relationship between the set target position and the calculated current position of the mobile station is graphically displayed on a portable display device. Therefore, the user searching for the target position can set any known reference point as the fixed station, and can easily move the GPS mobile station to the target position according to the guide screen.

According to the present invention, not only is the current position of the mobile station plotted against the target position, but also the trajectory to the current position of the mobile station, the direction from the current position of the mobile station to the target position, or The current position of the sun is also displayed to make it easy to understand the direction of the measurement target point. Therefore,
The user can easily and physically approach the target point by referring to the display of the moved locus, the display of the target direction, the mark indicating the sun, and the like, and can easily find the target point.

[Brief description of the drawings]

FIG. 1 is a view schematically showing a measuring work according to an embodiment of the present invention.

FIG. 2 is a system block diagram showing a hardware configuration of a target position guidance system according to one embodiment of the present invention.

FIG. 3 is a functional block diagram of a target position guidance system according to an embodiment of the present invention.

FIG. 4 is a part of an example of a work flow of the entire measurement work using the target position guidance system according to one embodiment of the present invention;

FIG. 5 is another part of an example of a work flow of the entire surveying work using the target position guidance system according to the embodiment of the present invention.

FIG. 6 is a diagram showing a “GPS” according to an embodiment of the present invention;
Measurement setup screen ".

FIG. 7 is an example of a “known point setting screen” in one embodiment of the present invention.

FIG. 8 is an example of a “condition setting screen” in one embodiment of the present invention.

FIG. 9 is an example of a “measuring work screen” in one embodiment of the present invention.

FIG. 10 is an example of a “sky plot screen” in one embodiment of the present invention.

FIG. 11 is a part of a flowchart of a magnified display process and a measuring point determination operation according to an embodiment of the present invention;

FIG. 12 is another part of the flowchart of the enlargement display processing and the work for determining the measuring points according to the embodiment of the present invention.

FIG. 13 is an example of a “navigation guide screen” in one embodiment of the present invention.

FIG. 14 is an “enlarged view screen (1)” when the target point is approached within 1 m within one embodiment of the present invention;
This is an example.

FIG. 15 is an example of an “enlarged view screen (2)” when the target point is approached within 5 cm or less in one embodiment of the present invention.

[Explanation of symbols]

Reference Signs List 1 electronic flat plate (observation site host computer), 2 first GPS device (first GPS receiver, mobile station), 2A mobile station GPS receiving antenna, 3 second GPS device (second GPS receiver, fixed station, known station), 3A Fixed station GPS receiving antenna.

Claims (5)

[Claims] 1. A mobile station based on means for setting an unknown target position, GPS observation information transmitted from a fixed station at a known position, and GPS observation information received by a portable mobile station. And a display control means for graphically displaying the relationship between the set target position and the calculated mobile station current position on a portable display device. system. 2. A means for setting an unknown target position, a current position of a mobile station based on GPS observation information transmitted from a fixed station at a known position, and GPS observation information received by the mobile station. And a display control means for enlarging the relationship between the two positions according to a decrease in the distance between the set target position and the calculated current position of the mobile station, and graphically displaying the relationship on the display device. A target position guidance system, comprising: 3. The target position guidance system according to claim 1, wherein the fixed station is a portable GPS receiver and is installed at a known position. 4. The display control means displays at least one of a trajectory of the mobile station to the current position, a direction from the mobile station current position to the target position, and a current position of the sun. The target position guidance system according to any one of claims 1 to 3. 5. A step of setting an unknown target position, a step of acquiring GPS observation information transmitted from a fixed station at a known position, and a step of acquiring GPS observation information received by a mobile station. Calculating the current position of the mobile station based on the information; calculating a distance between the set target position and the calculated current position of the mobile station; The relationship
A program for controlling the enlargement ratio according to the calculated distance.