JP2002318272A - Hybrid positioning system and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a hybrid positioning system which can realize a highly accurate positioning by using also a supplementary measuring system such as a portable communication network for positioning of a VRS method. SOLUTION: In the hybrid positioning system, a GPS receiving mechanism 2 receives GPS satellite information from artificial satellites, and a portable communication terminal 3 receives GPS correction information of the VRS method from a VRS information delivery server, and at the same time, receives radio wave information from a plurality of mobile communication antenna stations as well. A body system 1 carries out GPS positioning based on the GPS satellite information and the GPS correction information, and at the same time, carries out mobile communication positioning based on the radio wave information. According to a normal positioning condition, a positioning position by the GPS positioning is adopted as a position of the mobile station, and a positioning position by the mobile communication positioning is calibrated by the highly accurate GPS positioning position. When the condition becomes poor, a calibrated mobile communication positioning position is supplementally adopted as the position of the mobile station. When the condition is poorer, supplementary measuring with the utilization of a gyro mechanism 4 is carried out.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hybrid positioning system, and more particularly, to a GP according to a VRS system.
The present invention relates to a hybrid positioning system capable of positioning a mobile station with high accuracy by using supplementary measurement such as a positioning method using a portable communication terminal with S positioning, and a recording medium therefor.

[0002]

2. Description of the Related Art Speaking of a positioning system using a GPS, a car navigation system is immediately conceived, but most of the positioning methods of the car navigation system are performed by a single positioning method of the GPS (Global Positioning System). And the accuracy is as bad as 10-50m,
The fact is that the information is forcibly displayed on the road by matching with the road line information. In a place where the satellite cannot be seen, such as in a tunnel, a method of complementing GPS-only positioning by using a speedometer and a gyro may be adopted.

[0003] However, when such navigation is considered as a positioning method when a person walks, it is assumed that the user may walk on a path on which a car cannot travel. I can't.
In other words, it can be said that the conventional method cannot be applied to navigation other than car navigation.

[0004] GPS VRS (Virtual Reference Station)
It is known that the use of a D-GPS (Differential GPS) positioning method using a ference station greatly improves the positioning accuracy (0.5 to 3 m). Therefore, if a high-accuracy map using this D-GPS is generated, even if used by a person, it can be accurately positioned on a walking path, and thus can be sufficiently used for navigation of a walking person. Possible positioning information can be obtained.

[0005] However, this D-GPS positioning method can also perform positioning because a GPS observation satellite in the sky is visible, and cannot be used in a building or the like.

[0006]

SUMMARY OF THE INVENTION The present invention provides a highly accurate GPS positioning system using a VRS by using a mobile communication positioning system using a portable communication network as a supplementary means, regardless of positioning conditions. An object of the present invention is to provide a hybrid positioning system capable of realizing positioning (positioning).

[0007]

According to a main feature of the present invention, a GPS positioning means for positioning a mobile station based on GPS observation information based on a virtual reference point method and generating GPS positioning information indicating a positioning position, Mobile communication positioning means for positioning a mobile station based on radio wave reception information obtained by receiving a communication radio wave and generating mobile communication positioning information indicating a positioning position,
A hybrid positioning system (claim 1) including positioning control means for determining the position of a mobile station from GPS positioning information or mobile communication positioning information, and GPS obtained from a means for receiving GPS observation information by a virtual reference point method. A recording medium readable by a mobile station terminal device that generates mobile station positioning information representing a mobile station position using observation information and radio wave reception information obtained from mobile communication radio wave reception means, Generating GPS positioning information indicating the positioning position of the mobile station based on the obtained GPS observation information; and generating mobile communication positioning information indicating the positioning position of the mobile station based on the acquired radio wave reception information. , Selecting either one of the two pieces of positioning information, and generating mobile station positioning information from the selected positioning information. Recording medium for hybrid positioning (claim 6) is provided that.

[0008] In the hybrid positioning system of the present invention, the positioning control means includes a difference detecting means for calculating a difference between the two positioning positions represented by the GPS positioning information and the mobile communication positioning information, and a mobile communication means in accordance with the calculated difference. And a correcting unit that corrects the positioning position represented by the positioning information.

The GPS positioning means may be configured to perform positioning based on information obtained by differential GPS observation or real-time kinematic GPS observation (claim 3), and the mobile communication positioning means may be a portable communication terminal. It is possible to configure so that positioning is performed based on information obtained by receiving radio waves from an antenna network (claim 4).

In the hybrid positioning system according to the present invention, relative displacement of the mobile station is detected based on physical information acquired as the mobile station moves, and physical positioning information representing the relative displacement is obtained. It is possible to provide a physical positioning means for generating, and the positioning control means can be configured to determine the position of the mobile station using the generated physical positioning information (claim 5).

According to the main features of the hybrid positioning system according to the present invention, in the mobile station terminal device, the GPS observation information receiving means (2, 3) uses the GPS observation information (satellite) based on the virtual reference point (VRS) method. When receiving the observation information or the VRS reference information), the GPS positioning means (S1 to S3) use the virtual reference point method to perform the GP operation.
The mobile station (SM) is positioned based on the S observation information, and GPS positioning information (GPS position) indicating the positioning position (Xma, Yma, Zma) is generated. When the mobile communication radio wave receiving means (2) receives the radio wave reception information by receiving the mobile communication radio wave, the mobile communication positioning means (S5 to S7)
The mobile station (SM) is positioned based on the radio wave reception information obtained by receiving the mobile communication radio wave, and the positioning position (Xmb, Ymb, Zm) is determined.
Mobile communication positioning information (portable position) representing b) is generated. Then, by the positioning control means (S9 to S16),
From the generated GPS positioning information or mobile communication positioning information,
The position (positioning; Xm, Ym, Zm) of the mobile station (SM) is determined. Note that the parentheses are exemplarily added for convenience of understanding, and represent corresponding terms or symbols in the embodiments described later, and the same applies to the following.

According to the present invention, a highly accurate VR
Based on GPS positioning by S, mobile communication positioning based on mobile communication radio waves using a mobile communication network,
Since it is used together as supplementary measurement means for GPS positioning, it is possible to realize high-precision positioning (positioning) regardless of positioning conditions such as when moving in a building where a GPS observation satellite is not visible. it can.

In the hybrid positioning system according to the present invention, in the positioning control means (S9-S16), the difference detection means (S12) uses the GPS positioning information (GPS position) and the mobile communication positioning information (portable position). The difference (correction position) between the positioning positions is calculated, and the correction position (S14) corrects the positioning position represented by the mobile communication positioning information according to the calculated difference. As described above, the position information based on the mobile communication positioning is a highly accurate VRS.
Is corrected based on the position information obtained by GPS positioning, so that even in a place where GPS positioning is impossible, highly accurate mobile station positioning can be reliably maintained.

In the hybrid positioning system according to the present invention, the GPS positioning means (S1 to S3)
Differential GPS (D-GPS) observation (1) or real-time kinematics GPS (RTK-GPS)
Positioning can be performed with high accuracy based on the information obtained by the observation (2). In addition, mobile communication positioning means (S5 to S5)
S7) is an antenna network for mobile communication terminals (Sa1 to Sa).
n) based on the mobile communication positioning based on the information received from
Supplementary positioning can be easily realized.

In the hybrid positioning system according to the present invention, physical positioning means (S15) is further provided, and when physical information accompanying the movement of the mobile station (SM) is acquired from the displacement detecting means (4), the physical positioning means is provided. By (S15), relative displacement is detected based on this physical information, and physical positioning information ("gyro positioning") representing this relative displacement is generated. Then, the positioning control means (S1
6), based on the generated physical positioning information (“gyro positioning”), the position (Xmc, Ymc,
Zmc) is determined. Therefore, even in a place where it is difficult to use radio waves, high-precision positioning can be maintained by such physical positioning.

[0016] To give a simple example, a portable communication terminal such as a mobile phone is used as a mobile station.
When a mobile communication network such as a mobile communication (telephone) network in which an antenna base station performs communication (communication) with a mobile communication terminal in synchronization is used, a distance between the mobile station (mobile communication terminal) and the antenna base station is calculated. be able to. Therefore, according to the present invention, a mobile communication positioning system is configured to calculate the position of a mobile station (portable communication terminal) by communicating with three or more antenna base stations, and this mobile communication positioning method is used together with GPS positioning. By doing so, extremely high-precision positioning (positioning) can be realized.

That is, in the positioning according to the present invention, normally (S2, S9 = YES), differential observation (referred to as “D-GPS” observation) or real-time kinematic observation [“RTK-GPS”) having high positioning accuracy is usually performed.
Observation, or simply "RTK" observation. RTK = Real Time Kinematic)
GPS based on VRS observation data obtained using GPS
The position of the mobile station is determined by positioning (S3, S10), and GP
When traveling in a building where the S observation satellite is not visible (S2, S9 = NO; S6, S13 = YES), the DG
As means for supplementary positioning (supplementary measurement) for PS or RTK-GPS observation, mobile communication positioning (that is, a position calculation method using a mobile communication terminal) is used (S7, S14).

While the functions of the GPS positioning and the mobile communication positioning are sound (S9, S11 = YES), the position based on the mobile communication positioning ("portable position") is always GPS.
It is compared with the position obtained by positioning ("GPS position") (S12), and when the position obtained by mobile communication positioning is adopted as the mobile station position (S9 = NO, S13 = YES),
Calibration is immediately performed at the difference position (correction position) by comparison (S14).

Therefore, from the viewpoint of positioning accuracy, D-GPS
Alternatively, it is possible to maintain high-accuracy positioning by using a mobile communication positioning system using a mobile communication network or the like as supplementary means based on high-accuracy VRS positioning using RTK-GPS observation.

In a place where it is difficult to use radio waves, such as an underground mall or a tunnel (S9 = NO, S13
= NO), it is not possible to use a positioning system for absolute position by GPS observation or a mobile communication terminal, but by using a physical positioning system that calculates relative displacement using a simple gyro mechanism, etc. Further supplementary measurement can be performed (S15, S16). This allows
You will be able to position everywhere.

[0021]

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.

FIG. 1 is a schematic hardware block diagram schematically showing an example of a hardware configuration of a hybrid positioning system according to an embodiment of the present invention. In this example, a mobile type personal computer (mobile computer) 1 is used as a main system for hybrid positioning of a mobile station (SM), and a GPS receiving mechanism 2 and a mobile communication terminal (mobile communication terminal) are used. The gyro mechanism 3 and the gyro mechanism 4 are used as an observation information acquisition mechanism.

The outline of the hybrid positioning system according to the present invention will be described with reference to FIG.
The GPS receiving mechanism 2 receives GPS satellite information from artificial satellites, and the mobile communication terminal 3 transmits a VRS information distribution server (S
S) to VRS type GPS correction information (VR at mobile station)
Information such as correction information and virtual satellite information necessary for S positioning.
It is called “VRS reference information”. ) As well as radio wave information from a plurality of mobile communication antenna stations. The main system 1 performs GPS positioning based on GPS satellite information and VRS reference information, and also performs mobile communication positioning based on radio wave information. Under normal positioning conditions, a positioning position based on GPS positioning is adopted as the position of the mobile station (SM), and a positioning position based on mobile communication positioning is calibrated with a high-precision GPS positioning position. Under bad conditions, a calibrated mobile communication positioning position is additionally adopted as the mobile station position, and under worse conditions, supplementary measurement using the gyro mechanism 4 is performed.

The mobile computer 1 is an information tool capable of carrying out data processing and data transmission / reception while being carried, such as a portable notebook personal computer and a PDA (Personal Digital Assistants). Storage device 12, touch panel display 1
3, the interface 14 is provided, and these elements 11 to
14 are connected to each other via a bus 15.

The CPU 11, which controls the entire system, performs various controls according to a predetermined program, executes basic information processing by a program installed in the mobile computer 1, and particularly executes the GPS receiving mechanism 2,
Mobile communication terminal (mobile communication terminal) 3 and gyro mechanism 4
In conjunction with the above, the hybrid observation processing for the hybrid positioning according to the present invention is mainly performed.

The storage device 12 includes a ROM (read only memory) storing basic programs and programs related to hybrid positioning processing and fixed data / parameters, a RAM (random access memory) for temporarily storing various data, and a hard disk (HD). Outside, memory card or F
It consists of external storage devices using various portable recording media such as D (floppy disk) and MO (magneto-optical) disks, and these external storage devices store programs related to the hybrid observation processing and various data / parameters. Can be.

The touch panel display 13 is
A hybrid system is provided with a display and input operators [various keys and pen-type operators (touch pens)], and by giving a predetermined input to the system mainly by operating the touch pen while visually recognizing various screens displayed on the display 5. Various user interface functions in the observation processing can be performed. The mechanisms 2 to 4 are connected to the interface 14.

The GPS receiving mechanism 2 includes a GPS antenna 21
And a GPS receiver 22. The satellite radio signal received by the GPS antenna 21 is received and processed by the GPS receiver 22 and then input to the main system 1 via the interface 14. In the main system 1, based on the received satellite information from the GPS receiving mechanism 2 and the VRS reference information (correction information, etc.) of the virtual reference point from the mobile communication terminal 3,
The position of the mobile station (SM) is measured by the VRS method. This VRS positioning method is referred to herein as “GPS positioning”, and differential GPS (D-GPS) observation is usually applied to the GPS positioning method. Note that, when positioning with higher precision (for example, precision = 1 cm) is required, real-time kinematics GPS (RTK-GP
S) The observation method is applied.

The portable communication terminal 3 is, for example, a portable telephone (including a PHS (Personal Handy phone System)), and is used for normal telephone calls and data communication.
This data communication includes data exchange for GPS positioning, for example, a virtual reference station (point) required for GPS positioning.
VRS reference information can be obtained. The mobile communication terminal 3 further has a signal detection function for positioning the position of the mobile station (SM) using a network of an antenna base station (mobile communication network). In order to supplement GPS positioning when GPS positioning cannot be executed due to a bad situation, it is used to detect a communication signal of a mobile communication network and perform positioning. This positioning method by the mobile communication terminal 3 is referred to herein as “mobile communication network positioning”.

The gyro mechanism 4 includes an accelerometer 41 and a gyro 42, and is used to further supplement the position of the mobile station (SM). The positioning method using the gyro mechanism 4 is referred to herein as “gyro positioning”.

In FIG. 1, the portable communication terminal 3 and the GPS
Although the receiver 22 is connected separately to the main system 1 via the interface 14, the functions of the GPS receiver 22 and the mobile communication terminal 3 are incorporated in the main system 1, or the main system 1 and the mobile communication The mobile station system is provided with communication / signal transmission / reception / data processing functions such as incorporating the function of the terminal 3 into the GPS receiver 22 or incorporating the functions of the main system 1 and the GPS receiver 22 into the portable communication terminal 3. It can be configured as an integrated portable terminal device.

[Outline of Positioning System] In the hybrid positioning system according to one embodiment of the present invention, as described below, according to the observation conditions for mobile station positioning,
[1] GPS positioning, [2] mobile communication network positioning (mobile communication positioning) or [3] gyro positioning (physical positioning) is applied.

[1] GPS positioning Under normal sky conditions, GP using the VRS positioning method
S positioning is used to determine the position of the mobile station. FIG. 2 is a diagram for explaining the outline of the VRS positioning method. FIG.
Mobile station whose block configuration is shown in (rover)
The SM can receive a radio signal from an artificial satellite via the GPS antenna 21 of the GPS receiving mechanism 2 at an arbitrary position while the mobile station is moving. For example, if the GPS receiver 22 is a two-frequency receiver, the satellite radio signal includes L1, L2 carrier phase, C / A code, P
Satellite information represented by a code (Y code) or the like is included.

The received satellite information (received satellite information)
The data is sent to the main system (mobile computer) 1 by the GPS receiver 22 of the mobile station SM, and is stored in the storage device 12 via the interface 14 and the bus 15 of the main system 1.
(RAM), and the CPU 11 performs a single positioning process based on satellite information from four or more artificial satellites received by the GPS receiver 22. By this processing, the current position (Xv, Yv, Zv) of the mobile station SM is calculated, and information (temporary position coordinate information) representing the coordinates (latitude, longitude, altitude, etc.) of the calculated mobile station position is stored in the storage device 12.
It is stored in the observation information storage area of (RAM).

The main system 1 further includes a VR (Vehicle Communication System) through a portable communication terminal (mobile phone) 3 and a communication (telephone) line TC.
S information distribution server (VRS reference station satellite information distribution server)
SS, and calls the mobile station SM to the VRS information distribution server S
Connect to S. By this connection, the observation position coordinate information (Xv, Yv, Zv) of the mobile station SM observed by the single positioning calculated by the main system 1 is transmitted from the mobile station SM to the V
The information is transmitted to the RS information distribution server SS.

On the other hand, the VRS information distribution server SS
On the side, a virtual reference point SV is created on the observation result position (Xv, Yv, Zv) of the mobile station SM indicated by the transmitted observation position coordinate information, and a rectangular area (for example, a triangle) surrounding the virtual reference point SV is formed. V from three or more GPS fixed reference stations Sr1 to Sr4 forming the vertex via a communication line (not shown).
The satellite information sent to the RS information distribution server SS is acquired. Here, position coordinates (Xr1, Yr1, Zr1) to (Xr4, Yr4, Yr4) of the GPS fixed reference stations Sr1 to Sr4.
Zr4) is known, and each of the GPS fixed reference stations Sr1 to Sr
The position interval of r4 is usually 30 to 70 km (sometimes 100 km or more). The number of GPS fixed reference stations with respect to the virtual reference point SV may be at least three points. However, for the sake of error elimination, redundancy is provided, and for example, as shown in FIG. It is convenient to use Sr4.

Then, the VRS information distribution server SS
Based on the satellite information from the PS fixed reference stations Sr1 to Sr4, (1) positioning is performed by D-GPS observation, or
(2) The following calculation (1) or (2) is performed depending on whether positioning is performed by RTK-GPS observation: (1) GPS on virtual reference point SV (Xv, Yv, Zv)
Position coordinates Rvm (Xvm, Yvm, Zv) that would be obtained by performing the single positioning process when the antenna was set up
m) is calculated, and the calculated position coordinates Rvm (Xvm, Y
vm, Zvm) as the true position coordinates of the mobile station SM, and the observation position coordinates (Xv, Yv, Z) sent from the mobile station SM.
v) and the difference information Δxm, Δym, Δzm is calculated as VRS reference information A for the mobile station SM (Δxm = X
v−Xvm, Δym = Yv−Yvm, Δzm = Zv−Z
vm). (2) GPS on virtual reference point SV (Xv, Yv, Zv)
As the satellite information (virtual satellite information) that would be received from the artificial satellite when the antenna was set up, L1, L2
The carrier phase, the C / A code pseudo distance, and the P code (Y code) pseudo distance are calculated, and the calculated virtual satellite information is used as VRS reference information B for the mobile station SM.

The VRS information distribution server SS determines which V
The RS reference information A and B are converted to virtual reference point position coordinate information (X
v, Yv, Zv) to the mobile station SM side, and the main system 1 of the mobile station SM refers to the VRS transmitted from the VRS information distribution server SS via the communication (telephone) line TC and the mobile communication terminal 3. The information A, B and the virtual reference point position coordinate information (Xv, Yv, Zv) are received and stored in the VRS information storage area of the storage device 12 (RAM) via the interface 14 and the bus 15 under the control of the CPU 11. .

In the main system 1, (1) D-
Perform positioning by GPS observation or (2) RTK-G
The storage unit 12 (RA
M) Any VRS stored in the VRS information storage area
The following calculation (1) or (2) is performed based on the reference information A and B: (1) Calculation by the D-GPS positioning function = storage device 12
VRS reference information A (correction information = difference coordinate Δ; Δxm, Δym, Δz) stored in the VRS information storage area of (RAM)
m) is added to the observation result position (Xv1, Yv1, Zv1) newly calculated by the independent positioning function, and the mobile station SM
Is calculated (Xma, Yma, Zma). (2) Calculation by RTK-GPS positioning function = storage device 1
2 (RAM) VRS stored in the VRS information storage area
Based on the reference information B (virtual satellite information) and the virtual reference point position coordinate information (Xv, Yv, Zv) and the received satellite information newly received from the artificial satellite, the RTK positioning is calculated, and again. The true position coordinates (Xma, Ym) of the mobile station SM
a, Zma) is calculated again.

In the (1) D-GPS positioning,
When the initial observation result position (Xv, Yv, Zv) has the same value as the new observation result position (Xv1, Yv1, Zv1), the true position coordinates (Xma, Ym) calculated in (1) above.
a, Zma), that is, single positioning and D-GPS
The observation accuracy difference with respect to the positioning is represented by a shaded area in FIG. 2 and is usually in a range of about several tens of meters.

In the above description, the mobile communication terminal 2 is used to transmit the tentative position coordinate information (Xv, Yv, Zv) of the mobile station SM to the VRS information server SS by the sole positioning, or to use the VRS reference information A , B, etc. in the VRS information server S
S, information is exchanged via the interface 14 of the main system 1 in order to receive the information from the S.
As shown by a dotted line, information may be exchanged via the GPS receiver 22. In this case, the GPS receiver 2
2 is provided with a reception memory, and the reception memory
GPS receiver CPU with information storage function instead of AM
To control information exchange and perform positioning calculation processing. As a result, the transmission / reception time lag of the GPS information transmitted / received to / from the VRS information server SS is reduced as compared with the case via the interface 14, and the G
The positioning processing is performed in the PS receiver 22 and only the positioning processing result is sent to the main system, so that the burden on the main system can be reduced.

[2] Mobile Communication Network Positioning (Mobile Communication Positioning) In the hybrid positioning system according to one embodiment of the present invention, radio signals cannot be received from a specified number or more of artificial satellites, and GPS positioning is impossible. Under sky conditions, a mobile communication network positioning system that measures the position of the mobile station SM using an antenna base station network is used. FIG. 3 is a diagram for explaining the outline of the portable communication network positioning method. The mobile communication terminal 3 of the mobile station SM is used in a mobile phone network in which a plurality of antenna base stations synchronize and communicate with each other, and the mobile station SM has three or more antenna base stations Sa1 to Sa3.
, The current position of the mobile station SM can be calculated.

That is, when the mobile station SM communicates via the communication line TC and the antenna base station, three or more antenna base stations Sa1 to Sa3 which can communicate with the moving mobile station SM.
A communication signal is transmitted and received while synchronizing with Sa3. The position of each antenna base station Sa1 to Sa3 (Xa1,
Ya1, Za1) to (Xa2, Ya2, Za2) and the phase difference between the communication signals between the antenna base stations Sa1 to Sa3 and the mobile station SM, the respective antenna base stations Sa1 to Sa1.
The distance between Sa3 and the mobile station SM is determined, and the determined distance and the position (Xa1, X1) of the antenna base stations Sa1 to Sa3 are determined.
Ya1, Za1) to (Xa3, Ya3, Za3),
The position (Xmb, Ymb, Zmb) of the mobile station SM can be obtained.

To give a specific example, the antennas of a large number of antenna base stations Sa1 to San in the telephone network are determined in advance at precise positions (Xa1, Y
a1, Za1) to (Xan, Yan, Zan) are measured, and a small GPS receiver is provided at each antenna base station, and a highly accurate atomic clock (GP) is provided by the GPS receiver.
S time). In synchronization with the atomic clock, a radio signal of, for example, 800 MHz is emitted from the antenna of each antenna base station of the telephone network.

The mobile station SM receives radio signals radiated simultaneously and completely from four or more antenna base stations in the telephone network, and receives a phase difference (phase shift) between the radio signals from each antenna base station. Is measured. That is, each radio signal has a phase difference corresponding to the distance from each antenna base station to the mobile station SMb. Therefore, similar to the principle of RTK-GPS observation, each antenna base station is determined from this phase difference (phase shift). The distance between the mobile station SM and the mobile station SM can be calculated, and the position (Xmb, Ymb, Zmb) of the mobile station SM can be calculated from each distance.

The position (X
mb, Ymb, Zmb), as shown in the figure, it is sufficient if there are antenna base stations Sa1 to Sa3 at at least three points, but in order to eliminate this error in consideration of clock related errors. And another antenna, namely
As in the case of the GPS positioning described above, it is preferable to receive radio signals simultaneously emitted from at least four antennas.

[3] Gyro Positioning (Physical Positioning) In the hybrid positioning system according to one embodiment of the present invention, gyro positioning is used when GPS positioning is impossible and mobile communication network positioning cannot be used. Can be. When the mobile station SM is moving in a place where satellite telephone or terrestrial radio waves cannot be used, such as in an underground mall or a tunnel, neither the GPS mechanism 2 nor the mobile communication terminal 3 can be used.

In such a place, supplementary measurement (supplementary positioning) is performed by gyro positioning using the simplified gyro mechanism 4 using the accelerometer 41 and the gyro 42. In this gyro positioning, the relative displacement after the start of the gyro positioning is measured, and the measured relative displacement is sequentially added to the previous positioning values, whereby the position of the mobile station SM (Xm
c, Ymc, Zmc). (Since such gyro positioning is already well known, a detailed description thereof will be omitted.) Therefore, further supplementary measurement by gyro positioning allows the mobile station SM to be located anywhere.
Can be measured.

[Hybrid Observation Processing] FIG. 4 is a flowchart showing the main processing of the hybrid observation executed in the hybrid positioning system according to one embodiment of the present invention. When the hybrid observation process starts, in the first step P1, the operation states of all the positioning processes in the hybrid positioning system are set to OFF (OFF), and the system is initialized. That is, both the GPS and the mobile communication network flag (switch flag; value “0” indicates an OFF state, value “1” indicates an ON state) indicating the state in which the GPS positioning and the mobile communication network positioning are operating. At the same time, the gyro counter is set to "0" to set the gyro positioning to an initial state.

In the next step P2, the positioning processing routine (FIGS. 5 and 6) is executed, and subsequently, in step P3,
The positioning result obtained by the positioning processing in step P2 is displayed on the display screen of the touch panel display 13. In the next step P4, it is checked whether or not there is an instruction to end the hybrid observation. If there is no end instruction, the process returns to step P2, and the processes in steps P2 to P4 are repeated until the end instruction is issued. Then, for example, when an end command is generated by operating the observation end button or the like of the touch panel display 13, the hybrid observation process is ended.

[Positioning Processing Routine] FIGS. 5 and 6 are flowcharts showing the positioning processing routine in step P2 of the hybrid observation processing executed in the hybrid positioning system according to one embodiment of the present invention. When positioning is started by starting the positioning processing routine, in a first step S1, a start of GPS positioning is instructed. In the next step S2, the GPS
It is checked whether or not the observation by the positioning is normally performed. When the normal observation by the GPS positioning is performed, (YE
S) Proceed to step S3, otherwise (NO),
In step S4, the GPS flag is kept OFF, and the process proceeds to step S5.

In step S3, the GPS flag is turned on, and "GPS" representing the true observation position (Xma, Yma, Zma) of the mobile station SM obtained by GPS positioning.
The “observation position” information is stored in the “GPS” of the storage device 12 (RAM).
Location "storage area. Thereafter, the process proceeds to step S5.

In step S5, the start of the mobile communication network positioning is instructed. In the next step S6, it is checked whether the observation by the mobile communication network positioning is normally performed, and the mobile communication network positioning operates normally. If yes (YES), the process proceeds to step S7; otherwise (NO), the process proceeds to step S8 while maintaining the state in which the mobile communication network flag remains OFF in step S8, and then proceeds to step S9 (FIG. 6).

In step S7, the mobile communication network flag is turned on, and the mobile station S obtained by the mobile communication network positioning is set.
The “portable observation position” information indicating the observation position (Xmb, Ymb, Zmb) of M is stored in the “portable position” storage area of the storage device 12 (RAM). Thereafter, the process proceeds to step S9 (FIG. 6).

In step S9, it is determined whether the GPS flag is ON. Here, the GPS flag is ON
(YES), in step S10, the "GPS observation position" information (Xma, Yma, Zm) stored in the "GPS position" storage area of the storage device 12 (RAM).
a) is written in the “positioning” storage area of the storage device 12 (RAM) as information representing the current mobile station position (Xm, Ym, Zm) in the hybrid positioning system, and further proceeds to step S11.

In step S11, it is checked again whether or not the mobile telephone network positioning has been normally observed. If the mobile communication network positioning is operating normally (YES), the flow advances to step S12 to store. “GP position” stored in the “GPS position” and “portable position” storage areas of the device 12 (RAM)
From the "S observation position" information (Xma, Yma, Zma) and the "portable observation position" information (Xmb, Ymb, Zmb), the corrected position (Xc, Yc, Zc) is calculated by the following equation (1). “Correction position” information representing the correction position (Xc, Yc, Zc) is stored in the “correction position” storage area of the storage device 12 (RAM): correction position (Xc, Yc, Zc) = GPS position (Xma, Xma, Yma, Zma)-Mobile position (Xmb, Ymb, Zmb) ... (1)

On the other hand, if it is determined in step S9 that the GPS flag is not ON (NO), step S1 is executed.
Proceeding to 3, it is further determined whether or not the mobile communication network flag is ON. Here, when the mobile communication network flag is ON (YES), in step S14, the “mobile observation position” information (“mobile observation position” stored in the “mobile position” and “correction position” storage areas of the storage device 12 (RAM)). Xmb, Y
mb, Zmb) and “correction position” information (Xc, Yc, Z)
c), the positioning position (Xm, Ym, Z) is calculated by the following equation (2).
m) is calculated, and the calculated positioning position (Xm, Ym, Z) is calculated.
m) is stored in the storage device 12 (RAM)
Is stored in the “positioning” storage area of: positioning position (Xm, Ym, Zm) = portable observation position (Xmb, Ymb, Zma) −correction position (Xc, Yc, Zc) (1)

If it is determined in step S13 that the portable communication network flag is not ON (NO), the process proceeds to step S15, where gyro positioning is started, and in step S16, the gyro positioning position obtained by gyro positioning ( Xmc, Ymc, Zmc) information is added to “positioning” information (Xm, Ym, Zm) recorded in the “positioning” storage area of the storage device 12 (RAM) to calculate new positioning information, "Positioning" in the storage device 12 (RAM)
The “positioning” information (Xm, Ym, Zm) in the storage area is updated.

When it is determined in step S11 that the mobile phone network positioning has not been normally observed (NO),
After the processing in steps S12, S14, and S16, the process proceeds to step S17, in which the gyro counter is set to “0” to initialize the gyro positioning, and then the positioning processing routine ends, and the main processing (FIG. It returns to step P3 of 4).

[VRS Positioning Processing] In one embodiment of the present invention, when performing VRS positioning, the mobile station SM performs two-way communication with the VRS information distribution server SS using the portable communication terminal of the mobile station SM to perform single positioning of the mobile station SM. A virtual reference point is set based on the observation position information, and V of the set virtual reference point is set.
By using the RS reference information, it is possible to realize M high-accuracy VRS positioning.

By this two-way communication, the VRS information distribution server SS can grasp where the mobile station S is located in the wide VRS information distribution service area.
Since the virtual reference point is set near the mobile station SM based on the observation position information, the processing speed and observation accuracy are improved. For example, when RTK-GPS observation is applied, within 10 km from the virtual reference point, the initialization time is greatly shortened, and excellent observation accuracy can be obtained. further,
The current position of the mobile station SM trying to use the VRS positioning can be calculated simply and in a short time by using the GPS single positioning (as is well known, the single positioning is approximately an approximate value. Although the accuracy is only about several tens of meters, the accuracy range is too high to be used as the virtual reference point position.)

FIG. 7 is a flowchart showing VRS positioning processing executed in the hybrid positioning system according to one embodiment of the present invention. This “VRS positioning process” is executed in step S1 (FIG. 5) of the “positioning process”, and steps R4 to R6 are processes on the VRS information distribution server SS side.

In the VRS positioning, the position of the mobile station SM is sent to the VRS information distribution server SS, and VRS reference information based on the virtual reference point setting is requested, so that two-way communication is required. Therefore, when this processing flow starts, first, in step R1, the mobile station SM calls the VRS information distribution server SS, and then, in step R2, the mobile station SM is connected to the VRS information distribution server SS. Then, in step R3, the mobile station SM transmits the result of performing the independent positioning and observing the current position to the VRS information distribution server SS as a “numeric position”, and in step R4,
The VRS information distribution server SS determines the transmitted “numeric position” as the virtual reference point installation position SV.

Here, “position of numerical value” means that the position of the virtual reference point SV is represented by a numerical value measured by the GPS single positioning function of the mobile station SM, and the restriction of the accuracy of the single positioning. Therefore, the exact position of the mobile station is not always as the numerical value. Since the accuracy of the single positioning is about several tens of meters (for example, 30 m), the virtual reference point SV and the true mobile station position SVm may be so far apart.

In the next step R5, the VRS information distribution server SS determines that the GPS receiver of the reference station has been installed at the virtual reference point installation position SV, and the correction information (VRS reference information A) or the virtual satellite information (VRS reference information). Information B) is calculated. That is, assuming that the reference receiver is really placed at this virtual reference point SV, the amount of observation that will be measured by this reference receiver is estimated from a plurality of surrounding real reference points Sr1 to Sr4, and The VRS reference information A, B [correction information (difference coordinate Δ) or virtual satellite information] is calculated. Subsequently, in step R6, the calculated VRS reference information A, B is distributed from the VRS information distribution server to the mobile station.

Next, in step R7, the mobile station performs D-GPS positioning or RTK positioning using the distributed VRS reference information A [correction information (difference coordinate Δ) or virtual satellite information]. When the VRS positioning is performed in this manner, the “VRS positioning process” ends, and the process returns to step R3 (FIG. 5) of the “positioning process”.

[Various Embodiments] The hybrid positioning system according to the present invention can be used not only for car navigation or positioning when a person walks, but also for various uses. Business system, tourist information system, SOS system, etc.
It is expected to have a great effect on the development of IS use.

For example, in the case of a business using a car, it is possible to efficiently and accurately perform home delivery work, taxi dispatch instruction, and the like. In addition, the system is integrally formed as a portable communication terminal, and an SOS button is prepared, and a telephone number (identification) and a position are accurately transmitted to the emergency center just by pressing the SOS button. In the event of a sudden attack or the like, it is possible to give instructions for rescue operations accurately and contribute to rescue of human life.

[0069]

As described above, in the hybrid positioning system according to the present invention, the mobile station terminal moves based on the GPS satellite observation information and the VRS reference information (A, B) based on the virtual reference point (VRS) method. GP that measures the station and indicates the position (Xma, Yma, Zma)
S positioning information (GPS position) is generated. Further, the mobile station is positioned based on the radio wave reception information obtained by receiving the mobile communication radio wave, and mobile communication positioning information (portable position) indicating the positioning position (Xmb, Ymb, Zmb) is generated. Then, the position (Xm, Ym, Zm) of the mobile station (SM) is determined from the generated GPS positioning information or mobile communication positioning information.

Therefore, based on the GPS positioning by the highly accurate VRS, the mobile communication positioning based on the mobile communication radio wave using the portable communication network can be used together as the GPS positioning supplementary means. High-precision positioning (positioning) can be realized irrespective of positioning conditions such as when moving in an invisible building city or the like.

Also, when both positioning functions are sound,
The difference (corrected position) between the two measured positions (GPS position and mobile position) is calculated, and the mobile communication positioning information (mobile position) is corrected according to the calculated difference.
Even when switching to mobile communication positioning is performed in a place where GPS positioning is not possible, such as a building where the PS observation satellite is not visible, highly accurate mobile station positioning can be reliably maintained.

In the hybrid positioning system according to the present invention, differential GPS (D-G
PS) observation or real-time kinematics GPS (RT
(K-GPS) observation, so that positioning can be performed with high accuracy. When switching to mobile communication positioning, mobile communication positioning based on radio wave reception information from a mobile communication terminal antenna network is applied, Supplementary positioning can be easily realized.

Further, relative displacement is detected based on mobile station movement information from displacement detecting means such as a gyro mechanism, and physical positioning information (gyro positioning) representing this relative displacement is generated and generated. Since the position (Xmc, Ymc, Zmc) of the mobile station is determined from the physical positioning information, even in a place where it is difficult to use radio waves, such as an underground mall or a tunnel, such physical positioning is performed. Thus, highly accurate positioning can be maintained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic hardware configuration of a mobile station in a hybrid positioning system according to an embodiment of the present invention.

FIG. 2 is a schematic diagram for explaining a VRS positioning method in a hybrid positioning system according to one embodiment of the present invention.

FIG. 3 is a schematic diagram for explaining a mobile communication network positioning method in the hybrid positioning system according to one embodiment of the present invention.

FIG. 4 is a flowchart showing main processing of hybrid observation according to one embodiment of the present invention.

FIG. 5 is a part of a flowchart showing a positioning process according to an embodiment of the present invention.

FIG. 6 is another part of the flowchart showing the positioning processing according to the embodiment of the present invention.

FIG. 7 is a flowchart illustrating VRS positioning processing according to an embodiment of the present invention.

[Explanation of symbols]

(Xma, Yma, Zma) Positioning position of mobile station SM by GPS positioning, SV Virtual reference station (point) set to single positioning position (Xv, Yv, Zv) of mobile station, Sr1-Sr4 GPS fixed reference station (point) (Xmb, Ymb, Zmb) Positioning position of mobile station SM by mobile communication network positioning, Sa1 to Sa4 Antenna base stations in mobile communication network.

Claims (6)

[Claims] 1. A GPS positioning means for positioning a mobile station based on GPS observation information based on a virtual reference point method and generating GPS positioning information indicating a positioning position, and moving based on radio wave reception information obtained by receiving a mobile communication radio wave. Mobile communication positioning means for positioning the station and generating mobile communication positioning information indicating the positioning position; and positioning control means for determining the position of the mobile station from GPS positioning information or mobile communication positioning information. Hybrid positioning system. 2. A positioning control means comprising: a difference detecting means for calculating a difference between two positioning positions represented by GPS positioning information and mobile communication positioning information; and a positioning position represented by mobile communication positioning information according to the calculated difference. The hybrid positioning system according to claim 1, further comprising: a correction unit configured to correct the distance. 3. The GPS positioning means is a differential G
The hybrid positioning system according to claim 1, wherein positioning is performed based on information acquired by PS observation or real-time kinematics GPS observation. 4. The mobile communication positioning means according to claim 1, wherein the mobile communication positioning means performs positioning based on information obtained by receiving a radio wave from a mobile communication terminal antenna network. Hybrid positioning system. 5. A physical positioning means for detecting a relative displacement of the mobile station based on physical information acquired as the mobile station moves, and generating physical positioning information representing the relative displacement. The positioning control means determines the position of the mobile station using the generated physical positioning information.
The hybrid positioning system according to any one of claims 1 to 4. 6. Using the GPS observation information obtained from the GPS observation information receiving means based on the virtual reference point method and the radio wave reception information obtained from the mobile communication radio wave receiving means,
A recording medium readable by a mobile station terminal device for generating mobile station positioning information indicating a mobile station position, the method comprising: generating GPS positioning information indicating a positioning position of the mobile station based on the acquired GPS observation information. Generating mobile communication positioning information indicating the positioning position of the mobile station based on the acquired radio wave reception information; and selecting either of the two pieces of positioning information, and extracting the mobile station positioning information from the selected positioning information. A recording medium for hybrid positioning, characterized by recording a program comprising a step of generating.