JP2003028660A - Position detection system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position detection system capable of almost accurately detecting the three-dimensional position of a moving client by providing an altitude detection means for detecting the altitude of the moving client, a correction means indexing a two-dimensional measuring position on a map to correct the same and an arithmetic means for operating a height position on the basis of the output of the altitude detection means. SOLUTION: The position detection system for detecting the position of the moving client A using a GPS signal (a) is equipped with an azimuth detection means 5 for detecting an azimuth in order to correct position measuring data due to the GPS signal (a), the altitude detection means 6 for detecting the altitude of the moving client A, the correction means 23 for indexing the two-dimensional measuring position on the map and an arithmetic means 24 for operating the height position on the basis of the output of the altitude detection means 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position detecting system for detecting the position of a moving body such as a moving person, a vehicle, a ship, etc., who has a portable client (a computer requesting service).

[0002]

2. Description of the Related Art Conventionally, as a system for detecting the position of a moving object, the current position (absolute position) of a moving body or a portable terminal holder is measured using GPS signals coming from a GPS (Global Positioning System) satellite. Although a system is known, since a positioning error is large only with this GPS signal, conventionally, in addition to the above-mentioned satellite navigation by the GPS signal, a means for performing position correction using azimuth data measured by a geomagnetic sensor has been taken. ing.

The above-mentioned geomagnetic sensor can recognize the direction of a moving object by detecting the magnetism of the earth. Therefore, the current position is obtained by correcting the positioning data of the GPS signal by the output of the geomagnetic sensor. be able to. However, in recent years, there has been a demand for more accurate and highly accurate detection of the above-mentioned current position.

[0004]

DISCLOSURE OF THE INVENTION The present invention has an altitude detecting means for detecting the altitude of a mobile client, a correcting means for indexing and correcting a two-dimensional positioning position (so-called X, Y position) on a map, and an altitude. An object of the present invention is to provide a position detection system that can detect a three-dimensional position of a mobile client almost accurately by providing a calculation unit that calculates a height position (so-called Z position) based on the output of the detection unit. .

The present invention is also provided with an azimuth detecting means for detecting an azimuth, an object detecting means for detecting an object (fish school, etc.) in the sea, and a correcting means for indexing and correcting a two-dimensional positioning position on the nautical chart. Therefore, an object of the present invention is to provide a position detection system capable of detecting the detected position of an object in the sea almost accurately on a nautical chart.

[0006]

A position detecting system according to the present invention is a position detecting system for detecting the position of a mobile client by using a GPS signal, and detects an azimuth in order to correct positioning data by the GPS signal. Azimuth detecting means, an altitude detecting means for detecting the altitude of the mobile client, a correcting means for indexing and correcting a two-dimensional positioning position on a map, and an operation for calculating a height position based on the output of the altitude detecting means. And means.

The mobile client having the above configuration is a computer on the service request side, and the mobile client may be configured as a mobile terminal, may be incorporated in a mobile phone, or may be mounted on a mobile body.

Further, the azimuth detecting means having the above structure detects the azimuth by using the magnetic lines of the earth, and it is desirable to use the fluxgate sensor as the azimuth detecting means in order to achieve high precision and miniaturization. A pressure sensor that detects changes in atmospheric pressure can be used as the altitude detecting means.

In particular, a Si diaphragm type pressure sensor applying the semiconductor single crystal technology (the industrial Si pressure sensor has 10
A wide range of measuring instruments ranging from 0 mmH ₂ O to 560 kg / cm ² has been put into practical use. Above all, a Si pressure sensor and an IC are integrated to integrate an amplification section and a temperature fluctuation compensation section. It is preferable that

According to the above construction, the azimuth detecting means detects the azimuth by using the magnetic field lines of the earth, and the positioning data based on the GPS signal is corrected by the output of the azimuth detecting means. The altitude detecting means detects the altitude of the mobile client, and the correcting means calculates the two-dimensional positioning position on the map and executes the position correction (the actual position and the measured data value on the X and Y axes). And corrects the difference on the map), and the calculation means calculates the height position of the mobile client based on the output of the altitude detection means. That is, when the pressure sensor is used as the altitude detecting means, the atmospheric pressure is obtained from the output of the arithmetic means pressure sensor, and the obtained atmospheric pressure is converted into the height to calculate the height position.

As a result, the three-dimensional position of the mobile client can be detected almost accurately. In particular, when the mobile client is of a portable type, it is possible to detect the floor of the owner of the mobile client, etc., corresponding to the X, Y, Z axes of the coordinate system.

In one embodiment of the present invention, the azimuth detecting means and the altitude detecting means are provided on the client side, and the correcting means and the calculating means are provided on the position information server side, and a packet line is provided between the client and the server. It was connected with.

The location information server having the above-mentioned configuration is a computer on the side of providing a service, and when the mobile client is a portable type, it is desirable that the client and the server are completely separated. It is also possible to mount both the client and the server on the same mobile unit when the mobile unit is installed on the mobile unit (that is, the mobile unit mounting type).

According to the above construction, since the azimuth detecting means and the altitude detecting means are provided on the client side and the correcting means and the calculating means are provided on the server side, the weight of the mobile client can be reduced.

Further, since the client and the server are connected by the packet line, even when a plurality of or a large number of clients are connected to one server, the line can be shared while ensuring the transmission / reception at all times. ,
Good data transmission and reception efficiency.

In one embodiment of the present invention, the correction means is composed of a neuro computer. The neuro computer having the above-mentioned configuration is an engineering model computer of a neural network, and is also called a neutral network. The neuron element as a processing element for performing multi-input / one-output processing is formed into a network and performs parallel distributed processing. The computer produces an output according to the sum of the inputs to the neuron elements. At this time,
It is a computer configured to learn the total strength (weighting) and obtain the best output for the input. According to the above configuration, since the neuro computer is used, the indexing and the correction can be executed at the optimum solution in a short time, and the processing speed can be improved.

The position detection system according to the present invention also includes
A position detection system for detecting the position of a mobile client using a GPS signal, the direction detection means for detecting a direction for correcting positioning data by the GPS signal, an object detection means for detecting an object in the sea, and a nautical chart. And a correction means for indexing and correcting the two-dimensional positioning position.

The object in the sea having the above structure may be set to the school of fish, and the object detection means may be set to the school of fish detection.

It is desirable to use a fluxgate sensor as the azimuth detecting means having the above construction, and the object detecting means can be constituted by a transmitter / receiver for transmitting and receiving ultrasonic signals. The correction means is a neurochip
(neural processing chip, that is, a dedicated LSI for executing the neutral network)
It may be configured to be incorporated in the system.

According to the above construction, the azimuth detecting means detects the azimuth by using the magnetic lines of the earth, and the positioning data based on the GPS signal is corrected by the output of the azimuth detecting means. In particular, since the moving body is a ship (fish boat), the positioning data based on the GPS signal can be corrected more satisfactorily with both the ship speed data from the speedometer and the bearing data. Further, the object detection means detects an object in the sea, and the correction means calculates a two-dimensional positioning position on the nautical chart and executes position correction.
(The difference between the actual position and the measured data values on the X and Y axes is corrected and indexed on the nautical chart). As a result, the detected position of the object in the sea can be detected almost accurately on the nautical chart.

In one embodiment of the present invention, the correction means is composed of a neuro computer. According to the above configuration, since the neuro computer is used, indexing and correction can be executed at an optimum solution in a short time, and the processing speed can be improved.

[0022]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. The drawing shows a position detection system. This position detection system can constantly transmit and receive wirelessly between a mobile client A as a computer of a service requesting side, a position information server B as a computer of a service providing side, and both of these A and B. And a packet line C for transmitting / receiving data by dividing the data into packets having a predetermined length or less.

The above-mentioned portable client A is a GPS satellite 1
From the GPS signal a from the FM multiplex station 2 and 76 KHz
The receiving antenna 3 is provided as a receiving means for receiving the position correction signal b by the subcarrier.

When the positioning error (30 to 100 m) due to only the GPS signal a is corrected using the position correction signal b described above,
The absolute position can be detected with an accuracy of 1 to 2 m. Although the above-mentioned receiving antenna 3 is connected to the GPS sensor 4, an FM wave receiving antenna and an FM receiving circuit may be used together for these both 3 and 4.

The above-mentioned portable client A includes a geomagnetic sensor 5, an altitude sensor 6, a transmitter / receiver 7, various switches 8, an emergency switch 9, a CPU 10, a ROM 11 and a RAM.
12, transmission / reception unit 13, display unit 14, walking motion sensor 15
Is equipped with.

As the geomagnetic sensor 5 described above, a geomagnetic sensor of a type in which a winding is wound around a core may be used, but in this embodiment, it is disassembled in FIG. 2 for the purpose of achieving both improvement in detection accuracy and miniaturization. The fluxgate sensor shown in a perspective view is used.

That is, this fluxgate sensor is
Amorphous metal core 16, excitation coils 17 and 18 arranged above and below it, a detection coil 19 for detecting the x (+) direction shown in FIG. 3, and a detection coil for detecting the y (+) direction. 20 and a detection coil 2 for detecting the x (-) direction
1 and a detection coil 22 for detecting the y (-) azimuth, and each of the detection coils 19 to 22 is formed by printing and etching the substrate.

Power is applied to the above-mentioned exciting coils 17 and 18.
When (alternating current is applied), magnetic force lines are generated in the core 16. On the other hand, since the geomagnetism passes through the core 16 in a fixed direction, the magnetic flux changes due to the action of each of these magnetic force lines, and a voltage is generated in each of the detection coils 19 to 22, which is indicated by an arrow m in FIG. 3, for example. Thus, the azimuth can be detected.

Since the core 16 is made of alumophus metal, it strongly reacts to the earth's magnetism as a direct current magnetic field and only weakly reacts to other alternating magnetic fields which cause a detection error. Since the error is small and the coils 17 to 22 are formed of the printed circuit board, the geomagnetic sensor 5 itself can be made extremely small (for example, about 7 mm square and less than 1.0 mm thick).

As the above-mentioned altitude sensor 5, a pressure sensor for obtaining a height from a change in atmospheric pressure, particularly a Si diaphragm type pressure sensor, preferably a Si pressure sensor and an IC are integrated to form an amplification section and a temperature fluctuation compensating section. Use the integrated one. The Z position of the coordinate system is determined by the output of this altitude sensor 5.
(Height) can be calculated.

In this embodiment, since the CPU of the portable telephone is used as the portable device CPU 10 (control means), the transmitting / receiving unit 7 is composed of a microphone and a speaker and is used for a call with the other party.

The various switches 8 are set to numeric keys from "0" to "9" and various function keys. on the other hand,
When the owner of the mobile client A turns on the switch 9, the emergency switch 9 is possessed in order to request a specific organization such as police, firefighting, rescue, welfare, hospital, etc. as a preset response period for assistance. It is for notifying the current position of the person.

The above-mentioned transmitting / receiving unit 13 transmits / receives data between the portable client A and the position information server B via the packet line C, and transmits / receives transmission / reception data when used as a normal portable telephone.

An acceleration sensor is used as the above-mentioned walking motion sensor 15, and the walking motion sensor 15 measures the walking motion of the holder of the portable client A, that is, the amount of exercise corresponding to the number of steps. The CPU 10 follows a program stored in the ROM 11 based on various inputs from the GPS sensor 4, the geomagnetic sensor 5, the altitude sensor 6, the transceiver 7, the various switches 8, the emergency switch 9, the transceiver 13, and the traveling motion sensor 15. , The transmitter / receiver 7, the transmitter / receiver 13, and the display 14 are driven and controlled, and the RAM 12 stores a mobile phone number, ID data, and other necessary data.

As the display unit 14 described above, a monitor screen unit of a mobile phone may be used, or another display device may be used.

Then, the CPU 10 causes the positioning position information by the GPS signal a, the correction information by the position correction signal b, the azimuth information by the geomagnetic sensor 5, and the walking motion sensor 15.
The correction information based on (data corresponding to the number of steps) and the altitude information from the altitude sensor 6 are transmitted to the position information server B via the transmission / reception unit 13 and the packet line C.

On the other hand, the position information server B has a high-accuracy position estimating unit 25 composed of a neuro computer having an XY position correcting unit 23 and a Z position calculating unit 24, a ROM 26 for storing a program, and a RAM 2 for storing data.
7, a CPU 30 as a control unit, a map database 28 (a storage unit for storing map information), a display unit 29 including a display device for displaying the current position of the portable client A holder, and a transceiver unit. (Not shown)
It has and.

XY composed of a neuro computer
The position correction unit 23 performs parallel distributed processing on multiple inputs of positioning position information by the GPS signal a, correction information by the position correction signal b, azimuth information, and correction information by the walking motion sensor 15 and reads out from the map database 28 by weighting on the map. The XY position (two-dimensional positioning position) corresponding to the X axis and the Y axis of the coordinate system is calculated. In other words, the actual position and the measured X, Y
Correct the difference from the data value on the axis and index on the map. However, this neuro computer needs to input learning data in advance.

The Z position calculator 24 calculates the altitude based on the information from the altitude sensor 6. For example, altitude sensor 6
When the Si pressure sensor is used as, the atmospheric pressure is obtained from the output of the pressure sensor, and the obtained atmospheric pressure is converted into height to calculate the height position, that is, the Z position of the coordinate system.

The high-precision position estimating section 25 may be entirely constructed by a neuro computer. Then, the X, Y, and Z positions determined by the position information server B are sent together with the map information via the packet line C to the mobile client A.
It is configured to be replied to.

The operation of the position detecting system thus constructed will be described in detail below with reference to the flow charts shown in FIGS. First, the processing on the side of the mobile client A will be described with reference to the flowchart of FIG. 4. In step S1, the CPU 10 (control means) causes the GPS sensor 4 to be GP.
It is determined whether or not the S signal a is received, and the process returns when the NO determination is made, while the process proceeds to the next step S2 when the YES determination is made.

In step S2, the CPU 10 causes the GPS sensor 4 or the FM receiving circuit to correct the position correction signal b in the FM wave.
It is determined whether or not (76 KHz subcarrier) is received, and NO
While returning at the time of determination, it moves to the next step S3 at the time of YES determination.

In step S3, the CPU 10 activates the geomagnetic sensor 5, the altitude sensor 6, and the walking motion sensor 15. Next, in step S4, the CPU 10 causes the GPS signal a
The GPS position information by the geomagnetic sensor 5, the azimuth information by the geomagnetic sensor 5, the position correction information by the walking motion sensor 15, the correction information by the correction signal b, and the altitude information by the altitude sensor 6 are converted into data, and the transmitter / receiver 13 and the packet line are used. C
Via the location information server B.

Next, in step S5, the CPU 10 determines whether or not there is a reply from the position information server B. If NO is determined, the process returns, while if YES is determined, the process proceeds to step S6.

The position information server B will be described later with reference to the flowchart of FIG. 5, but since the X, Y, Z positions of the holder of the portable client A are indexed, the position information server B sends the packet line C to the packet line C in step S6. The contents (current position on the map of the owner) returned via the are displayed visually on the display unit 14.

When the owner of the portable client A turns on the emergency switch 9, the client A directly or indirectly through the position information server B presets police, fire, rescue, welfare as a coping agency. , It is possible to notify the current location of the owner to request a relief from a specific institution such as a hospital. Therefore, a plurality of emergency switches 9 may be provided for each engine, and the engine may be selected according to the number of times the emergency switch 9 is turned on.
The engine may be specified by the combination of the emergency switch 9 and the emergency switch 9.

Next, referring to the flowchart shown in FIG. 5, the processing on the side of the position information server B will be described. In step Q1, the CPU 30 (control means) is transmitted from the portable client A via the packet line C as a packet signal. It is determined whether or not a signal indicating that the signal has been received is received, and the process returns when the determination is NO, while the process proceeds to the next step Q2 when the determination is YES.

At step Q2, the CPU 30 drives the XY position correcting section 23 composed of a neuro computer, and the X axis of the coordinate system on the map read from the map database 28 (storage means storing map information). , XY position (two-dimensional positioning position) corresponding to the Y axis is calculated. That is, the difference between the actual position and the measured data values on the X and Y axes is corrected and indexed on the map.

Next, at step Q3, the CPU 30 drives the Z position calculating section 24 to calculate the altitude (Z position of the coordinate system) based on the altitude information. For example, as the altitude sensor 6, S
When the i pressure sensor is used, the atmospheric pressure is obtained from the output of the pressure sensor, and the obtained atmospheric pressure is converted into height to calculate the height position, that is, the Z position of the coordinate system.

Next, in step Q4, the CPU 30 drives the display unit 29 to display the current position (X, Y, Z position) on the map read from the map database 28. It should be noted that the display unit 29 constantly displays a map of a predetermined range and displays X, Y, Z
The present position of the client A holder may be lit and displayed when the position is indexed and corrected.

Next, in step Q5, the CPU 30 returns the current position information and the map information (in other words, the current position data on the map) to the portable client A via the packet line C.

As described above, the position detecting system of the embodiment shown in FIGS. 1 to 5 is a position detecting system for detecting the position of the mobile client A using the GPS signal a.
Azimuth detecting means (see geomagnetic sensor 5) for detecting the azimuth in order to correct the positioning data by the PS signal a, an altitude detecting means (see altitude sensor 6) for detecting the altitude of the mobile client A, and two-dimensional on the map Find the positioning position,
Compensation means (see XY position correction section 23) for correction and calculation means (see Z position calculation section 24) for calculating the height position based on the output of the altitude detection means (see altitude sensor 6) Is.

According to the above construction, the azimuth detecting means (see the geomagnetic sensor 5) detects the azimuth by using the magnetic lines of the earth,
Positioning data based on the GPS signal a is corrected by the output of the azimuth detecting means. Further, the altitude detecting means (see the altitude sensor 6) detects the altitude of the mobile client A, and the correcting means (X
The Y position correction unit 23 calculates the two-dimensional positioning position on the map and also performs the position correction (corrects the difference between the actual position and the measured data values on the X and Y axes to correct the position on the map). The calculation means (see the Z position calculation unit 24) calculates the height position of the mobile client A based on the output of the altitude detection means (see the altitude sensor 6). That is, when the pressure sensor is used as the altitude detecting means (see the altitude sensor 6), the atmospheric pressure is obtained from the output of the pressure sensor of the calculating means (see the Z position calculating section 24), and the obtained atmospheric pressure is converted into the height to obtain the high pressure. The position is calculated.

As a result, the three-dimensional position of the mobile client A can be detected almost accurately (pinpoint level). In particular, when the mobile client A is of a portable type, it is possible to detect the floor of the owner of the mobile client A in correspondence with the X, Y, Z axes of the coordinate system.

The azimuth detecting means (geomagnetic sensor 5
(See) and altitude detection means (see altitude sensor 6) on the client A side, and the correction means (see XY position correction section 23) and calculation means (see Z position calculation section 24).
Is provided on the position information server B side, and the client A and the server B are connected by a packet line C.

According to this structure, the azimuth detecting means (see the geomagnetic sensor 5) and the altitude detecting means are provided on the client A side.
(Refer to the altitude sensor 6) and the correction means (X
Y position correction unit 23) and calculation means (Z position calculation unit 2)
4) is provided, the weight of the mobile client A can be reduced.

Furthermore, since the client A and the server B are connected by the packet line C, even when a plurality of or a large number of clients A are connected to one server B, transmission and reception are always ensured, Since the line can be shared, data transmission / reception is efficient.

Further, the correction means (XY position correction unit 2
Reference 3 is composed of a neuro computer. According to this configuration, since the neuro computer is used, indexing and correction can be executed in the optimum solution in a short time, the current position can be detected with high accuracy, and the processing speed can be improved. it can.

FIG. 6 shows another embodiment of the position detecting system. In this embodiment, the altitude sensor 6 from the previous embodiment is used.
And, while the walking motion sensor 15 is omitted, a fish school detection unit 31 as an example of an object detection means for detecting an object in the sea.
And a mobile client A provided with the boat speed sensor 32, and a position information server B in which the Z position calculator 24 is omitted.

In the embodiment of FIG. 6 as well, the other construction is almost the same as that of the previous embodiment. Therefore, in FIG. 6, the same parts as those in FIG. Although omitted, the position information server B may be provided on land or on the same ship as the ship on which the mobile client A is mounted.

As the fish finder 31 described above, it is possible to use a wave transmitter / receiver which transmits and receives the ultrasonic signal d to detect the fish flesh. The operation of the position detecting system configured as described above will be described in detail below with reference to the flowcharts shown in FIGS.

First, referring to the flowchart of FIG. 7, the process on the side of the mobile client A will be described. In step U1, the CPU 10 determines whether or not the fish school detection unit 31 has detected the fish school, and returns when NO is determined. While doing
If YES is determined, the process moves to next step U2.

In this step U2, the CPU 10 (control means) determines whether or not the GPU sensor 4 has received the GPU signal a. If NO, the process returns, while if YES, the process moves to the next step U3.

At step U3, the CPU 10 causes the GPU sensor 4 or the FM receiving circuit to detect the position correction signal b in the FM wave.
It is determined whether or not (76 KHz subcarrier) is received, and NO
When the determination is YES, the process returns, while when the determination is YES, the process proceeds to the next step U4.

At step U4, the CPU 10 operates the geomagnetic sensor 5 and the boat speed sensor 32. Next, in step U5, the CPU 10 causes the GPU position information based on the GPU signal a, the azimuth information based on the geomagnetic sensor 5, and the ship speed sensor 3 to operate.
The ship speed information according to No. 2 and the correction information according to the correction signal b are converted into data and transmitted to the position information server B provided on land, for example, via the transmission / reception unit 13 and the packet line C.

Next, in step U6, the CPU 10 determines whether or not there is a reply from the position information server B, and returns when the determination is NO, while moving to the next step U7 when determination is YES.

The position information server B will be described later with reference to the flowchart of FIG.
Since the Y position (that is, the current position of the ship at the time when the fish school is detected) is calculated, the contents (current position of the ship on the nautical chart) returned from the position information server B via the packet line C is displayed in the display unit 14 in step U7. Visible on.

Next, referring to the flowchart shown in FIG. 8, the processing on the side of the position information server B will be described. In step n1, the CPU 30 (control means) transmits a packet signal, that is, the mobile client A through the packet line C. It is determined whether or not the received signal is received, and the process returns when the NO determination is made, while the next step n2 is performed when the YES determination is made.
Move to.

At step n2, the CPU 30 drives the XY position correcting section 23 composed of a neuro computer to read the X-axis of the coordinate system on the chart read from the chart database 28 (storage means storing chart information). , XY position (two-dimensional positioning position) corresponding to the Y axis is calculated. That is, the difference between the actual position and the measured data values on the X and Y axes is corrected and indexed on the nautical chart.

Next, at step n3, the CPU 30 drives the display unit 29 to display the current position (X, Y position) on the nautical chart read from the nautical chart database 28.

Next, in step n4, the CPU 30 sends the current position information and the nautical chart information (in other words, the current position data on the nautical chart) via the packet line C to the mobile client A.
Reply to.

When the position information server B is installed on the same ship as the ship on which the mobile client A is mounted,
It is also possible to omit the packet line C of FIG. 6 and connect the client A and the server B with a connection line (not shown).

As described above, the position detecting system of the embodiment shown in FIGS. 6 to 8 is a position detecting system for detecting the position of the mobile client A by using the GPS signal a, and the positioning data by the GPS signal a is used. Direction detecting means (see geomagnetic sensor 5) for detecting an azimuth in order to correct the noise, and object detecting means (fish finder 3 for detecting an underwater object such as a school of fish).
1)) and the two-dimensional positioning position on the nautical chart,
The correction means (see XY position correction section 23) for correction is provided.

According to this structure, the azimuth detecting means (see the geomagnetic sensor 5) detects the azimuth by using the magnetic lines of the earth,
The output of this azimuth detecting means (see geomagnetic sensor 5) causes G
The positioning data based on the PS signal a is corrected. In particular, since the moving body is a ship (fish boat), the positioning data based on the GPS signal a can be corrected even better with both the ship speed data from the ship speed sensor and the bearing data. In addition, the object detection means (see the fish school detection section 31) detects an underwater object such as a school of fish, and the correction means (see the XY position correction section 25) calculates the two-dimensional positioning position on the nautical chart and executes the position correction. Yes (correct the difference between the actual position and the measured data values on the X and Y axes and index on the nautical chart). As a result, the detected position of the object in the sea (see the school of fish) can be detected almost accurately (pinpoint level) on the nautical chart.

Moreover, the correction means (XY position correction unit 2
5) is composed of a neuro computer. According to this configuration, since a neuro computer is used, indexing and correction can be executed in an optimal solution and in a short time, high-precision current position detection, that is, position detection of an object in the sea can be performed, and processing speed can be increased. Can be improved.

In addition, when a fish school exists on a fish reef, the position of the fish reef can be identified in advance on the nautical chart, so that the position-invariant fish reef and the position-variable fish reef can be distinguished from each other. It is possible to make a distinction and also to determine whether the vessel is located above a school of fish.

In the correspondence between the configuration of the present invention and the above-described embodiment, the mobile client of the present invention corresponds to the mobile client A or the mobile client A of the embodiment, and hereinafter, similarly, the direction detecting means is the geomagnetic field. Corresponding to the sensor 5, the altitude detecting means corresponds to the altitude sensor 6, the correcting means corresponds to the XY position sailing part 23, the calculating means corresponds to the Z position calculating part 24, and the object detecting means corresponds to Fish finder 3
However, the present invention is not limited to the configuration of the above-described embodiment.

For example, if the above-mentioned XY position correcting section 23 is constructed by a neuro chip and incorporated in a system, the apparatus can be further downsized. Further, the position detection system of the present invention can be widely applied to search for a person such as a wandering old man or a lost child, position identification of a stolen vehicle or a stolen article, and further detection of the position of an autonomous mobile robot and various other industrial fields. .

[0079]

According to the present invention, the altitude detecting means for detecting the altitude of the mobile client, the correcting means for indexing and correcting the two-dimensional positioning position on the map, and the height based on the output of the altitude detecting means. By providing the calculating means for calculating the position, there is an effect that the three-dimensional position of the mobile client can be detected almost accurately.

According to the present invention, the azimuth detecting means for detecting the azimuth, the object detecting means for detecting the object in the sea, and the correcting means for indexing and correcting the two-dimensional positioning position on the nautical chart are provided. Thus, the position of an object in the sea such as a detected school of fish can be detected almost accurately on the nautical chart.

[Brief description of drawings]

FIG. 1 is a block diagram showing a position detection system of the present invention.

FIG. 2 is an exploded view of a fluxgate sensor.

FIG. 3 is an explanatory diagram of direction detection by a fluxgate sensor.

FIG. 4 is a flowchart showing processing on the client side.

FIG. 5 is a flowchart showing processing on the server side.

FIG. 6 is a block diagram showing another embodiment of the position detection system of the present invention.

FIG. 7 is a flowchart showing processing on the client side.

FIG. 8 is a flowchart showing processing on the server side.

[Explanation of symbols]

A ... Client B ... Location information server C ... Packet line 5 ... Geomagnetic sensor (direction detecting means) 6 ... Altitude sensor (altitude detection means) 23 ... XY position correction unit (correction means) 24 ... Z position calculator (calculator) 31 ... Fish detection unit (object detection means) a ... GPS signal

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Claims (5)

[Claims] 1. A position detection system for detecting the position of a mobile client using a GPS signal, the direction detecting means for detecting an azimuth for correcting positioning data by the GPS signal, and the altitude of the mobile client. A position detection system comprising an altitude detection means, a correction means for indexing and correcting a two-dimensional positioning position on a map, and a calculation means for calculating a height position based on the output of the altitude detection means. 2. The azimuth detecting means and the altitude detecting means are provided on the client side, the correcting means and the calculating means are provided on the position information server side, and the client and the server are connected by a packet line. Position detection system. 3. The correction means and the calculation means are neuro-
The position detection system according to claim 1, which is configured by a computer. 4. A position detection system for detecting the position of a mobile client using a GPS signal, and an azimuth detecting means for detecting an azimuth for correcting positioning data by the GPS signal, and an object detection for detecting an object in the sea. A position detection system comprising means and correction means for indexing and correcting a two-dimensional positioning position on the nautical chart. 5. The position detecting system according to claim 4, wherein said correcting means is composed of a neuro computer.