JP2003121528A - Gps-positioning apparatus and method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a GPS-positioning apparatus and a GPS-positioning method for obtaining measurement data which do not contain cycle slips. SOLUTION: A receiver 2 at a mobile station M comprises a GPS antenna 11, frequence conversion section 3, carrier-reproducing section 5, phase counter 6, a clock 18, operation section 19, reception section 16, antenna 10 for communication between stations, positioning apparatus-control section 20, error-reporting section 21, and positioning point-storing section 22. Positioning point data, at the same point in a signal that is transmitted from a positioning satellite, are collected for a fixed time period. The positioning apparatus-control section 20 calculates the average value of data at the positioning point within the fixed time period, obtains the difference in between the data at the positioning point and the average value, abolishes and stores the measurement data and the positioning data, when either of the data at the positioning point is separated from the average value by a specific value and is not separated from the average value by a specific value, respectively, measures the data again, repeats the statistical processing and the positioning point determining processing, and completes the positioning processing, when a specific number of data are obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a GPS positioning device and a positioning method, and more particularly to a positioning data G having high reliability.
The present invention relates to a PS positioning device and a positioning method.

[0002]

2. Description of the Related Art GPS satellites are about 20,200k from the surface of the earth.
In the circular orbit of m, the earth makes an orbit with respect to outer space with a period of exactly two orbits while the earth makes one revolution with respect to outer space. And if you look at this from a certain point on the surface of the earth,
It will be possible to observe GPS satellites that orbit spatially in the same orbit, while increasing by about 4 minutes per day. Such a GPS satellite is equipped with an atomic clock of cesium and rubidium and is used as a frequency standard when generating a reference frequency such as a carrier wave of a radio wave.

On the other hand, GPS-related facilities are also provided on the ground, and are operated to maintain the GPS function.
For example, on the surface of the earth, an orbital tracking station that tracks the orbits of the GPS satellites is placed so as to cover the earth evenly in order to grasp the exact position of the GPS satellites. The results are sent to the GPS main analysis station, where intensive analysis work is performed to calculate the satellite's orbit in the near future. Then, the information about the expected orbit is transmitted to the GPS satellite, and the GPS
It is transmitted from the satellite to various GPS users on the ground together with various information.

Specifically, the GPS satellite is 10.23 MHz
Based on the frequency of, the radio waves of two kinds of frequencies are transmitted in the L1 band of 1575.42 MHz, which is the frequency of 1544 times, and the L2 band of 1227.60 MHz, which is the frequency of 120 times. P code, C /
The A code and navigation message are included by phase modulation.

Among these, time information is also included. If the clock provided on the satellite and the clock of the receiving device placed at the measuring point are synchronized, the time of transmission and the actual time of reception are The propagation delay time of the radio wave can be known from the difference of, and the distance between the measurement point and each satellite can be calculated from the delay time and the light speed.

On the other hand, since the value of the three-dimensional coordinates of each satellite can be obtained from the orbit information, there should be three or more spheres whose origin is the point where each satellite is located and whose radius is the distance between each satellite and the measurement point. For example, the three-dimensional coordinates of the measurement points can be obtained as the points where the spheres intersect.

Such a measuring method is called an independent positioning method, but the value of the three-dimensional coordinate obtained by this method is only an approximate value and contains an error of several meters or more, so it is not suitable for high precision surveying. is there. Therefore, conventionally, a plurality of GPS
BACKGROUND ART A carrier wave of a radio wave transmitted by a satellite is received, an integrated value of the carrier wave phase is measured and analyzed, and a coordinate value of a three-dimensional coordinate of an unknown point is accurately obtained.

However, the radio waves emitted from the GPS satellites may suffer various obstacles, and the reception may be interrupted instantaneously or continuously at the receiving device side. The radio wave transmitted by the GPS satellite cannot be received until the failure disappears, and the amount of change in the phase integrated value of the carrier cannot be known during that time. The loss of measurement data due to such a reception failure is called "cycle slip" and is considered to be a serious problem in survey work using the GPS survey system.

In a broad sense, the above-mentioned "cycle slip" means that, in addition to the loss of data due to a momentary or continuous interruption of reception on the receiving device side, for example, a change in the state of the ionosphere or a foreign object. It is also called "cycle slip" even when the data cannot be obtained correctly because the phase integrated value of the carrier wave of the radio wave transmitted from the GPS satellite is disturbed by noise or the like.

A conventional method for detecting the occurrence of such "cycle slip" is, for example, Japanese Patent Application Laid-Open No.
There is a "cycle slip monitor" disclosed in 001-74824 (P2001-74824A). Such a device is a cycle slip monitoring device capable of easily determining whether or not a cycle slip has occurred during observation when performing real-time kinematic (RTK) positioning using a carrier phase, and is as follows. .

This "cycle slip monitoring device" has a constant integer value bias of the carrier phase of the radio wave from each satellite regardless of the relative movement of the measurement position with respect to the reference position, if the cycle slip does not occur, The relationship that the integer bias is changed when a slip occurs is used. Alternatively, the relationship that the positioning result is constant if the relative position of the measurement position with respect to the reference position does not change and the cycle slip does not occur and the positioning result changes if the cycle slip occurs is used. .

That is, in the cycle slip monitoring apparatus of the present invention, the reference antenna provided at the reference position and the measurement antenna provided at the measurement position respectively receive radio waves from a plurality of positioning satellites. The carrier phase difference between the positions of the reference antenna and the measurement antenna is obtained, and the integer value bias of the carrier phase difference is repeatedly determined. The relative position of the measurement antenna with respect to the reference antenna is obtained using the integer bias of the determined carrier phase difference. The previously obtained integer value bias is compared with the currently obtained integer value bias, or the positioning result with the previously obtained integer value bias is compared with the positioning result with the presently obtained integer value bias. The display content indicating the determined state of the integer bias is changed according to the difference between the two.

As the integer bias determination state display means, the value of the counter is increased or decreased according to the presence or absence of the difference between the two and the magnitude of the difference, and the increasing or decreasing tendency of the counter is displayed. For example, when the integer value bias does not change, the counter is counted up, and when the change occurs, the counter is incremented or decremented. When the counter value tends to increase, a cycle slip occurs. Without doing so, it can be determined that the positioning is being performed correctly, and conversely, when the counter value tends to decrease, it can be determined that there is a possibility that the positioning result may be incorrect due to a cycle slip. It is usually difficult to immediately and surely determine the presence / absence of a cycle slip from the value of such a counter or its changing tendency, but it is possible to provide the observer with at least a guideline for determining the presence / absence of a cycle slip.

By the way, such a reception failure is rarely caused by a failure of the GPS satellite body or the receiving device itself, and is often caused by the reception environment. Then, once the reception interruption occurs and the cycle slip is included in the measurement value, it becomes necessary to correct the phase amount of the carrier wave changed during that time, apart from the case of re-measurement.

As a device having such a correction means, for example, there is a "GPS interference positioning method" disclosed in Japanese Patent Application Laid-Open No. 7-190769. Such a positioning method uses a GPS surveying system having four GPS satellites and two receiving devices, receives radio waves transmitted by the GPS satellites, records an integrated value of carrier wave phases thereof at regular intervals, and records the recorded values. This is a GPS interferometric positioning method for obtaining coordinate values of three-dimensional coordinates of an unknown point based on the integrated value of the carrier phase. In such a GPS interferometric positioning method, when reception interruption occurs, it is detected, the cycle slip is corrected, the value is recorded, and the coordinate value of the three-dimensional coordinate of the unknown point is obtained.

The above-mentioned correction is carried out when reception interruption occurs.
It detects it and corrects the cycle slip. That is, when it is detected that the reception is interrupted, it is determined that the cycle slip has occurred, and the correction is performed as follows.

Hereinafter, the time at which the measured value is recorded will be referred to as "epoch", and the interval between adjacent epochs will be referred to as "epoch interval". Obtain the average value of the rate of change of the integrated value Φ (E2) of the carrier phase in the epoch E2 before the reception interruption occurs and the rate of change of the integrated value Φ (E3) of the carrier phase in the epoch E3 after the reception interruption is resolved. Then, the displacement amount is calculated by multiplying the average value by the epoch interval T. The displacement amount is a real value, but the integrated value of the actual carrier phase lost due to reception interruption is an integer value, and the displacement amount obtained as the real value is different from the true displacement amount.

Therefore, in the correction amount calculation step, an integer value closest to the shift amount is obtained, and this value is set as the correction amount α which is the integrated value of the carrier phase lost due to the reception interruption. In the carrier wave phase correction step, the integrated value Φ (E3) of the carrier wave phase that can be measured by the epoch E3 when there is no reception interruption
Is calculated by adding the correction amount α to the integrated value Φ (E2) of the carrier phase recorded in the epoch E2 before the reception interruption.

As described above, in the correction step, the cycle slip included in the integrated value of the carrier phase is corrected, so that the measured value to be recorded is the integrated value of the carrier phase that does not include the cycle slip.

[0020]

In the above-mentioned "cycle slip monitoring device", the change is obtained by comparing the positioning result with the integer value bias obtained previously with the positioning result with the integer value bias obtained this time. From the tendency, it provides the observer with a guideline for judging the presence or absence of cycle slip. Therefore, there is a problem in that the measured data includes data on cycle slips and leaves the occurrence of cycle slips to the observer's judgment.

Further, in the "GPS interferometric positioning method", when the reception interruption occurs, it is detected and the cycle slip is corrected. That is, when data cannot be obtained correctly due to the fact that the reception interruption does not occur and the integrated value of the phase of the carrier wave of the radio wave transmitted by the GPS satellite is disturbed, the measured data cannot be corrected by the cycle slip data. There is a problem that is included.

In so-called kinematic relative GPS positioning such as the "GPS interferometric positioning method", the point (moving body) to be positioned is moving, and this movement contributes to the change of the phase integrated value. The change of the phase integrated value is the above G
It may be different from the prediction based on the position of the PS satellite, the moving route, or the like. However, since the GPS receiver cannot obtain any information regarding its movement (in particular, movement with irregular acceleration), it is necessary to clearly distinguish whether the deviation is due to cycle slip or movement of the moving body. However, even if a cycle slip occurred, it could not be detected immediately.

The present invention solves the above problem and disturbs the phase integrated value of the carrier wave of the radio wave transmitted from the GPS satellite, so that when the data cannot be obtained correctly, the data is discarded and there is no cycle slip, Real-time kinematic (RTK) relative GP that can obtain correct measurement data
The purpose of the present invention is to provide a GPS positioning device and a positioning method based on the S positioning method.

[0024]

In order to achieve the above object, the present invention provides a GPS positioning device according to claim 1, wherein a signal transmitted from a positioning satellite is received by an antenna and a positioning point is determined by a real-time kinematic positioning method. RTK seeking
The positioning means, the statistical processing means for obtaining an average value of the positioning point data obtained by the RTK positioning means within a fixed time, the positioning point determination means for determining the statistical result of the statistical processing means, and the RTK positioning means. It is characterized by comprising a positioning point storage means for storing the obtained positioning points, and a positioning device control means for controlling the RTK positioning means, the statistical processing means, the positioning point determination means, and the positioning point storage means.

In the GPS positioning device according to the present invention, the positioning device control means comprises an error notification means for giving an error notification when the positioning point determination means detects a cycle slip, and the positioning point determination means performs the cycle slip. When the error is detected, the error notification means notifies the error.

In the GPS positioning device according to a third aspect of the invention, the positioning device control means includes positioning condition setting means.

In the GPS positioning device according to the fourth aspect, the positioning condition setting means comprises a positioning condition changing means for changing the measurement time or the measurement interval.

In the GPS positioning device according to a fifth aspect of the present invention, the positioning point determination means includes each data of the average value obtained by the statistical processing means within a fixed time and the positioning point obtained by the RTK positioning means within the fixed time. And the difference is smaller than a predetermined value, the data is normal, and if the difference is large, the data is abnormal.

In the GPS positioning method according to the sixth aspect of the invention, the RT which receives the signal transmitted from the positioning satellite by the antenna and obtains the positioning point by the real-time kinematic positioning method.
Positioning point data of the same point is collected by the K positioning means for a fixed time, an average value of the data of the positioning points within the fixed time thus collected is calculated by the statistical processing means, and the collected positioning points within the fixed time are collected. In the case where the positioning point determination processing for obtaining the difference between the respective data and the average value by the positioning point determination means is performed, and none of the respective data of the positioning points within the fixed time is apart from the average value by a predetermined value. , Storing the positioning data within the fixed time, and if any of the data of the positioning points within the fixed time is apart from the average value by a predetermined value, an error is notified by the error notification means and the fixed The measured data within the time is discarded, the data of the same positioning point is again measured within a certain time by the RTK positioning means, and the statistical processing and the positioning point determination processing are repeated, and a predetermined number of data is obtained. Characterized by terminating the positioning process.

In the GPS positioning method according to the seventh aspect, an RT which receives a signal transmitted from a positioning satellite by an antenna and obtains a positioning point by a real-time kinematic positioning method.
The K positioning means collects positioning point data of the same point for a certain period of time, and the statistical processing means calculates a dynamic average value when the number of predetermined positioning point data is reached. Each time it is input, a dynamic average value is calculated, the difference between each data of the positioning points and the dynamic average value is obtained by the positioning point determination means, and the positioning point determination processing is performed. If none of them is apart from the dynamic average by a predetermined value, the positioning data is saved, and if any of the data of the positioning points is apart from the dynamic average by a predetermined value, an error occurs. The error is notified by the notification means, the measurement data is discarded, the data of the same positioning point is measured again by the RTK positioning means, the statistical processing and the positioning point determination processing are repeated, and positioning is performed when a predetermined number of data is obtained. You can end the process The features.

In the GPS positioning method according to claim 8, the measurement time of each data in the positioning is to decrease the measurement time of each data of the subsequent measurement when the previous measurement data is measured without error. Is characterized by.

In the GPS positioning method according to the ninth aspect, the measurement interval until the measurement of each data in the positioning is repeated is such that when a cycle slip is detected, the measurement of the next data is delayed and started. Characterize.

[0033]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram used for understanding an embodiment of the present invention. The interference positioning method will be described below with reference to FIG. The interferometric positioning method, in which a signal transmitted from a positioning satellite is received by an antenna to perform real-time kinematic positioning, measures a carrier wave with a short wavelength itself. Both the reference station B of which the correct position is known and the mobile station M of which the position is to be determined observe four or more same satellites G1, G2, G3, G4 at the same time, and the radio waves of the reference station B and the mobile station M are observed. A three-dimensional vector (baseline vector) is calculated from the delay time of.

The distance R between the positioning satellite and the reference station B or between the positioning satellite and the mobile station is obtained from the following equation (1). R = Nλ + λ × Φ / 2π + E (1) where N is an integer bias value, λ is a carrier wavelength, Φ is a phase difference, and E is various error components.

In the real-time kinematic positioning, first, a reference satellite (eg G
The difference (single phase difference) between the carrier phase of 4) and the carrier phase of the reference satellite observed by the mobile station M is obtained. Next, the difference between the carrier phase of another satellite (for example, G3) observed by the receiver of the base station B and the carrier phase of those satellites (G3) observed by the receiver of the mobile station M (single phase difference). ), And the difference between them (double phase difference).

Then, based on this, simultaneous equations in which the receiving point position is an unknown number are solved, and the receiving point position (x, y, z)
Ask for. However, for the double phase difference, the value after the decimal point of the carrier phase is obtained, and the value of the integer wavelength (integer bias value N) is unknown. Therefore, first, initialization processing for obtaining the integer bias value N is performed to obtain the integer bias value N,
Thereafter, the position of the receiving point is obtained from the above equation (1) based on the value of the carrier phase below the decimal point and the integer bias value N.
The means for obtaining the positioning point by the kinematic measurement method as described above is hereinafter referred to as RTK positioning means.

FIG. 2 is a block diagram of a GPS transceiver to which the present invention is applied. The transmitter 1 of the reference station B installed at a fixed point includes a GPS antenna 4, a frequency conversion unit 3,
The carrier wave reproducing unit 5, the phase counter 6, the clock 7, the transmitting unit 8 and the inter-station communication antenna 9 are included.

Further, the receiver 2 of the mobile station M mounted on the mobile body includes a GPS antenna 11, a frequency conversion unit 3, a carrier wave reproduction unit 5, a phase counter 6, a clock 18, a calculation unit 19, a reception unit 16 and a station. The inter-communication antenna 10, the positioning device control unit 20, the error notification unit 21, and the positioning point storage unit 22 are included. The GPS antennas 4 and 11 receive GPS signal radio waves transmitted from a GPS satellite (not shown).
The frequency converter 3 receives the GPS signal (L1 band (157
5.42 MHz) and the L2 band (1227.60 MHz)) are converted to intermediate frequencies having lower frequencies. The reception frequency of the GPS signal is subject to Doppler displacement due to the operation of GPS satellites, and this Doppler displacement is maintained even in the frequency-converted signal.

The carrier wave reproducing section 5 calculates the reception frequency of each GPS signal based on the orbit information of each GPS satellite and separates the signal of this frequency to reproduce the carrier wave of the GPS signal. For example, L1 band (1575.42MH
The frequency displacement of the signal radio wave in z) is about ± 5 kHz, and the line-of-sight velocity of the GPS satellite is 10 based on the orbit information.
Prediction can be performed with an accuracy of about m / s, and by scanning a range of about 50 Hz, it is possible to separate a signal of a specific GPS satellite from other GPS signals and extract the signal.

FIG. 2 shows the internal structure of the carrier wave reproducing section 5 of the receiver 2. The intermediate frequency converted by the frequency conversion unit 3 is input to the subtraction unit 14 of the carrier wave reproduction unit 5. The reproduced carrier wave generated by the numerically controlled oscillator 15 is also input to the subtraction unit 14. The subtractor 14 outputs the difference between the input intermediate frequency and the reproduced carrier wave. This difference is input to the synchronization unit 13.
The synchronization unit 13 sets the difference to 0 (or + (-)
The numerically controlled oscillator 15 is controlled (to be 90 °).
By this control, the reproduced carrier wave output from the numerically controlled oscillator 15 is accurately synchronized with the intermediate frequency of the GPS signal. On the other hand, the synchronization signal output from the synchronization unit 13 is input to the calculation unit 14 as a carrier tracking frequency.

Since a general GPS relative positioning receives two frequencies of four GPS satellites, it is assumed that eight carrier wave reproducing units 5 are provided in parallel.
Further, the carrier wave reproducing unit 5 decodes the information sent along with the GPS signal such as a navigation message at the same time as extracting the carrier wave clock.

Corresponding to the carrier wave reproducing section 53, eight phase counters 16 for accumulating the phase value of the carrier wave are also provided in parallel. The clocks 7 and 18 control the oscillator based on the time information of the GPS satellite obtained from a receiving circuit different from the receiving system shown in the figure, and transmit a clock pulse every one second to the phase counter 6.

The phase counter 6 is a free-run counter that counts up the phase value (phase angle) of the input carrier wave, and when the clock pulse is input, the count value (phase integrated value) is calculated by the base station 1. Then, in the transmitter 8,
Further, the receiver 2 outputs the data to the calculation unit 19, respectively. The calculation unit 19 calculates a positioning point by a known kinematic measuring method.

The positioning device control unit 20 controls the operation of the arithmetic unit 19 and the control of each unit of the receiver 2. The positioning device control unit 20 is operated based on the clock from the clock 18, and is composed of a microcomputer MPU having a ROM storing a program for performing the control and a RAM storing various data. There is.
The ROM, RAM and MPU are not shown.

The positioning device control section 20 is a statistical processing program which is a statistical processing means for calculating an average value of the positioning point data from the positioning point calculated by the calculation section 19 for a certain time, and a statistical result of the statistical processing program. A positioning point determination program that is a positioning point determination means for determining
It has a positioning condition setting program which is a positioning condition changing means for changing the number of repeated measurements and the measurement interval.

Further, there are provided a positioning point storage means 22 for storing the positioning points and an error notifying means 21 for notifying an error when a cycle slip is detected by the processing result of the positioning point determination program. The error notification means 21 may be a display device such as a lamp or a light emitting diode, or an acoustic device such as a speaker.

FIG. 3 is a first flow chart for explaining the operation of the embodiment in the receiver 2 of FIG. In the processing of FIG. 3, the RTK positioning means that receives the signal transmitted from the positioning satellite by the antenna and obtains the positioning point by the real-time kinematic positioning method collects the positioning point data of the same point for a certain period of time.

Then, the average value of the collected data of the positioning points within the fixed time is calculated by the statistical processing means, and the difference between the collected data of the positioning points within the fixed time and the average value is calculated as the positioning point. The positioning point determination processing obtained by the determination means is performed. If none of the data of the positioning points within the fixed time is apart from the average value by a predetermined value, the positioning data within the fixed time is stored. When any of the data of the positioning points within the fixed time is apart from the average value by a predetermined value, the error notification means notifies the error and discards the measurement data within the fixed time.

Furthermore, the data of the same positioning point is measured again by the RTK positioning means within a fixed time, and the statistical processing and the positioning point determination processing are repeated, and the positioning processing is ended when a predetermined number of data is obtained. is there.

The operation of FIG. 2 will be described below with reference to FIG.
First, in step 30, initial setting of the receiver 2 is performed as described later. In step 31, the phase integrated value is taken in as follows. That is, in the transmitter 1, when the phase integrated value is input from the phase counter 6,
Time information is added to the phase integrated value and transmitted from the transmitter 1 to the receiver 2. Then, in the receiver 2,
The receiver 16 inputs the phase integrated value and time information of the transmitter 1 received via the inter-station communication antenna 10 to the calculator 19.

In step 32, the calculation unit 19 calculates the double phase difference based on the phase integrated value input from the phase counter 6 and the phase integrated value of the transmitter 1 input from the receiving unit 16, The position of the receiver 2 is calculated.
That is, kinematic relative positioning is performed. The kinematic relative positioning may be performed by a known method. The calculated position is stored in the positioning point storage means 22 of the positioning device control unit 2 as positioning data. It should be noted that the transmitter 1 and the receiver 2 have previously confirmed the GPS signals to be received, and both have received the same four sets of GPS signals.

In step 33, the statistical processing program which is the statistical processing means of the positioning device control unit 2 obtains the average value of the positioning point data from the positioning points stored in the positioning point storage means 22 for a certain period of time. And step 34
Then, the positioning point determination program which is the positioning point determination means,
A difference between the collected data of the positioning points within the fixed time and the average value is obtained.

In step 35, the positioning point determination program detects the presence or absence of cycle slip by checking these differences. If a cycle slip is detected by the positioning point determination program, step 3
Proceed to 7. If no cycle slip is detected, the process proceeds to step 36.

In step 36, the positioning point storage means 2
The positioning point data for a certain period of time stored in 2 is saved as valid data. In step 37, as the error processing, the error notification means notifies the error and the positioning point data stored in the positioning point storage means 22 for a certain period of time is deleted.

When the processing of steps 36 and 37 is completed, the processing proceeds to step 38, and the positioning device control section 2 counts the number of valid data of the positioning point data stored in the positioning point storage means 22 at step 38 for a certain period of time. Then, if the number of valid data reaches the predetermined number, the measurement process is ended, and if the number of valid data does not reach the predetermined number, the process returns to step 30.

In FIG. 4, the data (base line length) between the base station B and the mobile station M is obtained by the conventional real-time kinematic positioning method using the data necessary for determining the initial setting conditions in step 30. It is data showing the frequency of occurrence of cycle slips measured at 4.8 km. In FIG. 4, the time 40 during which the cycle slip is continued is shown in a column 44, the occurrence rate 41 is shown in a column 45, and the measured time is 1
The cycle-slip capture rate 42a at the time of minute is shown in the column 46a.
The capture ratio 42b is shown in a column 46b, and the total is shown in a column 48.
In addition, the cycle slip capture rate 43 when the measurement time is 2 minutes
a is shown in a column 47a, its capture ratio is shown in a column 47b, and its total is shown in a column 49.

As is apparent from FIG. 4, the cycle slip is overwhelmingly finished in a few minutes or less. For example, when the cycle slip occurrence time is finished in 4 minutes or less, the cycle slip is 80.9%. Reach In such a case, when the measurement time is 1 minute, the capture rate 42a of the cycle slip decreases as the time during which the cycle slip occurs increases, and therefore the capture rate 42b also decreases accordingly. When the measurement time is 2 minutes, the cycle slip capture rate 43a and the capture rate 43b increase as compared with the case where the measurement time is 1 minute.

FIG. 5 is a diagram showing a reduction in error when the data obtained by measuring the position of the mobile station M is time-averaged when the base line length is 4.8 km at the same place for a fixed time. Reference numeral a is a height direction, reference numeral b is a horizontal and horizontal direction, and reference numeral c is a horizontal and vertical measurement value. If the measurement time is increased and the number of data is increased, the influence of the error component contained therein is reduced.
On the other hand, as shown in FIG. 4, the cycle slip is overwhelmingly finished in a few minutes or less. Therefore, in FIG.
As can be estimated from the result of, the error decreases if the measurement time is longer than that. For example, if the measurement time is 2 hours or more, the error in the height direction becomes 1/2 as compared with the case where the measurement time is 1 minute.

However, it is not realistic from the efficiency of collecting measurement data to set the measurement time at one point to 2 hours or more. As is clear from FIG. 4, when the measurement time is 2 minutes,
Even if a cycle slip that continues for 5 minutes or more occurs, the rate at which it cannot be captured is very small.

In consideration of the above measurement results, the above step 3
The initial setting at 0 is performed as follows. That is, in step 30, the positioning condition setting program, which is a positioning condition changing means for changing the measurement time for measuring one data for a certain time and the measurement interval for one data until the measurement for the certain time is repeated, operates.

First, the measurement time in the positioning is determined as follows. That is, as is clear from FIG.
Most cycle slips have a duration of 1 minute or less. Therefore, if the measurement time in the positioning becomes long, the probability that a cycle slip of 1 minute or less will occur during the measurement time increases. Therefore, when the cycle slip does not occur during the first measurement time, the reliability of the next measurement value is also expected to increase, and the reliability of the data does not decrease even if the measurement time is reduced.

Therefore, when the predetermined measurement data of one data is measured without error, the measurement time of the subsequent measurement of one data may be reduced. For example, the first measurement time is set to 2 seconds, and in the repeated measurement, the measurement time of the subsequent measurement is set to, for example, 1 second, which is shorter than the previous measurement time. Then, if a cycle slip occurs again during the measurement, the measurement time may be returned.

The change is made by comparing the number of stored data and the number of errors that have occurred in the positioning device control unit 2 in the determination processing of step 35, and if no error occurs at a predetermined number of times, the subsequent measurement is performed. The measurement time of may be shorter than the previous measurement time. Alternatively, the measurement time may be fixed to the initially set measurement time.

Next, the measurement interval of one data until the measurement of the fixed time in the positioning is repeated is determined as follows. That is, when the cycle slip occurs, the duration is often several minutes or less, as is apparent from FIG. Therefore, when a cycle slip is detected, the next measurement is started with a delay of, for example, several minutes. As a result, there is a high probability that the cycle slip will end when the next measurement is started.

Incidentally, such a change may be started by delaying the next measurement, for example, by several minutes when an error occurs in the error processing of step 37. Or
The measurement interval may be fixed as it is initially set. or,
The measurement time in the positioning and the measurement interval until the measurement of the fixed time are repeated may be changed independently or at the same time.

FIG. 6 is a second flowchart for explaining the operation of the embodiment in the receiver 2 of FIG. In the processing of FIG. 6, the RTK positioning means that receives the signal transmitted from the positioning satellite by the antenna and obtains the positioning point by the real-time kinematic positioning method collects the positioning point data of the same point for a certain period of time. The statistical processing means calculates a dynamic average value each time positioning point data is input.

When the predetermined number of positioning point data is reached, the data of the positioning points obtained up to that point and the data of the positioning points obtained thereafter and the dynamic average value are calculated. The positioning point determination processing is performed by obtaining the difference by the positioning point determination means. If none of the data of the positioning points is apart from the dynamic average value by a predetermined value, the positioning data is stored. If any of the data of the positioning points is apart from the dynamic average value by a predetermined value, the error notification means notifies the error and discards the measurement data.

Then, the data of the same positioning point is measured again by the RTK positioning means, the above-mentioned statistical processing and positioning point determination processing are repeated, and the positioning processing is ended when a predetermined number of data is obtained.

The operation of FIG. 2 will be described below with reference to FIG. 6, but the same processes as those in FIG. 3 will be assigned the same reference numerals and explanation thereof will be omitted. First, in step 60, initial setting of the receiver 2 is performed as described later. Then, the processes of step 31 and step 32 are performed, and the process proceeds to step 63. In step 63, it is determined whether a predetermined number of data has been acquired. Then, when the predetermined number of data is acquired, the process proceeds to step 64, and when the predetermined number of data is not acquired, the process returns to step 31 to acquire new data.

In step 64, the data acquired thus far is processed by the statistical processing program, which is the statistical processing means of the positioning device control unit 2, into the positioning point storage means 22 by then.
The dynamic average value of the positioning point data is obtained from the positioning point stored in (4) for a certain period of time, and the process proceeds to step 34. Thereafter, the same processing as in FIG. 3 is performed.

The initial setting in step 60 is performed as follows. That is, in step 64, the statistical processing means calculates a dynamic average value when the predetermined number of positioning point data is reached. The predetermined number of positioning point data is the step 6
The default setting is 0. The change of the predetermined number of positioning point data is performed by the operation of the positioning condition setting program which is the positioning condition changing means. The predetermined number of positioning point data may be combined with the initial setting in step 30.

[0072]

According to the GPS positioning device of the first aspect, the statistical processing means for obtaining the average value of the positioning point data obtained by the RTK positioning means within a fixed time and the statistical result of the statistical processing means are determined. Positioning point determining means, positioning point storing means for storing the positioning points obtained by the RTK positioning means, and R
GP including a TK positioning means, a statistical processing means, a positioning point determination means, and a positioning device control means for controlling the positioning point storage means can collect highly reliable data with a simple configuration.
An S positioning device can be realized.

According to the GPS positioning device of the second aspect,
By reporting an error when the positioning point determination means detects a cycle slip, it is possible to know in real time that the data being measured has an error, and the reliability of the measured data can be roughly determined. Therefore, the error notification can be used as a basis for determining whether or not the measurement can be continued.

According to the GPS positioning device of the third and fourth aspects, the positioning device control means comprises positioning condition setting means, and the positioning condition setting means changes the measuring time and the measuring interval. By providing the variable means, it is possible to change the measurement condition according to the situation at the time of measurement and realize a GPS positioning device with high reliability of collected data.

According to the GPS positioning device of the fifth aspect,
The positioning point determining means obtains a difference between the average value obtained by the statistical processing means within a certain period of time and each data of the positioning points obtained by the RTK positioning means within the certain period of time, and the difference is a predetermined value. By determining that the data is normal when it is smaller and abnormal if it is larger, a low-cost GPS positioning device using a microprocessor or the like can be realized.

According to the GPS positioning method of claim 6,
If the data cannot be obtained correctly due to the phase integration value of the carrier wave of the radio wave transmitted by the GPS satellite being disturbed, the data is discarded and cycle-slip-free, correct measurement data can be obtained, real-time kinematics (RT
K) A GPS positioning method based on the relative GPS positioning method can be realized.

According to the GPS positioning method of claim 7,
In order to start the determination of the cycle slip with the minimum acquired data, and according to the GPS positioning method according to claim 8, when one previous data is measured without error, the measurement time of the subsequent measurement. A GPS positioning method that can reduce the measurement time can be realized by reducing

According to the GPS positioning method of claim 9,
The measurement interval until the measurement of each data in the positioning is repeated, when a cycle slip is detected, by delaying and starting the next measurement, the measurement condition is changed according to the situation at the time of measurement, and the collected data is collected. The highly reliable GPS positioning method can be realized.

[Brief description of drawings]

FIG. 1 is a diagram used for understanding an embodiment of the invention.

FIG. 2 is a block diagram of a GPS transceiver according to an embodiment of the present invention.

FIG. 3 is a first flowchart explaining an operation in the mobile station according to the embodiment of the present invention.

FIG. 4 is data obtained by actually measuring the frequency of occurrence of cycle slips by a conventional real-time kinematic positioning method.

FIG. 5 is a diagram showing a reduction in error when the data obtained by measuring the position of the mobile station M is time-averaged by the conventional real-time kinematic positioning method.

FIG. 6 is a second flowchart explaining the operation of the mobile station according to the embodiment of the present invention.

[Explanation of symbols]

1 transmitter 2 receiver 3 Frequency converter 4 GPS antenna 5 Carrier recovery unit 6 Phase counter 7,18 clock 8 transmitter 9, 10 Inter-station communication antenna 11 GPS antenna 16 Receiver 17 Phase counter 19 Operation part

Claims (9)

[Claims] 1. An RTK positioning unit that receives a signal transmitted from a positioning satellite by an antenna and obtains a positioning point by a real-time kinematic positioning method, and an average of positioning point data obtained by the RTK positioning unit within a certain period of time. Statistical processing means for obtaining a value, positioning point determination means for determining the statistical result of the statistical processing means, positioning point storage means for storing the positioning points obtained by the RTK positioning means, RTK positioning means, statistical processing means And a positioning device control unit for controlling the positioning point determination unit and the positioning point storage unit. 2. The positioning device control means comprises error notification means for notifying an error when the positioning point determination means detects a cycle slip, and the error notification means when the positioning point determination means detects a cycle slip. The G according to claim 1, wherein an error is notified by means.
PS positioning device. 3. The GPS according to claim 1, wherein the positioning device control means includes positioning condition setting means.
Positioning device. 4. The GPS positioning device according to claim 3, wherein the positioning condition setting means comprises positioning condition changing means for changing a measurement time or a measurement interval. 5. The positioning point determination means is an average value within a fixed time obtained by the statistical processing means and the RT within the fixed time.
The data is determined to be normal when the difference is smaller than a predetermined value, and the data is determined to be abnormal when the difference is smaller than a predetermined value. GPS positioning device according to. 6. An RTK positioning unit that receives a signal transmitted from a positioning satellite by an antenna and obtains a positioning point by a real-time kinematic positioning method, collects positioning point data of the same point for a certain period of time, and collects the fixed point data. A positioning point determination process of calculating the average value of the data of the positioning points within the time by the statistical processing means, and obtaining the difference between the collected each data of the positioning points within the certain time and the average value by the positioning point determination means. If none of the data of the positioning points within the fixed time is apart from the average value by a predetermined value, the positioning data within the fixed time is saved, and the data of the positioning points within the fixed time is stored. If any of the above is deviated from the average value by a predetermined value, an error is notified by the error notification means and the measurement data within the fixed time is discarded, and the measured data is again returned to the fixed time. , The data of the same positioning point measured by the RTK positioning means, the statistical processing, repeated positioning point judgment processing, GPS positioning method, characterized in that to end the positioning process when a predetermined number of data is obtained. 7. An RTK positioning unit that receives a signal transmitted from a positioning satellite by an antenna and obtains a positioning point by a real-time kinematic positioning method collects positioning point data of the same point for a certain period of time, and the statistical processing unit , When a predetermined number of positioning point data is reached, a dynamic average value is calculated, and thereafter, each time positioning point data is input, a dynamic average value is calculated, and each positioning point data and the above If the positioning point determination means determines the difference from the dynamic average value and performs positioning point determination processing, and if none of the positioning point data is apart from the dynamic average value by a predetermined value, save the positioning data. However, when any of the data of the positioning points is apart from the dynamic average value by a predetermined value, an error is notified by the error notifying means, the measurement data is discarded, and the data of the same positioning point is again set. Measured by TK positioning means, the statistical processing, repeated positioning point judgment processing, GPS positioning method, characterized in that to end the positioning process when a predetermined number of data is obtained. 8. The measurement time of each data in the positioning is
If one data of the previous measurement is measured without error,
The GPS positioning method according to claim 6 or 7, wherein the measurement time of one data of the subsequent measurement is reduced. 9. The measurement interval until the measurement of each data in the positioning is repeated, when the cycle slip is detected, the measurement of each next data is delayed and started. The GPS positioning method described in.