JP2004239797A - Satellite positioning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To properly set the observation (measurement)timing for a mobile station. <P>SOLUTION: The mobile station includes a main mobile station and a mobile sub-station, in this satellite positioning system including a fixed station and the mobile station. The main mobile station measures coordinates in one position by receiving a radio wave from a satellite. The mobile sub-station measures coordinates in the other position by receiving the radio wave from the satellite. The main mobile station has a communication device for transmitting measurement start information correlated with a measuring time of the main mobile station, and the mobile sub-station has a processor for starting the measurement based on the measurement start information from the main mobile station. The measuring time of the main mobile station and a measuring time of the mobile sub-station contain the same time at least for a fixed time. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to satellite positioning (Global Positioning System, hereinafter referred to as GPS) that can obtain position coordinates by receiving radio waves from satellites.
[0002]
[Prior art]
In GPS surveying, relative positions between observation points are obtained by receiving radio waves (including carrier phase and code information) transmitted from launched GPS satellites at a plurality of observation points using a GPS receiver. Is a surveying method for obtaining
[0003]
Basically, the influence of weather and terrain is small, and surveying over long distances can be performed efficiently.
[0004]
As an example of the GPS survey, there is a kinematic positioning system. This is because when a combination of an antenna and a receiver capable of GPS positioning is set as a station, one set of stations fixedly arranged at a reference point is set as a fixed station, another movable station is set as a mobile station, and The station performs positioning while sequentially moving a large number of measurement points, and obtains a relative coordinate position with respect to the fixed station. The position coordinates of the reference point are known.
[0005]
As an advanced type of the kinematic positioning, there is, for example, a real-time kinematic positioning (hereinafter, referred to as an RTK), which is a positioning method in which a position as a positioning result is obtained in real time, as shown in Patent Document 1.
[0006]
In the RTK, a fixed station and a mobile station simultaneously receive radio waves from a satellite, and the mobile station analyzes the positioning data with reference to the received data obtained by the fixed station, so that the fixed station is immediately installed. Relative coordinates from the reference point to the positioning point of the mobile station can be obtained.
[0007]
When transmitting positioning data from a fixed station to a mobile station, a method of transmitting the positioning data from the fixed station by radio at a specific frequency has been generally used. Specifically, by providing a fixed station with a wireless transmitter (for example, at a frequency of 400 MHz and an output of about 10 mW), positioning data is always transmitted, and the mobile station is provided with a wireless receiver capable of receiving the transmission radio wave. The transmitted positioning data can be referred to at any time.
[0008]
On the other hand, the “static (static) positioning method” is mainly used in the class 1-2 reference point surveying in public surveying.
[0009]
However, in the static positioning method, post-processing is required for the baseline analysis based on the observation data, and it takes time and effort. For this reason, in the surveying of the 3rd and 4th grade reference points, which are often performed over a relatively short distance, a general surveying instrument that can easily understand the survey result has been used.
[0010]
On the other hand, the RTK-GPS observation method, which is an advanced type of the dynamic interference (kinematic) positioning method, allows the base line analysis to be performed in real time inside the GPS receiver so that a highly accurate processing result can be obtained at the survey site. As a result, efficient surveying work can be performed even in GPS surveying.
[0011]
Specifically, in the RTK-GPS observation, the fixed station and the mobile station simultaneously receive signals from GPS satellites, transfer the observation data of the fixed station to the mobile station by radio or the like, and perform necessary analysis processing. The mobile station moves to another observation point and performs the same observation. This is performed by the dynamic interference positioning method which repeats this sequentially.
[0012]
In a fixed station, the GPS antenna is usually mounted on a tripod or a fixedly installed pole, and in a mobile station at an unknown point or the like, the GPS antenna is usually mounted on a tripod or an antenna pole. An electronic reference point may be used as the fixed station. At this time, the observation data of the fixed station can be transmitted to the mobile station using communication means or the like.
[0013]
RTK-GPS observation is performed by a direct observation method or an indirect observation method.
[0014]
In the direct observation method, simultaneous observation is performed in the fixed station and the mobile station, and in the indirect observation method, simultaneous observation is performed in the fixed station and the two mobile stations.
[0015]
In the case of performing public surveying by GPS, conditions are defined for the position coordinates obtained by observation to satisfy the condition as a reference in surveying, that is, a condition of a 3rd and 4th grade reference point.
[0016]
(1) Surveying is performed using one mobile station within a range of 500 m from the fixed station, and it is necessary to measure the same point over two days.
[0017]
(2) A 10-second stationary observation with an overlap of 1 second or more is performed using two mobile stations within a range of 10 km from the fixed station. One observation (one day) is sufficient.
[0018]
As described in (2) above, two mobile stations are used in addition to the fixed station, and two of these mobile stations perform stationary observation for 10 seconds (observe continuous epochs for 10 seconds and take the average thereof). If it does, it must include the time at which the 10-second static observations made by the two units overlap.
[0019]
That is, it is necessary to perform the observation at a number of observations equal to or greater than 10 epochs (one epoch is one signal received simultaneously by the fixed station and the mobile station from the GPS satellite) with the number of times of data acquisition being set every second. This is stipulated in the operational standards.
[0020]
In addition, it is desirable that the position coordinates of the measurement points obtained by the positioning work be recognized as the 3rd and 4th reference points in that the accuracy of the measurement position coordinates is guaranteed. It is desired that positioning work be performed.
[0021]
[Patent Document 1]
Japanese Patent Application No. 2001-112863
[0022]
[Problems to be solved by the invention]
In the case of (2) above, the operator adjusts the timing of the start of observation (measurement) while contacting each other with a mobile phone or the like for each positioning (measurement) work at all measurement points. For this reason, the work became extremely complicated, and the burden on the operator was great.
[0023]
In some cases, a positioning schedule is set in advance and observation is performed according to the schedule. If each operator performs work based on the contents of the communication, there is a possibility that there will be a deviation due to the interpretation of each operator and the recognition of time, and it will be difficult to verify whether the observation timing of each other is correct .
[0024]
An object of the present invention is to provide a satellite positioning system capable of appropriately setting the observation (measurement) timing of a mobile station.
[0025]
[Means for Solving the Problems]
An example of a means for solving the problem according to the present invention is a satellite positioning system described in each claim.
[0026]
BEST MODE FOR CARRYING OUT THE INVENTION
According to a preferred embodiment of the present invention, the mobile station includes two main mobile stations and a slave mobile station. In the following description of the embodiments, a master mobile station may be simply referred to as a master, and a slave mobile station may be simply referred to as a slave.
[0027]
Preferably, a server for timing management of the master mobile station and the slave mobile station is provided.
[0028]
Preferably, the server issues a survey (measurement) timing instruction, receives and stores survey result data, calculates survey position coordinates and creates a map, determines success or failure of the survey work, and notifies the mobile station of the determination result. . Preferably, the server is configured to determine the position coordinates of each survey point based on the survey result data and transmit the result to each mobile station.
[0029]
Preferably, the server compares the position coordinates obtained from the history of the calculated position coordinates (because one of the two survey points is the same as the point previously surveyed by the other mobile station), Consider accuracy. As a result, if the difference between the values of the position coordinates is within a predetermined value, it is preferable to determine that the survey is successful, and if not, determine that the survey has failed, and notify each mobile station. Further, in the case of a measurement failure, it is advisable to re-measure if necessary, and repeat the measurement routine again.
[0030]
Preferably, the mobile station and the server are provided with a communication device (transmission means). As the communication device, a public line or a virtual private network (Virtual Private Network) abbreviated as VPN can be used. A wireless line such as a mobile phone can be used for the mobile station as a public line, and a fixed line can be used for the server. As the VPN, a wireless terminal can be used on the mobile station side, and a fixed leased line can be used on the server side. Advantages of a VPN include high security, easy quality control, and low cost because a fixed amount operation is possible.
[0031]
Preferably, the timer means is provided in the mobile station and the server. The timer means controls the setting of the survey start time and the start of the survey on the mobile station side, and controls the timing of the survey start to the mobile station on the server side.
[0032]
In the preferred embodiment of the present invention, several observation (measurement) start setting modes can be set. Hereinafter, this will be described. Arrows indicate the flow of observation start information.
[0033]
(1) Master mobile station → slave mobile station
In this mode, the observation start information is transmitted from the master mobile station to the slave mobile station.
[0034]
(A) When the observation start information is the observation start signal
The condition is that the signal propagation time from master to slave is within 9 seconds.
[0035]
This is because they must overlap for at least one second.
[0036]
(B) When the observation start information is the observation start time
Observation is possible even if the signal propagation time from master to slave is 10 seconds or more.
[0037]
(2) Master mobile station → server → slave mobile station
In this mode, the observation start information is transmitted from the master mobile station to the server, and the server transfers the information to the slave mobile station.
[0038]
(A) When the observation start information is the observation start signal
The condition is that the signal propagation time from master to slave is within 10 seconds.
[0039]
(B) When the observation start information is the observation start time
Observation is possible even if the signal propagation time from master to slave is 10 seconds or more.
[0040]
(3) Master mobile station → server, server → slave mobile station
The server transmits an observation start signal to the slave mobile station based on the observation start time transmitted from the master mobile station. In this mode, the main mobile station starts observation at the observation start time set by itself, and the slave mobile station starts observation based on the observation start signal received from the server.
[0041]
The server requires a timer function, but can be used when the signal propagation time from master to slave is 10 seconds or more.
[0042]
(4) Master mobile station → server, master mobile station ← server → slave mobile station
The server transmits an observation start signal to both the main and slave mobile stations based on the observation start time transmitted from the main mobile station. In this mode, the primary and secondary mobile stations start observation based on the received observation start signal.
[0043]
As the setting mode of the observation start time setting data, transmission from the main mobile station, transmission through a line (mobile phone, Internet, XML format), connection to a server and setting (logon to the setting screen, automatic measurement), etc. is there.
[0044]
As the transmission delay time measurement function, the observation start setting mode may be switched according to the measurement time of the signal propagation time from the master mobile station to the slave mobile station via the server.
[0045]
【Example】
FIG. 1 is an overall configuration diagram showing an embodiment of a satellite positioning system according to the present invention.
[0046]
The satellite positioning system according to the present invention includes two mobile stations 1a and 1b, a fixed station 2, and a data server 3 connected to the mobile stations 1a, 1b and the fixed station 2 via communication means.
[0047]
The data server 3 includes a central processing unit 4, storage means 5, interfaces 6, 7, and the like.
[0048]
The mobile stations 1a and 1b are respectively provided with receiving antennas 20a and 20b, receivers 21a and 21b, communication means 22a and 22b capable of two-way communication with the data server 3 (or an interface capable of connecting the communication means), and an operator. And display means (not shown) capable of displaying various information with respect to.
[0049]
The receivers 21a and 21b have storage means (not shown) for storing data such as positioning data and analysis results, and also have built-in display means. These devices have portability so that an operator can carry them, and can operate independently using a battery as a power source.
[0050]
Further, as equipment for positioning work, the antennas 20a and 20b are attached to the rod members 23a and 23b. The rod members 23a and 23b have a bubble tube capable of detecting the vertical position so that the antennas 20a and 20b can be mounted at the upper end so that the positioning members can be accurately set in a circular line at the positioning point. Pointed for easy installation.
[0051]
By placing the lower ends of the rod-like members 23a and 23b at the positioning points and keeping the antennas 20a and 20b vertically by a bubble tube or the like, the antennas 20a and 20b can be accurately arranged above the positioning points.
[0052]
The fixed station 2 includes a receiving antenna 17, a receiver 19, and a communication unit 10 that transmits corrected positioning data obtained by positioning to the data server 3.
[0053]
The fixed station 2 is fixedly arranged at a point where the position coordinates are known, and constantly or regularly receives radio waves from satellites and obtains observation data regarding the arrangement position to create corrected positioning data. The fixed station 2 preferably selects a fixed station (not shown) that can be used by the mobile station.
[0054]
The obtained corrected positioning data is transmitted to the data server by the communication means 10 constantly or regularly.
[0055]
Since the fixed station 2 is fixedly arranged at a known position and can transmit the corrected positioning data at a high speed, the communication means 10 operates at a fixed speed such as a WAN or a dedicated line. , Desirable in terms of stability.
[0056]
In addition, the corrected positioning data of the fixed station 2 transmitted to the data server 3 is generally transmitted in a data format in which data received from the satellite 8 and known coordinates are combined.
[0057]
For example, in the case of CRM data, RTCM data, and the like, they are referred to when analyzing the positions of the mobile stations 1a and 1b with high accuracy in RTK positioning.
[0058]
The data server 3 includes a central processing unit 4, a storage unit 5, an interface unit connecting the communication units 10 and 15, and the like.
[0059]
This interface unit transmits data between at least one mobile station 1 and an external line interface (first interface 6) that is always connected to enable reception of positioning data from each of the plurality of fixed stations 2. And a communication interface (second interface 7) capable of two-way communication for transmitting and receiving data.
[0060]
The first interface 6 for the external line is connected to the communication means 10 with the fixed station 2 to receive the corrected positioning data sent from the fixed station 2.
[0061]
Further, the first interface 6 for an external line can be connected to a network such as the Internet in addition to the fixed station 2, and can communicate with a remote PC or the like through this line.
[0062]
The second interface 7 for communication is used for receiving positioning data from the mobile stations 1a and 1b, output data from sensors provided therein, and transmitting corrected positioning data and reference data from the data server 3. Used.
[0063]
For example, as shown in FIG. 1, transmission and reception are performed between mobile stations 1a and 1b and a communication unit 11 such as a mobile terminal or a wireless LAN connected to the data server 3 via a line 12 such as the Internet or a VPN. As shown in FIG. 2, transmission and reception are performed between communication means 22a and 22b provided in mobile stations 1a and 1b and communication means 32 connected to server 3 via line 31. The mobile station 1 receives radio waves from the satellite 8 and obtains positioning data.
[0064]
As a transmission function, the mobile station transmits corrected positioning data based on positioning data from the fixed station 2 that is appropriate for analysis.
[0065]
The communication means 11 in the communication interface 7 is preferably a means capable of wirelessly communicating (two-way communication) such as a mobile phone, a PHS or a wireless LAN, because the mobile station performs positioning while moving within a surveying (measurement) range.
[0066]
Incidentally, by using a high-speed communication means as the communication means 11, a time lag at the time of analysis at the mobile stations 1a and 1b can be further reduced.
[0067]
The central processing unit 4 obtains the position information of the mobile stations 1a and 1b from the positioning data of the mobile stations 1a and 1b obtained via the communication interface 7, and based on the position information, sends the position information to the mobile stations 1a and 1b. The most suitable one fixed station 2 is selected, and the corrected positioning data received from the selected fixed station or the reference data corresponding to the position information is transmitted to the mobile stations 1a and 1b.
[0068]
The storage unit 5 can flexibly store various data such as various data received from the mobile stations 1a and 1b, information on positioning operators and users, in addition to data necessary for the processing of the central processing unit 4. ing. Specifically, in addition to the position information of the fixed station 2, the positioning data to be received, the positioning data from the mobile stations 1a and 1b, or the position information, a survey work range, environment information at the mobile station, and the like can be stored and used later. can do.
[0069]
Here, the positioning data is a general term for data in a format defined in satellite surveying, for example, data that may be handled, such as received data or analyzed positional information. The format includes binary data, text data, and the like.
[0070]
The flow of the surveying work will be described with reference to the drawings.
[0071]
FIG. 3 shows a positioning work flow of the satellite positioning system according to one embodiment of the present invention. The primary mobile station is shown as mobile station 1 and the slave mobile station is shown as mobile station 2. In the following example, it is assumed that the authentication of a mobile station and the selection of an available fixed station have already been completed in principle.
[0072]
(1) First, the mobile station 1 notifies the server of the start of observation (measurement). The measurement start information of the main mobile station in the present invention is configured as an observation start signal.
[0073]
(2) The mobile station 1 starts observation.
[0074]
(3) The server immediately notifies the mobile station 2 of the observation. The measurement start information of the slave mobile station in the present invention is configured as an observation start signal.
[0075]
(4) The mobile station 2 receives the notification and starts observation.
[0076]
In this way, the measurement time of the mobile station 1 and the measurement time of the mobile station 2 can include at least the same time at a certain time. Also, there is no need to provide a timer function.
[0077]
FIG. 4 shows a flow of a positioning operation of the satellite positioning system according to another embodiment of the present invention. The primary mobile station is shown as mobile station 1 and the slave mobile station is shown as mobile station 2.
[0078]
(1) First, the mobile station 1 notifies the server of the observation start time. The measurement start information of the main mobile station in the present invention is configured as an observation start time.
[0079]
(2) When the observation start time comes, the mobile station 1 starts observation. The mobile station 1 is provided with a timer for starting observation at the observation start time.
[0080]
(3) When the observation start time comes, the server notifies the mobile station 2 of the observation. The measurement start information of the slave mobile station in the present invention is configured as an observation start signal.
[0081]
(4) The mobile station 2 receives the notification and starts observation.
[0082]
In this way, the measurement time of the mobile station 1 and the measurement time of the mobile station 2 can include at least the same time at a certain time. The mobile station 1 needs to have a timer, but the mobile station 2 does not need to have a timer.
[0083]
FIG. 5 shows a flow of a positioning operation of a satellite positioning system according to still another embodiment of the present invention. The primary mobile station is shown as mobile station 1 and the slave mobile station is shown as mobile station 2.
[0084]
(1) First, the mobile station 1 notifies the server of the observation start time. The measurement start information of the main mobile station in the present invention is configured as an observation start time.
[0085]
(2) The server notifies the mobile station 2 of the observation start time. The measurement start information of the slave mobile station in the present invention is configured as an observation start time.
[0086]
(3) When the observation start time comes, the mobile station 1 starts observation. The mobile station 1 is provided with a timer for starting observation at the observation start time.
[0087]
(4) When the observation start time comes, the mobile station 2 starts observation. The mobile station 2 is provided with a timer for starting observation at the observation start time.
[0088]
In this way, the measurement time of the mobile station 1 and the measurement time of the mobile station 2 can include at least the same time at a certain time. The mobile station 1 and the mobile station 2 need to have a timer, but do not need to communicate at the observation start time.
[0089]
FIG. 6 shows a flow of a positioning operation of the satellite positioning system according to still another embodiment of the present invention. The primary mobile station is shown as mobile station 1 and the slave mobile station is shown as mobile station 2.
[0090]
(1) First, the mobile station 1 notifies the server of the observation start time. The measurement start information of the main mobile station in the present invention is configured as an observation start time.
[0091]
(2) When the observation start time comes, the server notifies the mobile station 1 and the mobile station 2 of the start of observation. The server is provided with a timer for notifying the mobile station 1 and the mobile station 2 of the observation start at the observation start time. The measurement start information of the slave mobile station in the present invention is configured as an observation start time.
[0092]
(3) Upon receiving the notification from the server, the mobile station 1 and the mobile station 2 start observation.
[0093]
In this way, the measurement time of the mobile station 1 and the measurement time of the mobile station 2 can include at least the same time at a certain time. The mobile station 1 and the mobile station 2 do not need to have a timer.
[0094]
FIG. 7 shows a flow of a positioning operation of a satellite positioning system according to still another embodiment of the present invention. The primary mobile station is shown as mobile station 1 and the slave mobile station is shown as mobile station 2. The description of the real-time server is omitted because it is not directly related to the present invention.
[0095]
(1) After the preparation for the stationary survey is completed, the mobile station 1 transmits a preparation completion notification to the server (RTK indirect method server). The measurement start information of the main mobile station in the present invention is configured as a preparation completion notification.
[0096]
(2) After the preparation for the stationary survey is completed, the mobile station 2 transmits a preparation completion notification to the server. The measurement start information of the slave mobile station in the present invention is configured as a preparation completion notification.
[0097]
(3) When the preparation of the mobile station 1 and the mobile station 2 is completed, the server transmits an observation start signal to the mobile station 1 and the mobile station 2. The measurement start information of the slave mobile station in the present invention is configured as an observation start time.
[0098]
(4) Upon receiving the notification from the server, the mobile station 1 and the mobile station 2 start observation.
[0099]
In this way, the measurement time of the mobile station 1 and the measurement time of the mobile station 2 can include at least the same time at a certain time. The mobile station 1 and the mobile station 2 notify the server of the completion of the survey, so that the server can notify the mobile station 1 and the mobile station 2 of the success (failure) of the survey.
[0100]
FIG. 8 shows a modification to the example of FIG. After the completion of the survey, the mobile station 1 and the mobile station 2 notify the server of the completion of the survey and the survey result. The server can notify the mobile station 1 and the mobile station 2 of the success (failure) of the survey by calculating the survey result.
[0101]
9 to 15 conceptually show still another example of the internal configuration of the mobile station 1 and the flow of the positioning work. In this example, since the main mobile station and the slave mobile station have basically the same configuration, they are described together as the mobile station 1.
[0102]
First, a preparation step for using the satellite positioning system of the present invention will be described with reference to FIGS.
[0103]
(1) Authentication request step (FIG. 9)
The operator places the mobile station 1 at the reference value point. The mobile station 1 has an input device 1A, a display device 1B, a CPU 1C as a processing device of the present invention, a storage device 1D, a communication device 1E, and an output device 1F.
[0104]
The operator makes an authentication request using the input device 1A. The authentication request is transmitted to a server (not shown) via CPU 1C and communication device 1E.
[0105]
When the mobile station 1 receives the notification of the completion of the authentication from the server, it displays the fact on the display device 1B. Authentication information is stored in the storage device 1D.
[0106]
(2) Available fixed station information display step (FIG. 10)
The server transmits the available fixed station information to the mobile station 1.
[0107]
When receiving the available fixed station information from the server, the mobile station 1 displays the information on the display device 1B. The storage device 1D stores available fixed station information.
[0108]
(3) Fixed station selection step (FIG. 11)
The operator uses the input device 1A to select a fixed station to be used. The fixed station used is transmitted to the server via the CPU 1C and the communication device 1E as a fixed station number / name notification.
[0109]
When receiving the RTK correction information from the server, the mobile station 1 outputs this via the output device 1F. Note that the steps shown in FIGS. 9 to 11 can also be used for the satellite positioning system in the above-described embodiment.
[0110]
Next, a flow of the positioning operation of the mobile station will be described with reference to FIGS.
[0111]
(4) Ready notification (Fig. 12)
After the preparation for the stationary survey is completed, the operator inputs a message to the input device 1A of the mobile station 1 to that effect. The preparation completion notification is transmitted to the server via the communication device 1E. The measurement start information of the main mobile station in the present invention is configured as a preparation completion notification.
[0112]
(5) Observation start step (Fig. 13)
When the preparation of the mobile station 1 is completed, the server transmits an observation start signal to the mobile station 1. The measurement start information of the slave mobile station in the present invention is configured as a measurement start signal.
[0113]
Upon receiving the notification from the server, the main mobile station 1a and the slave mobile station start observation. The display 1B displays an observation start notification and observation information.
[0114]
(6) Observation end step (Fig. 14)
After the observation is completed, the CPU 1C determines the success or failure of the observation. The observation result is displayed on the display device 1B. The observation result is stored in the storage device 1D. The communication device 1E transmits an observation success notification from the CPU 1C to the server. Note that the communication device 1E may transmit an observation failure notification from the CPU 1C to the server.
[0115]
Thus, the measurement time of the master mobile station and the measurement time of the slave mobile station can include the same time for at least a fixed time. By determining the observation result by the main mobile station and the slave mobile station, it is possible to notify the server of the measurement success (failure).
[0116]
(7) Observation completion step (Fig. 15)
As shown in FIG. 15, when the observation of all points is completed, the communication device 1E receives the notification from the server, displays the completion of the observation on the display device 1B, and notifies the movement to the next point. May be.
[0117]
The invention is not limited to the illustrated embodiment.
[0118]
The internal configuration of the mobile station or server is arbitrary. For example, the server may determine the success or failure of the observation after the end of the observation.
[0119]
The observation start information may be transmitted directly from the master mobile station to the slave mobile station. If the observation start information is constituted by the observation start signal, there is no need to provide a timer in the mobile station. If the observation start information is constituted by the observation start time, the observation can be performed even if the signal propagation time from the master mobile station to the slave mobile station is 10 seconds or more.
[0120]
If the server is configured to be able to simultaneously control a plurality of different sets of mobile stations, a wider range of maps can be created by combining different sets of measurement results.
[0121]
【The invention's effect】
According to the present invention, the observation (measurement) timing of a mobile station can be appropriately set.
[Brief description of the drawings]
FIG. 1 is an overall view of a satellite positioning system according to one embodiment of the present invention.
FIG. 2 illustrates one situation where a satellite positioning system according to one embodiment of the present invention is used on site.
FIG. 3 shows a positioning work flow of the satellite positioning system according to one embodiment of the present invention.
FIG. 4 shows a positioning work flow of the satellite positioning system according to another embodiment of the present invention.
FIG. 5 shows a positioning work flow of a satellite positioning system according to still another embodiment of the present invention.
FIG. 6 shows a positioning work flow of a satellite positioning system according to still another embodiment of the present invention.
FIG. 7 shows a positioning work flow of a satellite positioning system according to still another embodiment of the present invention.
FIG. 8 shows a modification of FIG.
FIG. 9 conceptually shows an example of an internal configuration of a mobile station and an authentication requesting step.
FIG. 10 shows an example of an available fixed station information displaying step following FIG. 9;
FIG. 11 shows an example of a fixed station selection step following FIG.
FIG. 12 shows an example of a preparation completion notification continued from FIG. 11;
FIG. 13 shows an example of an observation start step following FIG.
FIG. 14 shows an example of an observation end step subsequent to FIG. 13;
FIG. 15 shows an example of an observation completion step subsequent to FIG. 14;
[Explanation of symbols]
1a, 1b mobile station
1A input device
1B display device
1C CPU
1D storage device
1E Communication device
2 fixed stations
3 Data server
4 Central processing unit
5 Storage means
6, 7 interface
8 satellites
10, 11, 15, 32 communication means
12, 31 lines
17, 20a, 20b antenna
19, 21a, 21b Receiver

Claims (14)

In a satellite positioning system including fixed and mobile stations,
The mobile station includes a master mobile station and a slave mobile station;
The main mobile station measures position coordinates by receiving radio waves from satellites,
The main mobile station has a communication device for transmitting measurement start information associated with the measurement time of the main mobile station,
The slave mobile station has a processing device for starting measurement based on the measurement start information of the master mobile station,
A satellite positioning system, wherein the measurement time of the master mobile station and the measurement time of the slave mobile station include the same time at least for a certain period of time. The satellite positioning system according to claim 1, wherein the measurement time of the master mobile station and the measurement time of the slave mobile station include the same time for one second or more. 3. The satellite positioning system according to claim 1, wherein the measurement start information of the main mobile station is transmitted via a network. The satellite positioning system according to any one of claims 1 to 3, wherein the measurement time of the main mobile station and the measurement time of the slave mobile station are tuned in each mobile station via a communication device. The satellite positioning system according to any one of claims 1 to 4, wherein the measurement start information of the main mobile station is configured as a measurement start signal for notifying the start of measurement of the main mobile station. The satellite according to any one of claims 1 to 4, wherein the measurement start information of the main mobile station is configured as a measurement start time when the main mobile station and the slave mobile station start measurement. Positioning system. A server connected by communication to the master mobile station and the slave mobile station is provided, and the server calculates measurement start information of the slave mobile station based on the measurement start information of the master mobile station and transmits the information to the slave mobile station. The satellite positioning system according to any one of claims 1 to 4, wherein the satellite positioning system is configured. The measurement start information of the main mobile station is configured as a measurement start signal for notifying the start of measurement of the main mobile station, and the measurement start information of the slave mobile station is a measurement start signal for starting measurement of the slave mobile station. The satellite positioning system according to claim 7, wherein the satellite positioning system is configured as: The measurement start information of the master mobile station is configured as a measurement start time when the master mobile station and the slave mobile station start measurement, and the measurement start information of the slave mobile station is a measurement for starting the measurement of the slave mobile station. Configured as a start signal, the main mobile station has a timer for starting the measurement at the measurement start time, and the server has a timer for transmitting the measurement start signal to the slave mobile station at the measurement start time. The satellite positioning system according to claim 7, wherein: The measurement start information of the master mobile station and the measurement start information of the slave mobile station are both configured as a measurement start time when the master mobile station and the slave mobile station start measurement, and both the master mobile station and the slave mobile station measure. The satellite positioning system according to claim 7, further comprising a timer for starting measurement at a start time. The measurement start information of the master mobile station is configured as a measurement start time when the master mobile station and the slave mobile station start measurement, and the measurement start information of the slave mobile station is a measurement for starting the measurement of the slave mobile station. It is configured as a start signal, and the server is configured to transmit a measurement start signal to start measurement of the main mobile station to the main mobile station, and the server transmits the measurement start signal to the main mobile station and the slave mobile station at the measurement start time. The satellite positioning system according to claim 7, further comprising a timer for transmitting a measurement start signal. The measurement start information of the main mobile station is configured as a notification of completion of preparation of the main mobile station, the measurement start information of the slave mobile station is configured as a measurement start signal for starting measurement of the slave mobile station, and the slave mobile station is A communication device for transmitting a notification of completion of preparation of the slave mobile station to the server, wherein the server determines whether the master mobile station and the slave mobile station are ready based on the notification of completion of preparation of the master mobile station and the notification of preparation completion of the slave mobile station. The satellite positioning system according to claim 7, wherein a measurement start signal for starting measurement of the satellite mobile station is transmitted to the master mobile station and the slave mobile station. The communication device of the main mobile station transmits the measurement result of the main mobile station to the server, the communication device of the slave mobile station transmits the measurement result of the slave mobile station to the server, the server processes the measurement result, and notifies the measurement success notification or The satellite positioning system according to claim 12, wherein the measurement failure notification is transmitted to the master mobile station and the slave mobile station. The satellite positioning system according to any one of claims 7 to 13, wherein the measurement start information of the main mobile station and the measurement start information of the slave mobile station are configured to be exchangeable via a server. .

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