JP2005069743A - Positioning system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve detection accuracy in positioning and to improve reliability, in a positioning system for positioning a mobile body using a GPS satellite. <P>SOLUTION: The positioning system is provided with n antennas 10-1 to 10-n (wherein n is an integer equal to or more than one) for receiving a signal from the GPS satellite, n receiving processing parts 11-1 to 11-n for demodulating the received signal, and (m×n) base band signal processing parts 13-11 to 13-nm for calculating positional information of (m×n) channels from the base band signal, in which the positional information of the mobile body is detected and calculated by performing a diversity processing from the positional information of the (m×n) channels calculated by the (m×n) base band signal processing parts 13-11 to 13-nm. According to the constitution in which the position of the mobile body is calculated, by the spatial diversity and the time diversity, the reliability is improved and the positional detection precision is improved. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a GPS receiver used for positioning a moving body such as an automobile, and more particularly to improving the accuracy and reliability of the position of a positioned moving body.

  A global positioning system (GPS) is used to measure the position of a moving body such as an automobile. The GPS system measures the current location using a plurality of satellites orbiting the earth. Currently used GPS satellites rotate at an altitude of 20,000 m at a cycle of 12 hours. Radio waves are transmitted from each GPS satellite, for example, in the 1.5 GHz band.

  When the current location is measured by the receiver of the GPS system, a signal from each GPS satellite is received. The time difference of the propagation delay time of the signal from each GPS satellite is measured, and the pseudo distance to each satellite is obtained from the time difference of the propagation delay time of the signal from each GPS satellite. Then, the current location is calculated based on the position information of each satellite. In the three-dimensional space, one of the intersection points can be obtained from the equation of three independent spheres, but in the GPS system, the receiver clock error is one of the unknown parameters. This requires four independent equations. From this, the receiver of the GPS system can correctly obtain the current location when radio waves from four or more GPS satellites can be received.

  The parameters of the equation are updated regularly and sent as navigation messages. The parameter of the equation is called Ephemeris because it determines the position of the satellite. The ephemeris is obtained by a ground monitoring station and is uplinked by a control signal from the ground for each satellite. The uplinked ephemeris is broadcast as a navigation message.

  Almanac is also prepared as a parameter for determining the position of the satellite. The ephemeris included in the navigation message is a position parameter of only the received satellite, whereas the position parameters of other satellites are transmitted as an almanac.

  Conventional GPS system receivers that perform such positioning of a moving body conventionally position the position of the moving body using data from one time with one antenna.

  FIG. 10 shows a configuration of a receiver of a conventional GPS system. In FIG. 10, the antenna 110 receives radio waves from a GPS satellite. As shown in FIG. 11, the antenna 110 is provided on the roof of a moving body 101 such as an automobile. A signal from a 1.5 GHz band GPS satellite received by the antenna 110 is supplied to the reception processing unit 111.

  The reception processing unit 111 includes a low noise amplifier (LNA) 202, a frequency converter 203, an A / D converter 204, a spectrum despreading circuit 205, a synchronization tracking circuit 206, and a demodulation circuit 207. Have.

  The reception signal of the antenna 110 is amplified by the low noise amplifier 202. The output of the low noise amplifier 202 is supplied to the frequency converter 203. The frequency converter 203 down-converts the 1.5 GHz band received signal to an intermediate frequency. The received signal down-converted by the frequency converter 203 is digitized by the A / D converter 204 and then supplied to the spectrum despreading circuit 205. The spectrum despreading circuit 205 multiplies the received signal by the pseudo noise signal, despreads the spectrum spread signal, and demodulates the carrier signal. The output of the spectrum despreading circuit 205 is supplied to the demodulation circuit 207 via the synchronous tracking circuit 206. The synchronization tracking circuit 206 follows the phase change of the detected spread spectrum signal. In the demodulation circuit 207, the navigation message is demodulated in accordance with signal detection / synchronization.

  The output of the demodulation circuit 207 is supplied to the baseband signal processing unit 113. The baseband signal processing unit 113 decodes the ephemeris and the satellite clock deviation from the navigation message, and obtains the position of each GPS satellite and the pseudorange. If the number of GPS satellites being received is four or more, the current position of the moving object is obtained from these pieces of information.

  From the GPS satellite, as shown in FIG. 12A, a navigation message is sent at each time T1, T2,. A signal received by the antenna 110 is demodulated into a baseband signal by the demodulation circuit 207. This baseband signal is sent to the baseband signal processing unit 113, and as shown in FIG. 12B, three-dimensional position information is obtained after the processing time τ from the reception of this baseband signal.

As a prior art using a GPS system, for example, there is one shown in Patent Document 1. In Patent Document 1, such a GPS is used by a taxi caller to determine the current location, and a moving object caller measures position information measured by a position measuring device such as a GPS system. The location of the moving object caller is transmitted by the vehicle radio such as a taxi radio from the management location of the moving object, so that the moving object caller can move the taxi without knowing his / her own position. An object that can call an object is disclosed.
JP-A-11-46164

  As shown in FIG. 10, in the conventional GPS receiver, the position information is calculated by using information from one time with one antenna 110. However, if the position information is calculated by using the information at one time by one antenna 110, the influence of multipath due to the orbital arrangement of each GPS satellite and the reflection from the building around the moving object is There is a problem that the position measurement accuracy deteriorates due to variations in the characteristics of the GPS receiver.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a positioning device that can reduce errors due to the influence of multipath due to reflection from surrounding buildings, and can improve reliability and accuracy. .

  In order to solve the above-described problem, a positioning apparatus according to a first aspect of the present invention includes n (n is an integer of 1 or more) antennas that receive signals from GPS satellites, and GPS satellites that are received by n antennas. N receiving processing units for demodulating the signals from the receiving unit, a distributing unit for distributing the n baseband signals demodulated by the receiving processing unit in the time axis direction, and n baseband signals by the distributing unit. (M × n) baseband signal processing units for calculating position information of (m × n) channels from (m × n) baseband signals obtained by dividing m in the time axis direction; A calculation unit that performs diversity processing from position information of (m × n) channels calculated by (n) baseband signal processing units and detects and calculates position information of the moving body. .

  Preferably, the position information of the moving body is three-dimensional position information of latitude, longitude, and altitude.

  Preferably, the calculation unit is characterized in that the total position information of (m × n) channels is divided by the number of samples to obtain the position information of the moving body.

  Preferably, the baseband processing unit obtains the direction and vehicle speed information in addition to the three-dimensional position information, and the value obtained by dividing the sum of the direction and the vehicle speed by the number of samples is set as the direction of the moving body and the vehicle speed. And

  Preferably, the distribution number m is changed by the vehicle speed of the moving body.

  The positioning device according to the second aspect of the present invention uses n (n is an integer of 1 or more) antennas for receiving signals from GPS satellites, and signals from GPS satellites received by the n antennas as baseband signals. N reception processing units to be demodulated, a distribution unit for distributing each of the n baseband signals demodulated by the reception processing unit in the time axis direction, and n baseband signals in the time axis direction by the distribution unit (m × n) baseband signal processing units for calculating position information of (m × n) channels from (m × n) baseband signals obtained by dividing m, and signals from GPS satellites A reception state detected by the reception state detection unit from position information of (m × n) channels calculated by a reception state detection unit for detecting the reception state and (m × n) baseband signal processing units. Depending on the information of Dividing the screening information from the (m × n) channel position information calculated by the (m × n) baseband signal processing units after screening the channel position information, and then performing diversity processing. And a calculation unit that detects and calculates position information of the moving body.

  Preferably, the reception ring state detection unit associates the surrounding three-dimensional image data viewed from the moving body with the position of the GPS satellite, and identifies whether there is an obstacle between the moving body and the GPS satellite. It is characterized in that it is determined whether or not a signal from a GPS satellite can be satisfactorily received, and the number of GPS satellites that can be satisfactorily received is transmitted as reception state information to the screening unit.

  Preferably, as the three-dimensional image data, a picture taken with a three-dimensional map or a fisheye lens is used.

  Preferably, the position of the GPS satellite is characterized by using orbit information of the navigation message decoded by the baseband signal processing unit.

  Preferably, the baseband signal processing unit is configured to select a GPS satellite using information of a GPS satellite that can be satisfactorily received and detected by the reception state detection unit.

  Preferably, when the number of GPS satellites that can be satisfactorily received sent from the reception state detection unit as reception state information is equal to or less than a predetermined value, the screening unit performs screening so as to delete the position information of the channel. It is characterized by doing.

  A positioning apparatus according to a third aspect of the present invention includes n antennas (n is an integer equal to or greater than 1) for receiving signals from GPS satellites, and n antennas for demodulating signals from GPS satellites received by n antennas. A reception processing unit, a distribution unit that distributes each of the n baseband signals demodulated by the reception processing unit to m in the time axis direction, and the distribution unit divides the m baseband signals into m in the time axis direction. From (m × n) baseband signals obtained, (m × n) channel position information is calculated, and (m × n) baseband signal processing units are detected, and the reception state of signals from GPS satellites is detected. According to the reception state information detected by the reception state detection unit from the position information of the (m × n) channels calculated by the reception state detection unit and the (m × n) baseband signal processing units. Screen location information for channels with poor reception. After removing screened information from (m × n) channel position information calculated by screening unit and (m × n) baseband signal processing units, highly reliable information is extracted. The apparatus includes an effective sample extraction and calculation unit that performs diversity processing from the extracted position information and detects and calculates the position information of the moving object.

  Preferably, the n antennas are provided within the range of the radius r, and the effective sample extraction processing unit plots the sample of the screened three-dimensional position information in a three-dimensional space, and sets a specified value for the radius r. Search for the sphere with the largest number of plots contained in the sphere with the multiplied radius, and use the value obtained by dividing the total position information contained in the sphere with the largest number of plots by the number of samples as the three-dimensional position information of the moving object. It is characterized by.

  According to the positioning apparatus of the first aspect of the invention, n antennas (n is an integer equal to or greater than 1) for receiving signals from GPS satellites, and n for demodulating signals from GPS satellites received by the n antennas. Reception processing units, a distribution unit that distributes each of the n baseband signals demodulated by the reception processing unit in the time axis direction, and a distribution unit that divides the n baseband signals into m time axis directions (M × n) baseband signal processing units for calculating position information of (m × n) channels from the (m × n) baseband signals obtained in this manner, and (m × n) basebands And a calculation unit that performs diversity processing from the position information of the (m × n) channel calculated by the signal processing unit and detects and calculates the position information of the moving body.

  In this way, the received signals from each of the n antennas are demodulated and converted into n baseband signals, and each n baseband signals are distributed to m data having different times, and (m Xn) By obtaining the baseband signals and calculating the position of the moving object based on space diversity and time diversity, the reliability is improved and the position detection accuracy is improved.

  According to the positioning apparatus of the second invention, n antennas (n is an integer equal to or greater than 1) for receiving signals from GPS satellites, and signals from GPS satellites received by the n antennas are baseband signals. N reception processing units to be demodulated into a time, a distribution unit for distributing each of the n baseband signals demodulated by the reception processing unit in the time axis direction, and n baseband signals by the distribution unit in the time axis direction (M × n) baseband signal processing units for calculating position information of (m × n) channels from (m × n) baseband signals obtained by dividing the signal into m, and signals from GPS satellites Received from the reception state detection unit from the reception state detection unit for detecting the reception state of the (m × n) channel position information calculated by the (m × n) baseband signal processing units. Depending on the status information, Dividing the screening information from the (m × n) channel position information calculated by the (m × n) number of baseband signal processing units after screening the channel position information, and then performing the diversity processing. And a calculation unit that detects and calculates the position information of the moving body.

  In this way, the received signals from each of the n antennas are demodulated and converted into n baseband signals, and each n baseband signals are distributed to m data having different times, and (m Xn) By obtaining the baseband signals and calculating the position of the moving object based on space diversity and time diversity, the reliability is improved and the position detection accuracy is improved.

  Further, according to the reception state information detected by the reception state detection unit from the (m × n) channel position information calculated by the (m × n) baseband signal processing units, By screening bad channel position information, reliability can be improved. For example, when the number of receivable GPS satellites is less than “4”, the information can be blocked to improve position detection accuracy and reliability.

  The detection of the reception ring state is made by matching the surrounding 3D image data viewed from the moving body with the position of the GPS satellite, identifying whether there is an obstacle between the moving body and the GPS satellite, It is determined whether the signal can be satisfactorily received, and the number of GPS satellites that can be satisfactorily received is used as reception state information. Thereby, a highly reliable reception state can be obtained. Further, by selecting a GPS satellite using the information of the GPS satellite that can be satisfactorily received detected by the reception state detection unit, the position information can be efficiently detected by each baseband signal processing unit.

  According to the positioning apparatus of the third invention, n antennas (n is an integer of 1 or more) for receiving signals from GPS satellites, and signals from GPS satellites received by the n antennas are baseband signals. N reception processing units to be demodulated into a time, a distribution unit for distributing each of the n baseband signals demodulated by the reception processing unit in the time axis direction, and n baseband signals by the distribution unit in the time axis direction (M × n) baseband signal processing units for calculating position information of (m × n) channels from (m × n) baseband signals obtained by dividing the signal into m, and signals from GPS satellites Received from the reception state detection unit from the reception state detection unit for detecting the reception state of the (m × n) channel position information calculated by the (m × n) baseband signal processing units. Depending on the status information, After removing the screened information from the (m × n) channel position information calculated by the screening unit for screening the position information of the channel and the (m × n) baseband signal processing units, An effective sample extraction and calculation unit is provided that extracts high information, performs diversity processing from the position information, and detects and calculates the position information of the moving object.

  In this way, the received signals from each of the n antennas are demodulated and converted into n baseband signals, and each n baseband signals are distributed to m data having different times, and (m Xn) By obtaining the baseband signals and calculating the position of the moving object based on space diversity and time diversity, the reliability is improved and the position detection accuracy is improved.

  Further, after removing screened information from (m × n) channel position information calculated by (m × n) baseband signal processing units, highly reliable information is extracted and extracted. Diversity processing is performed from the obtained position information, and the position information of the moving object is calculated. For example, the number of plots included in a sphere of radius obtained by providing n antennas within a radius r, plotting a sample of screened 3D position information in a 3D space, and multiplying the radius r by a specified value. The most sphere is searched, and the value obtained by dividing the total position information included in the sphere having the largest number of plots by the number of samples is used as the three-dimensional position information of the moving object. Thereby, the position detection accuracy can be improved and the reliability can be improved.

First embodiment.
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a first embodiment of the present invention. In FIG. 1, radio waves from GPS satellites are received by antennas 10-1, 10-2, ..., 10-n. The antennas 10-1, 10-2,..., 10-n are attached to the roof of the moving body 1 such as an automobile as shown in FIG. The reception outputs of the antennas 10-1, 10-2,..., 10-n are supplied to the reception processing units 11-1, 11-2,. The reception processing units 11-1, 11-2,..., 11-n are a low noise amplifier that amplifies a 1.5 GHz band signal from a GPS satellite, and down-converts the received 1.5 GHz band signal to an intermediate frequency. A frequency converter that performs A / D conversion on the received signal, a spectrum despreading circuit that multiplies the received signal by a pseudo noise signal, despreads the spread spectrum signal, and returns the signal to the original carrier signal; A synchronization tracking circuit that tracks the phase of the detected spread spectrum signal and a demodulation circuit that demodulates the baseband signal are included. From the reception processing units 11-1 to 11-n, n-channel baseband signals are obtained.

  The n-channel baseband signals from the reception processing units 11-1 to 11-n are supplied to the distribution units 12-1 to 12-n, respectively. The distribution units 12-1 to 12-n distribute the n-channel baseband signals from the reception processing units 11-1 to 11-n to m pieces of data having different times.

  That is, the baseband signal from the reception processing unit 11-1 is distributed by the distribution unit 12-1 to baseband signals of channels Ch11, Ch12,. The baseband signal from the reception processing unit 11-2 is distributed by the distribution unit 12-2 to m baseband signals having different times of channels Ch21, Ch22,..., Ch2m. The baseband signal from the reception processing unit 11-n is distributed by the distributing unit 12-n to baseband signals of channels Chn1, Chn2,.

  The baseband signal of each channel is supplied to baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2, ..., 13-1m to 13-nm, respectively. Each of the baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2,..., 13-1m to 13-nm obtains orbit information of each GPS satellite from the navigation message obtained by decoding the baseband signal. The pseudo distance to each GPS satellite is obtained, and the three-dimensional position information (latitude, longitude, altitude) of the moving body 1 is obtained from these information.

  The three-dimensional position information of the moving body 1 obtained from the baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2, ..., 13-1m to 13-nm is sent to the calculation unit 14. . The calculation unit 14 calculates the space and the frequency based on the three-dimensional position information obtained from the baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2,..., 13-1m to 13-nm of each channel. Time diversity processing is performed to calculate the position of the moving body 1.

  As described above, in the first embodiment, the received signal is demodulated from each of the n antennas 10-1 to 10-n, converted into n baseband signals, and each of the n baseband signals. Each time, the data is distributed to m data having different times, (m × n) baseband signals are obtained, and the position of the mobile 1 is calculated based on space diversity and time diversity. . Thus, by performing space diversity and time diversity, reliability is improved and position detection accuracy is improved.

  That is, as shown in FIG. 3A, a navigation message is sent from the GPS satellite at each time T1, T2,. The signal received by the antenna 10-1 is demodulated into a baseband signal by the reception processing unit 11-1. As shown in FIG. 3B, the baseband signal of the antenna 10-1 is distributed to m baseband signals of channels Ch11, Ch12,... . The signal received by the antenna 10-2 is demodulated into a baseband signal by the reception processing unit 11-2. As shown in FIG. 3C, the baseband signal of the antenna 10-2 is distributed to m baseband signals of channels Ch21, Ch22,... . A signal received by the antenna 10-n is demodulated into a baseband signal by the reception processing unit 11-n. As shown in FIG. 3D, the baseband signal of the antenna 10-n is distributed to m baseband signals of channels Ch21, Ch22,... .

  Baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2,..., 13-1m to 13-nm are baseband signals of the channels Ch11 to Ch1m, Ch21 to Ch2m, ... Chn1 to Chnm. Are processed in parallel, and after the processing time τ, three-dimensional position information for each channel Ch11 to Ch1m, Ch21 to Ch2m,... Chn1 to Chnm is output.

  When three-dimensional position information for one block (channels Ch11 to Ch1m, Ch21 to Ch2m,... Chn1 to Chnm) is obtained, the three-dimensional position information for one block is summed and divided by the number of samples. Thus, the three-dimensional position coordinates of the moving body 1 are obtained.

  The reception state of the radio wave from the GPS satellite varies depending on the position where the radio wave is received and the time when the radio wave is received, and the required three-dimensional position information varies depending on the reception state of the radio wave from the GPS satellite. In this embodiment, spatial diversity in which reception is performed by different antennas 10-1, 10-2,..., 10-n, and reception signals of the respective antennas 10-1, 10-2,. The three-dimensional position information is obtained from (n × m) channels by time diversity in which the baseband signal obtained in this way is distributed at each time point T1, T2,. By summing these (n × m) pieces of three-dimensional position information and dividing by the number of samples, highly reliable and accurate three-dimensional position information can be obtained.

  In the above example, the coordinates of the three-dimensional position information obtained from each (m × n) channel are obtained, but not only the three-dimensional position information but also the azimuth and vehicle speed of the moving body 1 are obtained from each channel. Is obtained. For the azimuth and vehicle speed of the moving body 1 obtained from each channel of (m × n), the azimuth and vehicle speed values of the respective channels are totaled and divided by the number of samples, and this is divided into the vehicle speed and azimuth of the moving body 1. You may make it.

In addition, when the moving speed of the moving body 1 is high, the time-divided data is affected by the moving speed. Therefore, the division number m in the time direction of the baseband signal may be changed according to the speed of the moving body 1 so as not to be greatly affected by the moving speed.
Second embodiment.
FIG. 4 shows a second embodiment of the present invention. In the second embodiment, a three-dimensional image data acquisition unit 15 and a reception state detection unit 16 are provided. Further, according to the reception state obtained by the reception state detection unit 16, a screening unit 17 is provided for screening a channel having a bad reception state among the (m × n) channels. About another structure, it is the same as 1st Embodiment, and the same code | symbol is attached | subjected to the corresponding part.

  In FIG. 4, 3D image data acquisition unit 15 receives 3D image data. The three-dimensional image data is created from, for example, a picture of the sky obtained by obtaining a sky photograph with a camera with a fisheye lens. The three-dimensional image data includes information on a three-dimensional object such as a building. The orbit information of the satellite may be acquired from the reference station via a wireless line, or baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2, ..., 13-1m to 13 You may make it acquire from a navigation message by -nm. The reception state detection unit 16 superimposes the position of each GPS satellite and the three-dimensional image data so as to correspond to each other. Then, it is identified whether there is information on a three-dimensional object indicated by the three-dimensional image data while connecting the mobile unit 1 and the GPS satellite. If there is no GPS satellite between the mobile unit 1 and the GPS satellite, It is determined that the GPS satellite can be satisfactorily received, and if there is information on a three-dimensional object indicated by the three-dimensional image data between the mobile body 1 and the GPS satellite, it is determined that the GPS satellite cannot be received.

  FIG. 5 shows that when the center of the moving body 1 is at the position P0, a sky photograph is obtained with a camera with a fisheye lens, three-dimensional image data is created from the obtained photograph image, the traveling direction is the top surface, GPS It is displayed superimposed on the orbit information of the satellite. In this example, there are buildings A, B, and C in the three-dimensional image data obtained from the sky photograph by the fisheye lens, and the position of each GPS satellite is superimposed on the three-dimensional image data. GPS satellite # 7 enters, and GPS satellite # 18 enters building B. In this case, when the moving body 1 is at the position P0, the radio wave from the GPS satellite # 7 is reflected by the building A before reaching the moving body 1 at the position P0, and the radio wave from the GPS satellite # 18 is Since it is reflected by the building B until it reaches the mobile unit 1 at the position P0, the reception state of the radio waves from the GPS satellite # 7 and the GPS satellite # 18 deteriorates.

  The information of the GPS satellites that can be satisfactorily received and detected by the reception state detection unit 16 includes baseband signal processing units 13-11 to 13-n1, via antennas 10-1, 10-2,. 13-12 to 13-n2, ..., 13-1m to 13-nm. The baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2,..., 13-1m to 13-nm determine the position information of the GPS satellites that can be satisfactorily received. The position information is calculated using the information.

  That is, in the case of FIG. 5, when the position information of the mobile body 1 is obtained by the baseband signal processing units 13-11 to 13 -n 1, 13-12 to 13 -n 2,. The signal from the GPS satellite # 7 and the signal from the GPS satellite # 18 are excluded, and processing is performed using signals from the other GPS satellites # 4, # 10, # 24, and # 19. In this way, by excluding GPS satellites with poor reception conditions, errors due to processing of signals from satellites with poor reception quality due to the influence of buildings, etc. can be prevented before computation, and the processing efficiency of the baseband processing device Can be improved.

  In FIG. 4, information on the number of receivable GPS satellites obtained by superimposing the positions of the respective GPS satellites and the three-dimensional image data of the moving body 1 in correspondence with each other in the reception state detection unit 16 Is sent to the screening unit 17. For example, in the case of FIG. 4, since four GPS satellites # 4, # 10, # 24, and # 19 can be received, the number “4” is sent to the screening unit 17 as reception state information.

  Information on the number of receivable GPS satellites sent to the screening unit 17 is used for the screening process. That is, when there are many obstacles around the mobile body 1 and the reception environment deteriorates, the number of GPS satellites that can be received well decreases. When the number of GPS satellites that can be satisfactorily received is less than “4”, correct position information cannot be obtained. When the number of receivable GPS satellites transmitted as reception state information is less than “4”, the screening unit 17 performs screening so as to block the information.

  In the above-described example, the three-dimensional image data is obtained by acquiring a sky photograph with a camera with a fisheye lens attached to the roof of the moving body 1, for example. Instead, three-dimensional map data is used. You may do it. In the three-dimensional map data, as shown in FIG. 6 (A), a cone is created at regular intervals of solid angles α, β, γ,. The relationship is drawn in FIG. 6B. As shown in FIG. 6B, the three-dimensional map created in this way is similar to an image obtained by acquiring a sky photograph with a camera with a fisheye lens attached to the roof of the moving body 1 described above. It will be a thing.

As described above, in the second embodiment, the three-dimensional image data acquisition unit 15 and the reception state detection unit 16 are provided, and the reception state detection unit 16 determines the position of each GPS satellite and the three-dimensional of the moving body 1. The number of GPS satellites that can be received is obtained by superimposing the image data so as to correspond. Then, the number of receivable GPS satellites is sent to the screening unit 17 as reception state information. When the number of receivable GPS satellites is less than “4”, for example, the screening unit 17 blocks the information. As such, screening is performed. As a result, it becomes possible to perform processing by removing information with low reliability from the position information obtained from each channel of (m × n) in advance, thereby improving reliability and accuracy.
Third embodiment.
FIG. 7 shows a third embodiment of the present invention. In the third embodiment, as shown in FIG. 8, the antennas 10-1, 10-2,..., 10-n are arranged within a predetermined radius r circle of the roof of the moving body 1. The reception outputs of the antennas 10-1, 10-2,..., 10-n are respectively supplied to the reception processing units 11-1, 11-2,. Outputs an n-channel baseband signal.

  The n-channel baseband signals are distributed to m pieces of data having different times by distribution units 12-1 to 12-n, and the distribution units 12-1 to 12-n have different space and time (m Xn) A channel baseband signal is obtained. Baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2,..., 13-1m to 13-nm, based on baseband signals of each channel, three-dimensional position information (latitude, longitude, altitude) Is required.

  The baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2,..., 13-1m to 13-nm of the respective channels are obtained by the screening unit 17 Sent to. Also, for example, a sky photograph is acquired with a camera with a fisheye lens, and 3D image data created from the obtained image of the photograph is sent from the 3D image data acquisition unit 15 to the reception state detection unit 16. The reception state detector 16 superimposes the position of each GPS satellite and the three-dimensional image data of the moving body 1 so as to correspond to each other, and a receivable satellite is identified. Information on the number of receivable GPS satellites obtained by the reception state detection unit 16 is sent to the screening unit 17 as reception state information. When the number of receivable GPS satellites is less than “4”, the information is screened by the screening unit 17.

  The output of the screening unit 17 is sent to the effective sample extraction and calculation unit 20. The effective sample extraction and calculation unit 20 is configured to obtain three-dimensional position information of each channel obtained from the baseband signal processing units 13-11 to 13-n1, 13-12 to 13-n2, ..., 13-1m to 13-nm. Samples from which the error is within a predetermined value are extracted, the three-dimensional position information of the samples whose error is estimated to be within the predetermined value is summed, and the total value is divided by the number of samples, 1 position coordinates are calculated.

  That is, since there is an error in the three-dimensional position information obtained from each channel of (m × n), the three-dimensional position information from each channel varies around the actual position of the mobile body 1. As shown in FIG. 8, the antennas 10-1, 10-2,... Are arranged in a circle centered on a radius r. Therefore, it is considered that the three-dimensional position information obtained from each channel varies within a range obtained by multiplying the radius r by the specified value α, as shown in FIG.

  Therefore, in this embodiment, the effective sample extraction and calculation unit 20 plots three-dimensional position information obtained from each (m × n) channel on three-dimensional coordinates, and detects the position at the radius r where the antenna is installed. Covers the plotted point with a sphere whose radius is a value a · r multiplied by the specified value α related to the error, searches for the sphere in which the plotted point is most contained in the sphere, and in the searched sphere The sample of the coordinates of the included plot points is extracted, and the plot points that are included in this searched sphere and sum the three-dimensional position information of the sample of the coordinates of the plot points included in this searched sphere The three-dimensional position information of the samples at the coordinates is added up, and the total value is divided by the number of samples to obtain the position information of the moving body 1.

  That is, as shown in FIG. 9, the three-dimensional position information obtained for each channel of (m × n) channels is represented by three-dimensional coordinates (x, y, z). The three-dimensional position coordinates of each channel are plotted on a three-dimensional space. In FIG. 9, the three-dimensional position information P11 obtained in the channel Ch11 is plotted on the three-dimensional coordinates (x11, y11, z11), and the three-dimensional position information P12 obtained in the channel Ch12 is plotted in the three-dimensional position coordinates (x12, y12). , Z12), and the three-dimensional position information Pmn obtained by the channel Chmn is plotted on the three-dimensional coordinates (xmn, ymn, zmn).

  Cover a point plotted by a sphere having a radius a which is a value a · r obtained by multiplying a radius r where the antenna is installed by a specified value α related to the position detection error, and search for a sphere having the most plotted points in the sphere. Thus, a sphere having a radius a · r centered on the position P00 is obtained. The effective sample extraction and calculation unit 20 extracts a sample of plot points contained in a sphere having a radius a · r centered on the position P00. The three-dimensional position coordinates of the moving body 1 are obtained from the value obtained by dividing the sum of the extracted sample coordinates by the number of samples.

For example, in the case of FIG. 9, the position coordinate PEST of the moving body 1 is PEST = (P11 (x11, y11, z11) + P21 (x21, y21, z21) + P22 (x22, y22, z22) + P34 (x34, y34, z34) / 4
Is calculated as

Further, the posture information of the moving body 1 may be calculated using the position coordinates PEST of the moving body 1 obtained in this way. For example, in the case of FIG. 9, since the sample from the antenna 10-1 included in the sphere of radius a · r is only P11, the position P1 of the antenna 10-1 is
P1 = P11 (x11, y11, z11)
It is said. Since the samples from the antenna 10-2 included in the sphere of radius a · r are P21 and P22, the position P2 of the antenna 10-2 is
P2 = (P21 (x21, y21, z21) + P22 (x22, y22, z22)) / 2
Is calculated by Since the sample from the antenna 10-3 included in the sphere of radius a · r is only P34, the position P3 of the antenna 10-3 is
P3 = P11 (x34, y34, z34)
It is said.

  The obtained position coordinates P1, P2, P3,... Of the antennas 10-1, 10-2,. Then, by comparing the relationship between the plotted position coordinates P1, P2, P3,... Of the antenna and the position of the antenna attached on the moving body 1, the posture of the moving body 1 can be obtained.

  As described above, in the fourth embodiment of the present invention, a point plotted by a sphere having a radius OLE_LINK1aOLE_LINK1 · r obtained by multiplying the radius r where the antenna is installed by the specified value a regarding the position detection error is covered. By searching for a sphere having the largest number of plot points in the sphere, a sphere having a radius a · r centered at the position P00 is obtained and included in a sphere having a radius a · r centered at the position P00. A sample of plot points to be extracted is extracted, and the three-dimensional position coordinates of the moving body 1 are obtained from a value obtained by dividing the sum of the coordinates of the extracted samples by the number of samples. Thereby, reliability is improved and position detection accuracy is improved.

  In addition, this invention is not limited to the above-mentioned embodiment, You may combine the said embodiment suitably. The present invention is not limited to the above-described embodiments, and various modifications and applications can be made without departing from the gist of the present invention.

  The present invention can be applied to automatic control of the position of a movable device such as a crane of a construction machine in addition to driving support of a moving object such as an automobile by performing highly reliable position detection by a simple method. It is.

It is a block diagram of a 1st embodiment of the present invention. It is a perspective view used for description of attachment of the antenna of the 1st Embodiment of this invention. It is a timing diagram used for description of the 1st Embodiment of this invention. It is a block diagram of the 2nd Embodiment of this invention. It is a figure used for description of an example of three-dimensional image data. It is a figure used for description of the other example of three-dimensional image data. It is a block diagram of 3rd Embodiment in this invention. It is a perspective view used for description of attachment of the antenna of the 3rd Embodiment of this invention. It is a figure used for description of calculation of a position in a 3rd embodiment of the present invention. It is a block diagram of an example of the conventional GPS receiver. It is a perspective view used for description of attachment of the antenna of the conventional GPS receiver. It is a timing diagram used for description of the conventional GPS receiver.

Explanation of symbols

1 ... moving body,
10-1 to 10-n antenna,
11-1 to 11-n reception processing unit,
12-1 to 12-n distributor,
13-11 to 13-nm baseband signal processing unit,
14 arithmetic unit,
15 3D image data acquisition unit,
16 reception state detection unit,
17 Screening Department,
20 Effective sample extraction and calculation unit

Claims (13)

N antennas (n is an integer of 1 or more) for receiving signals from GPS satellites;
N reception processing units for demodulating signals from GPS satellites received by the n antennas into baseband signals, respectively;
A distribution unit that distributes each baseband signal demodulated by the n reception processing units in the time axis direction;
(M × n) channel position information is calculated from (m × n) baseband signals obtained by dividing the n baseband signals by m in the time axis direction by the distributor (m × n). Baseband signal processing units,
A calculation unit that performs diversity processing from the position information of the (m × n) channels calculated by the (m × n) baseband signal processing units, and detects and calculates the position information of the moving body. A positioning device characterized by. The positioning apparatus according to claim 1, wherein the position information is three-dimensional position information of latitude, longitude, and altitude. The positioning device according to claim 1, wherein the calculation unit divides the total of the position information of the (m × n) channel by the number of samples to obtain the position information of the moving body. 2. The positioning according to claim 1, wherein the baseband processing unit obtains direction and vehicle speed information, and uses a value obtained by dividing the sum of the direction and vehicle speed by the number of samples as the direction and vehicle speed of the moving body. apparatus. The positioning device according to claim 1, wherein the distribution number m is changed by a vehicle speed of the moving body. N antennas (n is an integer of 1 or more) for receiving signals from GPS satellites;
N reception processing units each for demodulating a baseband signal from signals from GPS satellites received by the n antennas;
A distribution unit that distributes each baseband signal demodulated by the n reception processing units in the time axis direction;
The position information of (m × n) channels is calculated from (m × n) baseband signals obtained by dividing n baseband signals by m in the time axis direction by the distributor (m × n). Baseband signal processing units,
A reception state detection unit for detecting a reception state of a signal from the GPS satellite;
Of the (m × n) channel position information calculated by the (m × n) baseband signal processing units, the reception state information is detected according to the reception state information detected by the reception state detection unit. A screening unit for screening bad channel location information;
After the screened information is removed from the (m × n) channel position information calculated by the (m × n) baseband signal processing units, diversity processing is performed to obtain the position information of the mobile body A positioning device comprising: an arithmetic unit for detecting and calculating the position. The reception ring state detection unit associates the surrounding three-dimensional image data viewed from the moving body with the position of the GPS satellite, and identifies whether there is an obstacle between the moving body and the GPS satellite. 7. The apparatus according to claim 6, wherein it is determined whether or not a signal from the GPS satellite can be received satisfactorily, and the number of GPS satellites that can be received well is transmitted to the screening unit as reception state information. The positioning device described in 1. 8. The positioning device according to claim 7, wherein a video photographed with a three-dimensional map or a fisheye lens is used as the three-dimensional image data. The positioning device according to claim 7, wherein the position of the GPS satellite uses orbit information of a navigation message decoded by the baseband signal processing unit. The positioning device according to claim 6, wherein the baseband signal processing unit selects a GPS satellite using information of a GPS satellite that can be satisfactorily received and detected by the reception state detection unit. . The screening unit performs screening so as to delete the position information of the channel when the number of well-receivable GPS satellites transmitted as reception state information from the reception state detection unit is equal to or less than a predetermined value. The positioning device according to claim 6. N antennas (n is an integer of 1 or more) for receiving signals from GPS satellites;
N reception processing units for demodulating signals from GPS satellites received by the n antennas into baseband signals;
A distribution unit that distributes each baseband signal demodulated by the n reception processing units in the time axis direction;
The position information of (m × n) channels is calculated from (m × n) baseband signals obtained by dividing n baseband signals by m in the time axis direction by the distributor (m × n). Baseband signal processing units,
A reception state detection unit for detecting a reception state of a signal from the GPS satellite;
Of the (m × n) channel position information calculated by the (m × n) baseband signal processing units, the reception state information is detected according to the reception state information detected by the reception state detection unit. A screening unit for screening bad channel location information;
After removing the screened information from the (m × n) channel position information calculated by the (m × n) baseband signal processing units, highly reliable information is extracted, and the extracted position A positioning apparatus comprising: an effective sample extraction and calculation unit that performs diversity processing from information and detects and calculates position information of the moving object. The n antennas are provided within a radius r;
The effective sample extraction calculation processing unit plots the sample of the screened three-dimensional position information in a three-dimensional space, and selects a sphere having the largest number of plots included in a sphere having a radius obtained by multiplying the radius r by a specified value. 13. The positioning device according to claim 12, wherein a value obtained by searching and dividing the total position information included in the sphere with the largest number of plots by the number of samples is used as the three-dimensional position information of the moving body.