JP2005114389A - Evaluation device for gps moving precision, and computer software - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an evaluation device for GPS moving precision capable of evaluating the positional precision of a GPS receiver in moving, and speed dependency and acceleration dependency with respect to the positional precision of the GPS receiver. <P>SOLUTION: This GPS moving precision evaluation device for evaluating the positional precision of the GPS receiver 121 in the moving is provided with GPS-mounted moving units 122, 123 for mounting a GPS antenna 124 for the GPS receiver to be moved, and a drive controller 119 for controlling a position and a speed of the GPS-mounted moving unit 123. The evaluation equipment is provided with a position detection precision analyzer 118 for comparing a value of positional information of the antenna 124 of the GPS receiver from the drive controller 119 with a value of positional information output from the GPS receiver121. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a position accuracy performance at the time of movement of a GPS receiver and input / output interface control software, and relates to a method for evaluating GPS basic performance.

Conventionally, as a position accuracy evaluation method of a GPS receiver, a method of measuring variation in a detection position output from the GPS receiver has been used for accuracy evaluation at the time of stopping. Further, when moving, a method of evaluating the trajectory has been used. Patent document 1 is mention | raise | lifted as what discloses the technique relevant to the above.
JP 2002-148327 A

  In the above prior art, basic performance such as speed dependency and acceleration dependency on the position accuracy of the GPS receiver has not been evaluated.

  An object of the present invention is to acquire accurate position information of a GPS receiver by a drive control device that mounts and moves the GPS receiver to obtain position accuracy of the GPS receiver during movement, speed relative to position accuracy of the GPS receiver. An object of the present invention is to provide a GPS movement accuracy evaluator capable of evaluating dependency and acceleration dependency.

  The present invention evaluates the accuracy of the position information output from the GPS receiver by calculating the exact position of the GPS receiver in motion and comparing the value with the position value output by the GPS receiver.

  As a method for accurately calculating the position of the moving GPS receiver, the value of the position information output from the drive control device is used. Further, a GPS receiver capable of outputting an accurate time signal (time synchronization pulse) using a GPS signal is used as a reference time generation device for controlling the timing at which the drive control device outputs position information. Specifically, the drive control device outputs position information at the moment when the drive control device receives the pulse wave output from the reference time generation device. Thus, the positional accuracy of the GPS receiver during movement is evaluated by comparing the position information output by the drive control device and the position information output by the GPS receiver.

  That is, the present invention is a GPS movement accuracy evaluator that evaluates the position accuracy of a GPS receiver during movement, the GPS-equipped mobile device on which the antenna of the GPS receiver is mounted and moved, and the GPS-equipped mobile device. A position control accuracy analyzing apparatus for comparing a position information value of an antenna of a GPS receiver from the drive control apparatus and a position information value output from the GPS receiver. It is a GPS movement accuracy evaluation machine provided with.

  In addition, the present invention is a GPS movement accuracy evaluator having a reference time generation device that outputs synchronization information to the drive control device and outputs synchronization information and time information to the position detection accuracy analysis device.

  In the present invention, the drive control device is a GPS movement accuracy evaluator that controls the timing of inputting the time information from the GPS receiver and outputting the position information.

  The present invention further includes a reference time generation device that outputs synchronization information and time information to the position detection accuracy analysis device, and the position detection accuracy analysis device outputs the received synchronization information to the drive control device. It is an evaluation machine.

  Further, the present invention compares the GPS receiver antenna position information from the drive control device with the position information value output by the GPS receiver, and displays the comparison result on a display device or the like. It is an evaluation machine.

  According to the present invention, the position detection accuracy analyzer is configured to calculate the velocity information calculated from the position information output from the GPS receiver and the position information of the antenna of the GPS receiver by the drive control device. It is a GPS movement accuracy evaluator that compares the value of.

  Furthermore, the present invention calculates the speed dependency of the GPS receiver position accuracy using the calculated position accuracy value and the GPS receiver antenna speed value calculated from the position information, speed information and time information. This is a GPS movement accuracy evaluation machine.

  Further, according to the present invention, the position detection accuracy analyzing apparatus is configured to detect acceleration information calculated from position information output from the GPS receiver and position information of an antenna of the GPS receiver by the drive control apparatus. It is a GPS movement accuracy evaluator that compares the value of.

  The present invention calculates the acceleration dependency of the GPS receiver position accuracy using the calculated position accuracy value and the GPS receiver antenna acceleration value calculated from the position information, acceleration information and time information. This is a GPS movement accuracy evaluation machine.

  Furthermore, the present invention comprises a GPS-equipped mobile device that mounts and moves the GPS receiver antenna, and a drive control device that controls the position and speed of the GPS-mounted mobile device, and the position of the GPS receiver during movement. A computer software used in a GPS movement accuracy evaluator for evaluating accuracy, comprising: a position information value of a GPS receiver antenna from the drive control device; and a position information value output from the GPS receiver. This is computer software including a program for causing a computer to realize a position detection accuracy analysis function to be compared.

  According to the present invention, it is possible to measure the position accuracy during movement of the GPS receiver, the speed dependency of the position accuracy, and the acceleration dependency of the position accuracy.

The best mode for carrying out the present invention will be described.
Hereinafter, examples which are embodiments using the present invention will be described. A position accuracy evaluation method during movement of the GPS receiver in the present embodiment will be described with reference to FIGS.

  Example 1 will be described. A position accuracy evaluation method using the GPS movement accuracy evaluator of one embodiment of the present invention will be described with reference to FIG. This shows the configuration of a system that evaluates the position accuracy when the GPS receiver is moving. The system is roughly divided into a GPS receiver 121 that is an evaluation target device, a GPS antenna 124, and a drive control device 119, a single-axis robot (GPS-equipped mobile device) 122, and a device that are necessary for measuring the evaluation. The apparatus 120 includes a position detection accuracy analyzer 118 and a reference time generator 101. The detailed configuration and operation of each part will be described next.

  A table 123 is provided on a single-axis robot (GPS mobile device) 122, and a GPS antenna 124 and a GPS receiver 121 to be evaluated are installed. However, the GPS receiver 121 may not be installed on the single-axis robot 122. The GPS antenna 124 mounted on the single-axis robot 122 is movable by a driving device 120 that is a power source. Further, the operation of the drive device 120 is controlled by a drive control device such as a servo 119, so that the current position of the GPS antenna 124 can also be monitored and controlled by the drive control device 119. A control command to the drive device 119 is issued using the position detection system analysis device 118.

  The reference time generation device 101 transmits a time value (reference time information 103) to the position detection accuracy analysis device 118, and to the drive control device 119, time synchronization information (synchronization information 102) corresponding to the time value. ). The drive control device 119 that has received the synchronization information 102 from the reference time generator 101 measures the current position of the GPS antenna 124 installed on the single-axis robot 122 at that moment, and detects the value (position information 105). The data is transmitted to the coordinate conversion unit 115 inside the accuracy analyzer 118. On the other hand, the GPS receiver 121 to be evaluated receives the time and position information (GPS time information 108, position information 109) measured and calculated by the GPS receiver 121 itself to the coordinate conversion unit 115 and the accuracy evaluation unit 116 in the position detection accuracy analysis device 118. Send.

  The coordinate conversion unit 115 performs an operation for unifying the coordinate systems necessary for relatively comparing the position information 105 from the drive control device 119 and the position information 109 from the GPS receiver 121. By unifying both coordinate systems, the accuracy calculation unit 116 can calculate the difference between the positions of the two, and accuracy evaluation can be performed. The position information (table position information) 106 of the table 123 and the position information (GPS position information) 107 of the GPS antenna 124 which are values of both positions after the calculation are passed to the accuracy calculation unit 116.

  The accuracy calculator 116 uses the time information (reference time information) 103 from the reference time generator 101, the time information (GPS time information) 108 from the GPS receiver 121, the table position information 106, and the GPS position information 107. Calculate position accuracy. Specifically, the difference between the values of the table position information 106 and the GPS position information 107 is calculated at a place where the values of the reference time information 103 and the GPS time information 108 match, and the value is calculated as the reference time information 103 (the GPS time information 108). ) Position error.

  A second embodiment will be described. Another embodiment of the present invention is shown in FIG. This shows the configuration of a system that evaluates the position accuracy when the GPS receiver is moving. The system is broadly divided into a GPS receiver 221 that is an evaluation target device, a GPS antenna 222, and a drive control device 219, a single-axis robot (GPS-equipped mobile device) 224, and a device that are necessary for measuring the evaluation. The apparatus 220 includes a position detection accuracy analysis apparatus 218. Compared to Example 1 (see FIG. 1), the reference time generator is not provided. The detailed configuration and operation of each part will be described next.

  On the single-axis robot 224, a GPS antenna 222 and a GPS receiver 221 to be evaluated are installed. However, the GPS receiver 221 may not be installed on the single-axis robot 224. The GPS antenna 222 mounted on the single-axis robot 224 is movable by a driving device 220 that is a power source. The operation of the drive device 220 is controlled by the drive control device 219, so that the current position of the GPS antenna 222 can also be monitored and controlled by the drive control device 219. A control command to the drive control device 219 is performed using the drive mechanism management unit 214 in the position detection accuracy analysis device 218.

  In addition, the GPS receiver 221 transmits a time value (GPS time information 203) to the accuracy evaluation unit 216 and the drive control device 219 inside the position detection accuracy analysis device 218. At the same time, the GPS receiver 221 to be evaluated transmits the position information (position information 204) measured and calculated by itself to the coordinate conversion unit 215 inside the position detection accuracy analyzer 218. Upon receiving the GPS time information 203, the drive control device 219 immediately measures the current position of the current single-axis robot 224 and the GPS antenna 222, and converts the value (position information 202) into a coordinate within the position detection accuracy analysis device 218. To the unit 215.

  The coordinate conversion unit 215 performs an operation for unifying the coordinate systems necessary for relatively comparing the values of the position information 202 from the drive control device 219 and the position information 204 from the GPS receiver 221. By unifying both coordinate systems, the accuracy calculation unit 216 can calculate the difference between the positions of the two, and accuracy evaluation can be performed. The position information (table position information) 205 of the table 223 and the position information (GPS position information) 206 of the GPS antenna 222, which are both position values after calculation, are passed to the accuracy calculation unit 216.

  The accuracy calculation unit 216 calculates position accuracy using the GPS time information 203, the table position information 205, and the GPS position information 206. Specifically, the difference between the values of the table position information 205 and the GPS position information 206 is calculated, and the value is used as the position error in the GPS time information 203.

  According to the present embodiment, since it is not necessary to mount a reference time generator, the configuration is simpler than the system of FIG. 1 and the cost can be reduced.

  A third embodiment will be described. A third embodiment of the present invention is shown in FIG. 1 shows the configuration of a system that evaluates position accuracy when a GPS receiver is moving. The system is roughly divided into a GPS receiver 321 as an evaluation target device, a GPS antenna 322, and a drive control device 320, a single-axis robot (GPS-equipped mobile device) 324, a device necessary for measuring evaluation, and a drive. It comprises a device 320, a position detection accuracy analysis device 318, and a reference time generator 301. Compared with the first embodiment (see FIG. 1), the position detection accuracy analyzing apparatus according to the present embodiment is different in that it includes a time control unit. The detailed configuration and operation of each part will be described next.

  The reference time generator 301 transmits time information (reference time information 303) and a pulse wave (synchronization information 302) to the position detection accuracy analyzer 309. The time control unit 309 uses the reference time information 303 and the synchronization information 302 to adjust the time in the time control unit to an accurate time.

  A table 323 is placed on the single axis robot 324. On the table 323, a GPS antenna 322 and a GPS receiver 321 to be evaluated are installed. However, the GPS receiver 321 may not be installed on the single-axis robot 324. The GPS antenna 322 mounted on the table 323 is movable by a driving device 320 that is a power source. Further, the operation of the drive device 320 is controlled by the drive control device 319, so that the current position of the GPS antenna 322 can also be monitored and controlled by the drive control device 319. A control command to the drive control device 319 is issued using the drive mechanism management unit 314 inside the position detection accuracy analysis device 318.

  In addition, the time control unit 309 transmits time synchronization information 304 corresponding to the value of the time to the drive control device 319. Upon receiving the time synchronization information 304 from the time control unit 309, the drive control device 319 immediately measures the current positions of the current single-axis robot 324 and the GPS antenna 322 and uses the values (position information 307) as a position detection accuracy analysis device. The data is transmitted to the coordinate conversion unit 315 inside 318. On the other hand, the GPS receiver 321 to be evaluated receives the time and position information (GPS time information 326, position information 325) measured and calculated by the GPS receiver 321 itself to the coordinate conversion unit 315 and the accuracy evaluation unit 316 in the position detection accuracy analysis device 118. Send.

  The coordinate conversion unit 315 performs an operation of unifying the coordinate systems necessary for relatively comparing the values of the position information 307 from the drive control device 319 and the position information 325 from the GPS receiver 321. By unifying the coordinate systems of both, the accuracy calculation unit 316 can calculate the difference between the positions of the two and accuracy evaluation can be performed. The position information (table position information) 305 of the table 323 and the position information (GPS position information) 306 of the GPS antenna 322, which are values of both positions after the calculation, are passed to the accuracy calculation unit 316.

  The accuracy evaluation unit 316 calculates position accuracy using the GPS time information 326, the table position information 305, and the GPS position information 306. Specifically, the difference between the values of the table position information 306 and the GPS position information 307 is calculated, and the value is used as the position error in the GPS time information 326.

  According to the present embodiment, it is possible to evaluate the time delay with respect to the position of the GPS receiver 321 by comparing the accurate time value of the time control unit 309 with the value of the GPS time information 326. There is an effect.

  An example of the procedure in the position error calculation process in the first to third embodiments will be described with reference to FIGS. FIG. 4 illustrates a flow when the position error values measured in FIGS. 1 to 3 are displayed on a screen or the like, and FIG. 5 is an example of position information or the like.

  In FIG. 4, the process starts at the start (S401). GPS time information and position information (GPS position information) are acquired from the GPS receiver to be evaluated in time / position information capture (S402), and position information (table position information) is acquired from the drive control device (Example) 1-3). The reference time information is acquired from the reference time generation device (Example 1) or from the time control unit of the position detection accuracy analysis device (Example 3).

  Next, the position information acquired in the coordinate conversion (S403) is subjected to coordinate conversion. The position information acquired from the GPS receiver to be evaluated and the position information acquired from the drive control device are converted into the same coordinate system.

  Next, in the association between time and position (S404), the acquired position information is associated with time information.

  Next, the position error is calculated by calculating the position error at a specific time (S405). Specifically, the difference between the position information values is calculated at a location where the time information values of the two coincide with each other, and the value is used as the position error at a certain time (reference time information or GPS time information).

  Finally, in the display process (S406), the position error value calculated in the position error calculation (S405) at the specific time is displayed on the display device or the like.

  A method of calculating the speed, acceleration and position error during movement from the position / time information received by the position detection accuracy analyzer will be described. FIG. 5 is an example of position information P, moving speed V, and calculated position error at times t1 to tn. With the systems according to the first to third embodiments, the position detection accuracy analysis apparatus can acquire the coordinates of the position of the receiver at a certain time during movement. As shown in the drawing, it is possible to calculate the difference between the table position information P11 and the GPS position information P21 at a certain time t1 and the time difference (t2-t1), and calculate the speed value V1 therefrom. Further, by calculating the speed difference using the calculated speed V value, the acceleration A value can also be calculated.

  FIG. 6 is an example of calculating the speed dependency of the position accuracy of the GPS receiver with the calculated speed on the horizontal axis and the position error value calculated by the systems of Examples 1 to 3 on the vertical axis. . As shown in the figure, the position error value is small while the speed, which is the portion indicated by the line 600 in FIG. 5, is small. However, as the speed value increases, the area of the line 601 becomes larger, and the error threshold value becomes larger, and it becomes possible to calculate the speed threshold value V603 that becomes an accuracy that cannot be practically used as a GPS receiver.

  FIG. 7 is an example in which the acceleration dependency of the position accuracy of the GPS receiver is calculated using the speed calculated in FIG. 6 and the position error values calculated by the systems of the first to third embodiments. As shown in FIG. 7, the position error value is small while the acceleration indicated by the line 700 is small. However, as the acceleration value increases, the area of the line 701 becomes larger, and the error value increases, and it becomes possible to calculate the acceleration threshold value V703 that has an accuracy that cannot be practically used as a GPS receiver.

  Although the GPS movement accuracy evaluation machine has been described in the above embodiment, it includes a GPS-mounted mobile machine that mounts and moves the GPS receiver antenna, and a drive control device that controls the position and speed of the GPS-mounted mobile machine. And a computer software used in a GPS movement accuracy evaluator for evaluating the position accuracy of the GPS receiver during movement, the GPS receiver antenna position information value and the GPS reception from the drive control device. The GPS movement accuracy evaluation machine of the present invention can be obtained by using computer software comprising a program for causing a computer to realize a position detection accuracy analysis function for comparing the position information value output by the machine.

1 is an overall configuration diagram of a GPS movement accuracy evaluation apparatus according to Embodiment 1. FIG. FIG. 3 is an overall configuration diagram of a GPS movement accuracy evaluation apparatus according to a second embodiment. FIG. 6 is an overall configuration diagram of a GPS movement accuracy evaluation apparatus according to a third embodiment. Explanatory drawing of an example of the processing flow for performing position accuracy evaluation in Examples 1-3. The figure explaining an example of position information at the time of performing position accuracy evaluation in Examples 1-3. The figure showing the speed dependence of the positional accuracy of a GPS receiver. The figure showing the acceleration dependence of the positional accuracy of a GPS receiver.

Explanation of symbols

101 Reference Time Generating Device 102 Synchronization Information 103 Reference Time Information 104 Drive Control Information 105 Position Information from Drive Control Device 106 Table Position Information 107 GPS Position Information 108 GPS Time Information 109 Position Information from GPS Receiver 110 Control Unit 111 Storage Unit DESCRIPTION OF SYMBOLS 112 Display part 113 Operation part 114 Drive mechanism management part 115 Coordinate conversion part 116 Accuracy evaluation part 117 Calculation part 118 Position detection accuracy analyzer 119 Drive control apparatus 120 Drive apparatus 121 GPS receiver 122 Single axis robot 123 Table 124 GPS antenna 201 Drive Control information 202 Position information from the drive control device 203 GPS time information 204 Position information from the GPS receiver 210 Control unit 211 Storage unit 212 Display unit 213 Operation unit 214 Drive mechanism management unit 215 Coordinate conversion Unit 216 accuracy evaluation unit 217 calculation unit 218 position detection accuracy analysis device 219 drive control device 220 drive device 221 GPS receiver 222 GPS antenna 223 table 224 single-axis robot 301 reference time generator 302 synchronization information 303 reference time information 304 time synchronization information 305 Table position information 306 GPS position information 307 Position information from the drive control device 308 Drive control information 309 Time control unit 310 Control unit 311 Storage unit 312 Display unit 313 Operation unit 314 Drive mechanism management unit 315 Coordinate conversion unit 316 Accuracy evaluation unit 317 Arithmetic unit 318 Position detection accuracy analysis device 319 Drive control device 320 Drive device 321 GPS receiver 322 GPS antenna 323 Table 324 Single-axis robot 325 Position information from GPS receiver 326 GP S time information 600 to 602 Line indicating an example of relationship between speed and position error 603 Threshold speed 700 to 702 Line indicating an example of relationship between acceleration and position error 703 Threshold acceleration

Claims (10)

A GPS movement accuracy evaluator that evaluates the position accuracy of a GPS receiver during movement,
A GPS-equipped mobile device that mounts and moves the GPS receiver antenna, and a drive control device that controls the position and speed of the GPS-mounted mobile device, and the position of the GPS receiver antenna from the drive control device A GPS movement accuracy evaluator comprising a position detection accuracy analyzer that compares an information value with a position information value output from a GPS receiver. In the GPS movement accuracy evaluation machine according to claim 1,
A GPS movement accuracy evaluator comprising a reference time generator for outputting synchronization information to the drive control device and outputting the synchronization information and time information to the position detection accuracy analysis device. In the GPS movement accuracy evaluation machine according to claim 1,
The above-mentioned drive control device controls the timing which inputs time information from a GPS receiver and outputs position information. In the GPS movement accuracy evaluation machine according to claim 1,
The position detection accuracy analyzer includes a reference time generator for outputting synchronization information and time information, and the position detection accuracy analyzer outputs the received synchronization information to the drive controller. Machine. In the GPS movement accuracy evaluation machine according to claim 1,
The GPS movement accuracy evaluation characterized in that the position information of the antenna of the GPS receiver from the drive control device is compared with the value of the position information output from the GPS receiver and the comparison result is displayed on a display device or the like. Machine. In the GPS movement accuracy evaluation machine according to claim 1,
The position detection accuracy analysis device compares a value of speed information calculated from position information output from the GPS receiver and a value of speed information calculated from position information of the antenna of the GPS receiver by the drive control device. A GPS movement accuracy evaluation machine characterized by the above. The GPS movement accuracy evaluation machine according to claim 6,
Using the calculated position accuracy value and the GPS receiver antenna speed value calculated from the position information, speed information and time information, the GPS accuracy of the position accuracy of the GPS receiver is calculated. Moving accuracy evaluation machine. In the GPS movement accuracy evaluation machine according to claim 1,
The position detection accuracy analysis device compares a value of acceleration information calculated from position information output from the GPS receiver with a value of acceleration information calculated from position information of the antenna of the GPS receiver by the drive control device. A GPS movement accuracy evaluation machine characterized by the above. The GPS mobile device according to claim 8, wherein
Using the calculated position accuracy value and the acceleration value of the GPS receiver antenna calculated from the position information, acceleration information and time information, the acceleration dependency of the position accuracy of the GPS receiver is calculated. Moving accuracy evaluation machine. A GPS-moving device that includes a GPS-mounted mobile device that mounts and moves a GPS receiver antenna and a drive control device that controls the position and speed of the GPS-mounted mobile device, and evaluates the positional accuracy of the GPS receiver during movement Computer software used in an accuracy evaluation machine,
Computer software comprising a program for causing a computer to realize a position detection accuracy analysis function for comparing the position information value of the antenna of the GPS receiver from the drive control device and the position information value output from the GPS receiver.

Images