JP2005300449A - Self-position measuring system, ground station apparatus, and mobile-body mounted apparatus used for the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a self-contained own position measuring system, capable of satisfactorily accurate own position measurement, and to obtain ground station apparatuses and a mobile-body mounted apparatus used for the same. <P>SOLUTION: A plurality of ground stations, in which the ground station apparatuses are arranged and a mobile body, such as an aircraft in which the mobile-body mounted apparatus is arranged are used as constituent elements to operate the own position measuring system. Transmission time information or information on the distances to the mobile body required for own position measurement are constituted into a message and transmitted toward the mobile body from the plurality of ground stations via pulse-shaped radio waves. After the message from the ground stations is received by the mobile body side to acquire the information on the distance to each ground station, own position is measured on the basis of the distance information and locational information to the each ground station. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a self-position measuring system including a ground facility for a mobile body such as an aircraft to accurately measure the self-position, and a ground station apparatus and a mobile body mounting apparatus used therefor.

  A GPS (Global Positioning System) is widely used as a system for a mobile body to measure its own position, and its effectiveness is also known. When a mobile unit measures its own position using GPS, the mobile unit receives radio waves from a plurality of satellites orbiting the earth, and self-positions based on various positioning information included in messages from these satellites. Is measuring. When performing this measurement, for example, three-dimensional position information of the moving body is obtained by simultaneously receiving radio waves from four or more satellites. In addition, a case is disclosed in which the position information obtained in this way is further corrected according to the type of the moving body to obtain an optimum positioning position (see, for example, Patent Document 1).

On the other hand, an inertial navigation system (INS: Internal Navigation System) that can obtain the current position of the aircraft from data measured only within the aircraft without requiring external information, particularly in a moving body such as an aircraft. Is generally used. The basic principle of the inertial navigation device is described in detail in Non-Patent Document 1, for example.
JP 2003-227724 A (7th page, FIG. 1) Okada Minoru "Avionics", Nikkan Kogyo Shimbun, July 30, 1972, page 232

  By the way, the above-mentioned GPS system is established only by operating and managing a plurality of satellites so that predetermined positioning is possible. The availability of satellites, positioning performance, etc. are managed by an operator who operates these satellites. Therefore, users of this system are not always guaranteed to measure their own position using this system. That is, there is no point of self-sufficiency for the user, and there may be a weak point depending on the application. In addition, since the system is extremely versatile, there is also a problem that a selective service cannot be provided to the user side. Furthermore, it is necessary to install a dedicated antenna for receiving radio waves from a satellite. For example, in a small aircraft, the modification of the fuselage is involved, so that application thereof is not always easy.

  On the other hand, a moving body such as an aircraft can be self-contained by adopting an inertial navigation device that is an autonomous navigation device. However, in this apparatus, good accuracy cannot always be obtained due to the principle problem that the error is self-diverging.

  Thus, there has been a demand for a self-contained simple self-position measuring system that can perform self-position measurement with good accuracy in a moving body such as an aircraft.

  The present invention has been made in consideration of the above-mentioned circumstances, and provides a self-positioning self-positioning system that performs self-positioning with good accuracy, and a ground station device and a mobile unit mounting device used therefor. For the purpose.

  In order to achieve the above object, a self-position measurement system according to a first aspect of the present invention transmits a message using pulsed radio waves encoded from a plurality of ground stations, and a mobile unit that has received the radio waves is based on the message. A self-position measuring system for measuring a self-position, wherein each of the ground stations includes transmission time acquisition means for acquiring transmission time information of the message, and message editing means for editing the transmission time information in the message. Encoding means for encoding the edited message and converting it into a pulse train; and transmission means for transmitting the pulse train to the mobile body by radio waves, wherein the mobile body transmits from each ground station. Receiving time acquisition means for receiving the received pulsed radio wave and acquiring the reception time information, and decoding for decoding the pulse train and reproducing the edited message Means, distance information acquisition means for acquiring distance information from each ground station from the transmission time information and the reception time information in the reproduced message, distance information from these ground stations, and these distance information Self-position measuring means for measuring a self-position from the position information of each of the ground stations forming a pair is provided.

  The self-position measurement system according to the second invention transmits a message using pulsed radio waves encoded from a plurality of ground stations, and a mobile body that has received the radio waves measures its own position based on the message. Each of the ground stations, a distance observation means for observing the distance information to the mobile body, a message editing means for editing the observation distance information and the observation time information in the message, Encoding means for encoding the edited message and converting it into a pulse train; and transmission means for transmitting the pulse train to the mobile body by radio waves, wherein the mobile body is transmitted from each ground station. Receiving means for receiving the pulsed radio wave, decoding means for decoding the pulse train and reproducing the edited message, and within the message from the plurality of ground stations And having a self-position measuring means for measuring a self-position from the observed distance information and the position information of each ground station constituting these observation distance information paired.

  According to the present invention, it is possible to obtain a self-contained self-position measuring system capable of self-position measurement with good accuracy, and a ground station device and a mobile unit mounted device used therefor.

  The best mode for carrying out the self-position measurement system according to the present invention and the ground station apparatus and mobile unit mounting apparatus used therewith will be described below with reference to FIGS.

  FIG. 1 is a block diagram showing a first embodiment of a self-position measuring system according to the present invention. FIG. 2 is a structural example of a message in this embodiment. In this embodiment, the case where the self-position measuring system is configured by three ground stations installed at different positions and a moving body such as one aircraft is illustrated.

  As shown in FIG. 1, the self-position measuring system includes ground station devices 1 a, 1 b, and 1 c installed on three ground stations, and a mobile device 2. Here, the ground station apparatuses 1a, 1b, and 1c have the same configuration, and are configured by a time generation unit 10, a message editing unit 20, an encoding unit 30, and a transmission unit 40, respectively.

  The time generation unit 10 outputs time information of year, month, day, hour, minute, and second with a predetermined resolution, and provides this time information to the message editing unit 20. The message editing unit 20 edits the message transmission time information in the message based on the time information from the time generation unit 10. The encoding unit 30 encodes the message edited by the message editing unit 20 into a predetermined code and transmits it as a pulse train. The transmission unit 40 transmits this pulse train to the moving body mounting apparatus 2 described later by radio waves.

  On the other hand, the mobile unit mounting apparatus 2 includes a time generation unit 50, a reception unit 60, a decoding unit 70, a distance information acquisition unit 80, and a self-position measurement unit 90. The time generation unit 50 outputs time information of year, month, day, hour, minute, and second with a predetermined resolution, and provides this time information to the reception unit 60. The receiving unit 60 receives the radio waves from the ground station devices 1a, 1b, and 1c, acquires the reception time information based on the time information from the time generation unit 50, and performs reception processing on the radio waves. The obtained pulse train is sent to the decoding unit 70. The decoding unit 70 decodes these pulse trains and reproduces messages from the ground station devices 1a, 1b, and 1c.

  The distance information acquisition unit 80 acquires distance information between each ground station device 1a, 1b, and 1c and the own device from the transmission time information in the reproduced message and the reception time information from the reception unit 60. The self-position measuring unit 90 measures the self-position from these distance information and the installation position information of each ground station apparatus 1a, 1b, and 1c.

  In addition, as shown in FIG. 2, the message configuration in the present embodiment is configured to include at least transmission time information including, for example, date and time and hour, minute, second having a predetermined resolution. This message is edited by the message editing unit 20 in the ground station devices 1a, 1b, and 1c, then encoded by the encoding unit 30, and transmitted to the mobile unit mounting device 2 as a pulsed radio wave. . Then, the decrypted and edited message is reproduced by the decrypting unit 70 in the mobile device 2.

  Next, the operation of the self-position measuring system according to the present invention configured as described above will be described with reference to the flowcharts of FIGS. 1 and 2 and FIG. 3 described above.

  FIG. 3 is a flowchart for explaining the operation of this embodiment. FIG. 3A shows the operations of the ground station apparatuses 1a, 1b, and 1c, and FIG. It is a flowchart for demonstrating. Here, the ground station apparatuses 1a, 1b, and 1c repeatedly transmit a message to the mobile unit mounting apparatus 2 according to a transmission schedule set in advance, for example. It is assumed that messages from the devices 1a, 1b, and 1c are continuously received.

  First, the ground station side will be described with reference to FIG. In the ground station devices 1a, 1b, and 1c, transmission time information for transmitting a message to the mobile unit 2 is acquired from the time generation unit 10 based on a transmission schedule set in advance, and the message editing unit 20 It is sent out (ST110). This transmission time information is captured in the message to be transmitted by the message editing unit 20, and the message having the configuration illustrated in FIG. 2 is edited. The edited message is sent to encoding section 30 (ST120).

  In encoding section 30, the transmitted message is encoded into a predetermined code, further converted into a pulse train of 0 or 1, and then transmitted to transmission section 40 (ST130). Then, this pulse train is transmitted by radio waves from the transmitter 40 toward the mobile unit mounting apparatus 2 (ST140). Thereafter, ground station apparatuses 1a, 1b, and 1c repeat the above-described series of operations according to a preset transmission schedule until an operation end instruction is received (ST150).

  Next, the moving body side will be described with reference to FIG. The radio waves transmitted from the ground station devices 1a, 1b, and 1c are received by the mobile unit mounting device 2 and sent to the receiving unit 60. When receiving these radio waves, reception unit 60 acquires reception time information as a time at which the radio waves are received based on the time information from time generation unit 50 (ST210). At the same time, the received radio wave is subjected to reception processing and sent to the decoding unit 70 as a pulse train (ST220).

  This pulse train is obtained by encoding a message in the encoding unit 30 in the ground station apparatuses 1a, 1b, and 1c, and the decoding unit 70 decodes the encoded pulse sequence and reproduces the message. . As shown in FIG. 2, the reproduced message includes transmission time information when one of the corresponding ground station apparatuses transmits this message. This reproduced message is sent to the distance information acquisition unit 80 (ST230).

  The distance information acquisition unit 80 acquires distance information between any of the ground station apparatuses that have transmitted this message and its own device from the transmission time information in this message and the reception time information acquired in ST210 described above. . That is, the time difference between the reception time information and the transmission time information is calculated, and the distance information with respect to the ground station device is calculated based on the radio wave propagation distance at this time difference. This distance information is sent to the subsequent self-position measuring unit 90 (ST240).

  The self-position measuring unit 90 measures the self-position from the distance information from the ground station device acquired in the above step and the installation position information of the ground station device. That is, for example, it can be obtained by a geometric technique based on a plurality of distance information acquired from ground station apparatuses having different installation positions. The resulting self-position can be obtained as, for example, two-dimensional latitude / longitude information. In this embodiment, the self-position is determined based on distance information with respect to the three ground station devices 1a, 1b, and 1c. For example, the position is measured in three dimensions by adding altitude information to latitude / longitude information. Therefore, when measuring the self-position, it is determined whether distance information from each of the ground station devices 1a, 1b, and 1c is obtained. If not, the above-described steps are repeated (NO in ST250).

  On the other hand, after obtaining the distance information from each of the ground station devices 1a, 1b, and 1c, the geometric information is based on the distance information and the positional information of each of the ground station devices 1a, 1b, and 1c that has been notified in advance. A three-dimensional self-position is calculated by a scientific method. In the mobile body mounting device 2, this calculation result in the self-position measuring unit 90 is output as a self-position measurement result (ST260). Thereafter, the mobile body mounting device 2 repeats the series of self-position measurement operations described above until an instruction to end the operation is received (ST270).

  As described above, in this embodiment, the self-position measurement system is operated by using three ground stations with ground station devices and one mobile device such as an aircraft with mobile device mounted as components. At the same time, distance information with respect to the three ground stations and the position information of these ground stations are acquired at a predetermined resolution on the mobile body side, and the three-dimensional self-position is measured based on these. Thereby, a self-positioning self-positioning system capable of self-positioning with good accuracy can be obtained.

  FIG. 4 is a block diagram showing a second embodiment of the self-position measuring system according to the present invention, and FIG. 5 is a configuration example of a message in this embodiment. FIG. 6 is a flowchart for explaining the operation of this embodiment. Regarding the respective parts of the second embodiment, the same parts as those of the first embodiment shown in FIGS. 1 to 3 are denoted by the same reference numerals, and the description thereof is omitted. The second embodiment is different from the first embodiment in that each ground station apparatus 1a, 1b, and 1c edits the message including its own position information when editing the message, and the mobile unit mounting apparatus 2 On the side, when the self-position is measured, the position information in this message is used as the position information of each ground station apparatus 1a, 1b, and 1c. Only the differences will be described below with reference to FIGS.

  4, the message editing unit 21 of the ground station apparatuses 1a, 1b, and 1c replaces the message editing unit 20 of FIG. 1 and edits a message based on the time information from the time generation unit 10. For example, the latitude and longitude of the own station are edited in the message as the transmission time information and the position information of the own station. As illustrated in FIG. 5, the edited message is configured to include transmission time information and position information of the own station. In FIG. 6A, instead of ST120 in FIG. 3A, the message shown in FIG. 5 is edited by the message editing unit 21 (ST121), and then this message is sent to the mobile unit mounting apparatus 2. Sent to.

  On the other hand, on the mobile body mounting device 2 side, when the self position is measured by the self position measuring unit 90, the distance information from each ground station device 1a, 1b, and 1c is replaced with ST260 in FIG. Based on the position information in the message delivered from each ground station apparatus 1a, 1b, and 1c, a three-dimensional self-position is calculated by a geometric technique. And this calculation result is output as a self-position measurement result (ST261).

  As described above, in this embodiment, the location information of the own station is included in the message transmitted from the ground station, so that the installation position of the ground station has flexibility in addition to the effect of the first embodiment. System operation can be performed.

  FIG. 7 is a block diagram showing a third embodiment of the self-position measuring system according to the present invention, and FIG. 8 is a configuration example of a message in this embodiment. FIG. 9 is a flowchart for explaining the operation of this embodiment. In each part of the third embodiment, the same parts as those in the first embodiment shown in FIGS. 1 to 3 are denoted by the same reference numerals, and the description thereof is omitted. The third embodiment is different from the first embodiment in that each ground station device 1a, 1b, and 1c edits the message including its own identification information when editing the message, and the mobile device 2 On the side, when the self-position is measured, the position information of each ground station apparatus 1a, 1b, and 1c is obtained by referring to the position information table set in advance using the identification information in this message. This is the point. Hereinafter, only the difference will be described with reference to FIGS.

  In FIG. 7, the message editing unit 22 of the ground station apparatuses 1a, 1b, and 1c replaces the message editing unit 20 of FIG. 1 and edits a message based on the time information from the time generating unit 10. The transmission time information and the identification code as the identification information of the own station are edited in the message. As illustrated in FIG. 8, the edited message is configured to include transmission time information and identification information of the own station. The self-position measuring unit 91 of the mobile device 2 has a position information table 911 for specifying the position information from the identification information of the ground station.

  In FIG. 9A, instead of ST120 in FIG. 3A, the message shown in FIG. 8 is edited by the message editing unit 22 (ST122). Thereafter, this message is transmitted toward the mobile unit mounting apparatus 2.

  On the mobile unit mounting apparatus 2 side, when the self-position measuring unit 91 measures the self-position based on this message, first, the identification information in the delivered message is used instead of ST260 in FIG. The location information table 911 is referenced to obtain the location information of the ground station apparatus that transmitted this message. Then, based on the position information of each ground station device obtained in this way and the distance information between those stations, a three-dimensional self-position is calculated by a geometric technique (ST262).

  As described above, in this embodiment, since the identification information of the local station is included in the message transmitted from the ground station, in addition to the effects in the first embodiment, the mobile body has a limited movement range in advance. Thus, self-position measurement can be performed in a wide range of movement while reliably identifying the ground station.

  FIG. 10 is a block diagram showing a fourth embodiment of the self-position measuring system according to the present invention. FIG. 11 is a flowchart for explaining the operation of this embodiment. In the fourth embodiment, the same parts as those in the first embodiment shown in FIGS. 1 and 3 are denoted by the same reference numerals, and the description thereof is omitted. The fourth embodiment is different from the first embodiment in that the mobile unit 2 has means for acquiring its own altitude information, and a combination with a smaller number of ground stations when measuring its own position. This is the point where the three-dimensional self-position is measured. Hereinafter, only the difference will be described with reference to FIGS.

  In FIG. 10, the mobile unit mounting apparatus 2 further includes an altitude information acquisition unit 100. The altitude information acquisition unit 100 acquires altitude information of the own device and provides it to the self-position measuring unit 90. The self-position measuring unit 90 measures the self-position based on the altitude information, the distance information between any two ground station apparatuses 1a, 1b, and 1c, and the position information of the ground stations. To do.

  That is, in FIG. 11B, after the distance information from the two ground station devices is obtained with the required number of distance information in the step of ST250 being two stations, the altitude information acquisition unit 100 determines its own altitude information. Is captured (ST251). Then, based on the distance information from the at least two ground station devices and the altitude information of the self and the position information of the two ground station devices obtained in the steps so far, a three-dimensional self-position is obtained by a geometric method. Is calculated (ST263).

  As described above, in this embodiment, by providing the mobile body with means for acquiring its own altitude information, in addition to the effects in the first embodiment, even when the number of ground stations is smaller, The three-dimensional self-position can be measured well.

  FIG. 12 is a block diagram showing a fifth embodiment of the self-position measuring system according to the present invention. FIG. 13 is a flowchart for explaining the operation of this embodiment. Regarding the parts of the fifth embodiment, the same parts as those of the first embodiment shown in FIGS. 1 and 3 are denoted by the same reference numerals, and the description thereof is omitted. The fifth embodiment is different from the first embodiment in that the mobile body mounting device 2 has means for acquiring its own moving speed vector information, and this moving speed vector information is included when measuring its own position. A plurality of pieces of distance information acquired at different times based on the information are corrected to distance information at a predetermined measurement reference time, and the self-position at the measurement reference time is measured from the corrected distance information. Hereinafter, only the difference will be described with reference to FIGS.

  In FIG. 12, the mobile unit mounting apparatus 2 further includes a speed information acquisition unit 110. The speed information acquisition unit 110 continuously acquires the movement speed vector information of the own device and provides the information to the self-position measurement unit 90. The self-position measuring unit 90 corrects the distance information from the distance information acquiring unit 80 based on the moving speed vector information, and measures the self-position at the measurement reference time.

  That is, in FIG. 13B, immediately after the operation of the mobile body mounting device 2 starts, the moving speed vector information of the own device from the speed information acquiring unit 110 is continuously taken into the self-position measuring unit 90 (ST201). . Thereafter, when the self-position measuring unit 90 measures the self-position, first, a measurement reference time is set. Next, for each of the plurality of distance information obtained in the steps up to ST250, the own movement amount generated by the time difference between the time when the distance information is acquired and the reference time of measurement is based on the movement speed vector information. Each distance information is corrected to distance information at the measurement reference time by using this movement amount as a correction value. Based on the corrected distance information and the position information of each ground station apparatus 1a, 1b, and 1c, the three-dimensional self-position at the measurement reference time is calculated (ST264).

  As described above, in this embodiment, the moving body is provided with means for acquiring its own moving speed vector information, and distance information from a plurality of ground stations is obtained based on this moving speed vector information. The information is corrected. Thereby, in addition to the effect in the first embodiment, the precise self-position at the set reference time can be measured.

  FIG. 14 is a block diagram showing a sixth embodiment of the self-position measuring system according to the present invention, and FIG. 15 is a configuration example of a message in this embodiment. FIG. 16 is a flowchart for explaining the operation of this embodiment. Regarding the respective parts of the sixth embodiment, the same parts as those of the first embodiment shown in FIGS. 1 to 3 are denoted by the same reference numerals, and the description thereof is omitted. The sixth embodiment is different from the first embodiment in that each ground station device 1a, 1b, and 1c edits a message including identification information of a mobile object to be transmitted, On the mobile device 2 side, this message is reproduced only when its own identification information is detected in the message. Only the differences will be described below with reference to FIGS.

  In FIG. 14, the message editing unit 23 of the ground station devices 1a, 1b, and 1c becomes the transmission time information of the message based on the time information from the time generation unit 10 and the transmission target when editing the message. The identification code is edited in the message as the identification information of the moving object. As illustrated in FIG. 15, the edited message is configured to include transmission time information and mobile unit identification information. Further, the decoding unit 71 of the mobile device 2 decodes the pulse train from the receiving unit 60 based on the detection result of the identification information in the message. Here, the decoding unit 71 includes an identification information detection unit 711 and a decoding unit 712. The identification information detection unit 711 detects whether or not its own identification information is included in the delivered message, and notifies the decoding unit 712 of the result. Based on the detection result, the decoding unit 712 decodes the encoded pulse train from the receiving unit 60 and reproduces the message.

  In FIG. 16A, the message shown in FIG. 15 is edited by the message editing unit 23 (ST123). Thereafter, this message is transmitted toward the mobile unit mounting apparatus 2.

  In FIG. 16B, the radio wave received on the mobile device 2 side is received and processed in step ST220, and then sent to the identification information detection unit 711 of the decoding unit 71. It is determined whether or not the identification information is included (ST221). As a result, when the self identification information is not detected (NO in ST221), it is determined that the message is not addressed to the self, and the reception of the radio wave is continued. On the other hand, when the self identification information is detected (YES in ST221), the message is addressed to the self, and the detection result is notified to the decoding unit 712. Then, in decoding section 712, the message is reproduced and sent to distance information acquisition section 80 (ST230), and the subsequent operations for self-position measurement are continued.

  As described above, in this embodiment, the message from the ground station is transmitted by including the identification information of the mobile object to be transmitted. As a result, in addition to the effects of the first embodiment, it is possible to selectively designate a mobile body that performs self-position measurement with this self-position measurement system, and only a mobile body that requires position measurement is selected. Service can be provided.

  FIG. 17 is a block diagram showing a seventh embodiment of the self-position measuring system according to the present invention. FIG. 18 is a flowchart for explaining the operation of this embodiment. Regarding the respective parts of the seventh embodiment, the same portions as those of the first embodiment shown in FIGS. 1 and 3 are denoted by the same reference numerals, and the description thereof is omitted. The seventh embodiment is different from the first embodiment in that the messages edited by the ground devices 1a, 1b, and 1c are encrypted and transmitted, and the mobile device 2 performs decryption. Is a point. Hereinafter, only the difference will be described with reference to FIGS. 17 and 18.

  In FIG. 17, the encoding unit 31 of the ground station devices 1a, 1b, and 1c encrypts the message edited by the message editing unit 20, encodes it into a predetermined code, and sends it to the transmission unit 40 as a pulse train. Here, the encoding unit 31 includes a dark culture unit 311 and a code conversion unit 312. The dark culture unit 311 encrypts the message from the message editing unit 20. The code conversion unit 312 encodes the encrypted message into a predetermined code and sends it to the transmission unit 40 as a pulse train.

  Also, the decryption unit 72 of the mobile device 2 reproduces the original message from the encrypted message obtained by decrypting the pulse train from the reception unit 60 and sends it to the distance information acquisition unit 80. Here, the decoding unit 72 includes a decoding unit 721 and a plain culture unit 722. The decrypting unit 721 decrypts the encoded pulse train from the receiving unit 60 to obtain an encrypted message. The plain culture unit 722 reproduces the unencrypted message from the encrypted message and sends it to the distance information acquisition unit 80.

  In FIG. 18A, the message edited in step ST120 is sent to the encryption unit 311, and is encrypted (ST131). This encrypted message is further converted into a pulse train by the code converter 312 and sent to the transmitter 40 (ST132). In FIG. 18B, the pulse train received and processed in ST220 is sent from the receiving unit 60 to the decoding unit 721 of the decoding unit 72. The decryption unit 721 decrypts this pulse train, and sends the encrypted message to the plain culture unit 722 (ST231). The plain culture unit 722 reproduces the pre-encrypted message from the encrypted message (ST232). Then, this message is sent to the distance information acquisition unit 80, and the subsequent operation for self-position measurement is continued.

  As described above, in this embodiment, by encrypting the message from the ground station to the mobile body, in addition to the effects in the first embodiment, it is possible to improve the security of the message and It is possible to configure a system in which only a specific mobile object that can be decoded can always perform self-position measurement.

  FIG. 19 is a block diagram showing an eighth embodiment of the self-position measuring system according to the present invention. FIG. 20 is a structural example of a message in this embodiment. Regarding the respective parts of the eighth embodiment, the same parts as those of the first embodiment shown in FIG.

  As shown in FIG. 19, this self-position measuring system is composed of ground station devices 1 a, 1 b, and 1 c installed on three ground stations and a mobile unit mounting device 2. Here, the ground station devices 1a, 1b, and 1c all have the same configuration, and include a distance information observation unit 15, a message editing unit 25, an encoding unit 30, and a transmission unit 40, respectively.

  The distance information observation unit 15 observes distance information from a mobile station such as an aircraft on which the mobile body mounting device 2 is mounted, and sends it to the message editing unit 25 together with the observation time information. The message editing unit 25 edits observation distance information and observation time information from the distance information observation unit 15 in the message. The encoding unit 30 encodes the message edited by the message editing unit 20 into a predetermined code and transmits it as a pulse train. The transmitter 40 transmits this pulse train to the mobile unit mounting apparatus 2 by radio waves.

  On the other hand, the mobile unit mounting apparatus 2 includes a receiving unit 60, a decoding unit 70, and a self-position measuring unit 95. The receiving unit 60 sends a pulse train obtained by receiving the radio waves from the ground station devices 1a, 1b, and 1c to the decoding unit 70. The decoding unit 70 decodes these pulse trains and reproduces messages from the ground station devices 1a, 1b, and 1c. The self-position measuring unit 95 measures the self-position from the observation distance information in the reproduced message and the installation position information of each ground station device 1a, 1b, and 1c.

  Further, as shown in FIG. 20, the message configuration in the present embodiment is configured to include observation time information and observation distance information having at least a predetermined resolution. This message is edited by the message editing unit 25 in the ground station devices 1a, 1b, and 1c, encoded by the encoding unit 30, and transmitted to the mobile unit mounting device 2 as a pulsed radio wave. . Then, the decrypted and edited message in the mobile unit 2 is reproduced.

  Next, the operation of the self-position measurement system according to the present invention configured as described above will be described with reference to the flowcharts of FIGS. 19 and 20 and FIG. 21 described above.

  FIG. 21 is a flowchart for explaining the operation of the present embodiment. FIG. 21A shows the operations of the ground station apparatuses 1a, 1b and 1c, and FIG. It is a flowchart for demonstrating. Here, the ground station apparatuses 1a, 1b, and 1c repeatedly transmit a message to the mobile unit mounting apparatus 2 according to a transmission schedule set in advance, for example. It is assumed that messages from the devices 1a, 1b, and 1c are continuously received.

  First, the ground station side will be described with reference to FIG. In the ground station devices 1a, 1b, and 1c, the distance information observation unit 15 continuously observes the distance information from the mobile station such as an aircraft on which the mobile body mounting device 2 is mounted. This distance information is captured at a timing based on a preset transmission schedule, and is sent to the message editing unit 25 as observation distance information and observation time information that is the time at which this distance information was observed (ST115). The observation distance information and the observation time information are edited into a message having the configuration illustrated in FIG. The edited message is sent to encoding section 30 (ST125).

  In encoding section 30, the transmitted message is encoded into a predetermined code, further converted into a pulse train of 0 or 1, and then transmitted to transmission section 40 (ST135). Then, this pulse train is transmitted by radio waves from the transmitter 40 toward the mobile unit mounting apparatus 2 (ST145). Thereafter, ground station apparatuses 1a, 1b, and 1c repeat the above-described series of operations according to a preset transmission schedule until an instruction to terminate the operation is received (ST155).

  Next, the moving body side will be described with reference to FIG. The radio waves transmitted from the ground station devices 1a, 1b, and 1c are received by the mobile unit mounting device 2 and sent to the receiving unit 60. The receiving unit 60 performs a receiving process on the received radio waves, and sends the pulse train to the decoding unit 70 (ST215).

  This pulse train is obtained by encoding a message in the encoding unit 30 in the ground station apparatuses 1a, 1b, and 1c, and the decoding unit 70 decodes the encoded pulse sequence and reproduces the message. . As shown in FIG. 20, the reproduced message includes the observation distance information and observation time information of the own device observed by one of the corresponding ground station apparatuses. This reproduced message is sent to self-position measuring section 95 (ST225).

  The self-position measuring unit 95 measures the self-position from the observation distance information from the ground station device acquired up to the above steps and the installation position information of the ground station device. That is, for example, it can be obtained by a geometric technique based on a plurality of distance information acquired from ground station apparatuses having different installation positions. The resulting self-position can be obtained as, for example, two-dimensional latitude / longitude information. In this embodiment, the self-position is determined based on distance information with respect to the three ground station devices 1a, 1b, and 1c. For example, the position is measured in three dimensions by adding altitude information to latitude / longitude information. Therefore, when measuring the self-position, it is determined whether the observation distance information from each ground station apparatus 1a, 1b, and 1c is obtained. If not, the above steps are repeated (NO in ST235). .

  On the other hand, after obtaining the distance information from each of the ground station devices 1a, 1b, and 1c, the geometric information is based on the distance information and the positional information of each of the ground station devices 1a, 1b, and 1c that has been notified in advance. A three-dimensional self-position is calculated by a scientific method. In the mobile body mounting apparatus 2, the calculation result in the self-position measuring unit 95 is output as a self-position measurement result (ST245). Thereafter, the mobile body mounting device 2 repeats the series of self-position measurement operations described above until an instruction to end the operation is given (ST255).

  As described above, in this embodiment, the self-position measurement system is operated by using three ground stations with ground station devices and one mobile device such as an aircraft with mobile device mounted as components. In addition, distance information with respect to the three ground stations and position information of these ground stations are acquired at a predetermined resolution on the mobile side, and a three-dimensional self-position is measured based on these. Thereby, a self-positioning self-positioning system capable of self-positioning with good accuracy can be obtained.

  FIG. 22 is a block diagram showing a ninth embodiment of the self-position measuring system according to the present invention, and FIG. 23 is a structural example of a message in this embodiment. FIG. 24 is a flowchart for explaining the operation of this embodiment. Regarding the respective parts of the ninth embodiment, the same parts as those of the eighth embodiment shown in FIGS. 19 to 21 are denoted by the same reference numerals, and the description thereof is omitted. The ninth embodiment is different from the eighth embodiment in that each ground station apparatus 1a, 1b, and 1c edits the message including its own position information when editing the message, and the mobile unit mounting apparatus 2 On the side, when the self-position is measured, the position information in this message is used as the position information of each ground station apparatus 1a, 1b, and 1c. Hereinafter, only the difference will be described with reference to FIGS.

  22, the message editing unit 26 of the ground station devices 1a, 1b, and 1c replaces the message editing unit 25 of FIG. 19 and edits the observation distance information and observations from the distance information observation unit 15 when editing the message. As the time information and the position information of the own station, for example, the latitude and longitude of the own station are edited in the message. As illustrated in FIG. 23, the edited message is configured to include the position information of the own station in addition to the observation distance information and the observation time information.

  In FIG. 24 (a), instead of ST125 of FIG. 21 (a), the message shown in FIG. 23 is edited by the message editing unit 26 (ST126), and then this message is sent to the mobile unit mounting apparatus 2. Sent to.

  On the other hand, on the mobile device 2 side, when the self-position measuring unit 95 measures the self-position, the message delivered from each ground station apparatus 1a, 1b, and 1c instead of ST245 in FIG. A three-dimensional self-position is calculated by a geometric method based on the observation distance information and the position information. Then, this calculation result is output as a self-position measurement result (ST246).

  As described above, in this embodiment, by including the position information of the own station in the message transmitted from the ground station, the installation position of the ground station has flexibility in addition to the effect in the eighth embodiment. System operation can be performed.

  FIG. 25 is a block diagram showing a tenth embodiment of the self-position measuring system according to the present invention, and FIG. 26 is a configuration example of a message in this embodiment. FIG. 27 is a flowchart for explaining the operation of this embodiment. In the tenth embodiment, the same parts as those in the eighth embodiment shown in FIGS. 19 to 21 are denoted by the same reference numerals, and the description thereof is omitted. The tenth embodiment is different from the eighth embodiment in that each ground station device 1a, 1b, and 1c edits the message including its own identification information when editing the message, and the mobile unit 2 On the side, when the self-position is measured, the position information of each ground station apparatus 1a, 1b, and 1c is obtained by referring to the position information table set in advance using the identification information in this message. This is the point. Hereinafter, only the difference will be described with reference to FIGS.

  25, the message editing unit 27 of the ground station devices 1a, 1b, and 1c replaces the message editing unit 25 of FIG. 19 and edits the observation distance information and observations from the distance information observation unit 15 when editing the message. The time information and the identification code as the identification information of the own station are edited in the message. As illustrated in FIG. 26, the edited message is configured to include the identification information of the own station in addition to the observation distance information and the observation time information. The self-position measuring unit 96 of the mobile device 2 has a position information table 961 for specifying the position information from the identification information of the ground station.

  In FIG. 27A, instead of ST125 in FIG. 21A, the message shown in FIG. 26 is edited by the message editing unit 27 (ST127). Thereafter, this message is transmitted toward the mobile unit mounting apparatus 2.

  On the mobile unit mounting apparatus 2 side, when the self-position measuring unit 96 measures the self-position based on this message, first, the identification information in the delivered message is used instead of ST245 in FIG. The position information table 961 is referenced to obtain the position information of the ground station apparatus that has transmitted this message. Then, based on the position information of each ground station device obtained in this way and the observation distance information with those stations, a three-dimensional self-position is calculated by a geometric technique (ST247).

  As described above, in this embodiment, by including the identification information of the own station in the message transmitted from the ground station, the moving object has a limited movement range in advance in addition to the effect of the eighth embodiment. Thus, it is possible to perform self-position measurement in a wide area while reliably identifying the ground station.

  FIG. 28 is a block diagram showing an eleventh embodiment of the self-position measuring system according to the present invention. FIG. 29 is a flowchart for explaining the operation of this embodiment. About each part of this 11th Example, the part same as each part of the 8th Example shown in FIG.19 and FIG.21 is shown with the same code | symbol, and the description is abbreviate | omitted. The difference between the eleventh embodiment and the eighth embodiment is that the mobile unit 2 has means for acquiring its own altitude information, and a combination with a smaller number of ground stations when measuring its own position. This is the point where the three-dimensional self-position is measured. Hereinafter, only the difference will be described with reference to FIGS.

  In FIG. 28, the mobile unit mounting apparatus 2 further includes an altitude information acquisition unit 100. The altitude information acquisition unit 100 acquires altitude information of the own device and provides it to the self-position measuring unit 95. The self-position measuring unit 95 measures the self-position based on the altitude information, the observation distance information from any two ground station apparatuses 1a, 1b, and 1c and the position information thereof.

  That is, in FIG. 29B, after obtaining the observation distance information from the two ground station devices by setting the required number of distance information in the step of ST235 to two stations, the altitude information acquisition unit 100 determines its own altitude. Information is captured (ST236). Based on the observation distance information and self altitude information from at least two ground station devices obtained in the steps so far, and the position information of the two ground station devices, a three-dimensional self The position is calculated (ST248).

  As described above, in the present embodiment, by providing the mobile body with means for acquiring its own altitude information, in addition to the effects in the eighth embodiment, even when the number of ground stations is smaller, The three-dimensional self-position can be measured well.

  FIG. 30 is a block diagram showing a twelfth embodiment of the self-position measuring system according to the present invention. FIG. 31 is a flowchart for explaining the operation of this embodiment. About each part of this 12th Example, the part same as each part of the 8th Example shown in FIG.19 and FIG.21 is shown with the same code | symbol, The description is abbreviate | omitted. The twelfth embodiment is different from the eighth embodiment in that the mobile body mounting device 2 has means for acquiring its own moving speed vector information, and this moving speed vector information is included when measuring its own position. Based on this, the multiple observation distance information acquired at different observation times is corrected to observation distance information at a predetermined measurement reference time, and the self-position at the measurement reference time is measured from the corrected observation distance information. is there. Hereinafter, only the difference will be described with reference to FIGS. 30 and 31.

  In FIG. 30, the mobile body mounting device 2 further includes a speed information acquisition unit 110. The speed information acquisition unit 110 continuously acquires the movement speed vector information of the own device and provides the information to the self-position measurement unit 95. The self-position measuring unit 95 corrects the observation distance information in the reproduced message sent from the encoding unit 70 based on the moving speed vector information, and measures the self-position at the measurement reference time.

  That is, in FIG. 31 (b), immediately after the operation of the mobile unit mounting apparatus 2 starts, the moving speed vector information of the own machine from the speed information acquiring unit 110 is continuously taken into the self-position measuring unit 95 (ST205). . Thereafter, when the self-position measuring unit 95 measures the self-position, a measurement reference time is first set. Next, for each of the plurality of observation distance information obtained in the steps up to ST235, the own movement amount generated by the time difference between the observation time when the observation distance information is acquired and the measurement reference time is expressed as movement speed vector information. And the respective observation distance information is corrected to the observation distance information at the reference time of measurement using the movement amount as a correction value. Based on the corrected observation distance information and the position information of each ground station apparatus 1a, 1b, and 1c, the three-dimensional self-position at the measurement reference time is calculated (ST249).

  As described above, in this embodiment, the moving body is provided with means for acquiring its own moving speed vector information, and distance information from a plurality of ground stations is obtained based on this moving speed vector information. The information is corrected. Thereby, in addition to the effect in the eighth embodiment, a precise self-position at the set reference time can be measured.

  FIG. 32 is a block diagram showing a thirteenth embodiment of the self-position measuring system according to the present invention, and FIG. 33 is a structural example of a message in this embodiment. FIG. 34 is a flowchart for explaining the operation of this embodiment. In the thirteenth embodiment, the same parts as those in the eighth embodiment shown in FIGS. 19 to 21 are denoted by the same reference numerals, and the description thereof is omitted. The difference between the thirteenth embodiment and the eighth embodiment is that each ground station device 1a, 1b, and 1c edits the message including the identification information of the mobile object to be transmitted, On the mobile device 2 side, this message is reproduced only when its own identification information is detected in the message. Hereinafter, only the difference will be described with reference to FIGS. 32 to 34.

  In FIG. 32, the message editing unit 28 of the ground station apparatuses 1a, 1b, and 1c, when editing a message, observes the observation distance information and observation time information from the distance information observation unit 15, and a mobile object to be transmitted. Edit the identification code as the identification information in the message. As illustrated in FIG. 33, the edited message is configured to include mobile object identification information in addition to observation time information and observation distance information.

  Further, the decoding unit 71 of the mobile device 2 decodes the pulse train from the receiving unit 60 based on the detection result of the identification information in the message. Here, the decoding unit 71 includes an identification information detection unit 711 and a decoding unit 712. The identification information detection unit 711 detects whether or not its own identification information is included in the delivered message, and notifies the decoding unit 712 of the result. Based on the detection result, the decoding unit 712 decodes the encoded pulse train from the receiving unit 60 and reproduces the message.

  In FIG. 34 (a), the message shown in FIG. 33 is edited by the message editing unit 28 (ST128). Thereafter, this message is transmitted toward the mobile unit mounting apparatus 2.

  In FIG. 34 (b), the radio wave received on the mobile device 2 side is subjected to reception processing in step ST215, and then sent to the identification information detection unit 711 of the decoding unit 71. It is determined whether or not the identification information is included (ST216). As a result, when the self identification information is not detected (NO in ST216), it is determined that the message is not addressed to the self, and the reception of the radio wave is continued. On the other hand, when the self identification information is detected (YES in ST216), the message is addressed to the self, and the detection result is notified to the decoding unit 712. Then, in decoding section 712, the message is reproduced and sent to self-position measuring section 95 (ST225), and the subsequent operation for self-position measurement is continued.

  As described above, in this embodiment, the message from the ground station is transmitted by including the identification information of the mobile object to be transmitted. As a result, in addition to the effects of the eighth embodiment, it is possible to selectively designate a mobile body that performs self-position measurement with this self-position measurement system, and select only a mobile body that requires position measurement. Service can be provided.

  FIG. 35 is a block diagram showing a fourteenth embodiment of the self-position measuring system according to the present invention. FIG. 36 is a flowchart for explaining the operation of this embodiment. About each part of this 14th Example, the part same as each part of 8th Example shown in FIG.19 and FIG.21 is shown with the same code | symbol, The description is abbreviate | omitted. The fourteenth embodiment is different from the eighth embodiment in that messages edited by the ground devices 1a, 1b, and 1c are encrypted and transmitted, and the mobile device 2 side performs encryption / decryption. Is a point. Only the differences will be described below with reference to FIGS.

  In FIG. 35, the encoding unit 31 of the ground station apparatuses 1a, 1b, and 1c encrypts the message edited by the message editing unit 25, encodes it into a predetermined code, and sends it to the transmission unit 40 as a pulse train. Here, the encoding unit 31 includes a dark culture unit 311 and a code conversion unit 312. The dark culture unit 311 encrypts the message from the message editing unit 25. The code conversion unit 312 encodes the encrypted message into a predetermined code and sends it to the transmission unit 40 as a pulse train.

  In addition, the decrypting unit 72 of the mobile device 2 reproduces the original message from the encrypted message obtained by decrypting the pulse train from the receiving unit 60 and sends it to the self-position measuring unit 95. Here, the decoding unit 72 includes a decoding unit 721 and a plain culture unit 722. The decrypting unit 721 decrypts the encoded pulse train from the receiving unit 60 to obtain an encrypted message. The plain culture unit 722 reproduces the unencrypted message from the encrypted message and sends it to the self-position measuring unit 95.

  In FIG. 36 (a), the message edited in step ST125 is sent to the encryption unit 311 of the encoding unit 31 and encrypted (ST136). This encrypted message is further converted into a pulse train by code conversion section 312 and sent to transmission section 40 (ST137). In FIG. 36 (b), the pulse train subjected to reception processing in ST215 is sent from the reception unit 60 to the decoding unit 721 of the decoding unit 72. The decrypting unit 721 decrypts this pulse train and sends the encrypted message to the plain culture unit 722 (ST226). The plain culture unit 722 reproduces the pre-encrypted message from the encrypted message (ST227). This message is sent to the self-position measuring unit 95, and the subsequent operation for self-position measurement is continued.

  As described above, in this embodiment, by encrypting the message from the ground station to the mobile body, in addition to the effect in the eighth embodiment, the security of the message can be improved, and the encryption is performed. It is possible to configure a system in which only a specific mobile object that can be decoded can always perform self-position measurement.

  In any of the first to fourteenth embodiments described above, for example, the ground station device is configured around a secondary surveillance radar (SSR) used in air traffic control radar, and mounted on a moving body. The device can be configured around a transponder that responds to the secondary surveillance radar, and the message can be further configured as a data link message called mode S defined in, for example, ICAO (International Civil Aviation Organization).

  When configured in this way, by adding a simple processor or the like to the existing equipment such as the secondary monitoring radar and transponder described above, the self-position measurement system according to the present invention, the ground station apparatus used therefor, and The mobile body mounting apparatus can be easily configured, and can be easily applied to mobile bodies such as small aircraft.

1 is a block diagram showing a first embodiment of a self-position measuring system according to the present invention. The figure which shows an example of the structure of the message in a 1st Example. The flowchart for demonstrating operation | movement of a 1st Example. The block diagram which shows the 2nd Example of the self-position measuring system which concerns on this invention. The figure which shows an example of a structure of the message in a 2nd Example. The flowchart for demonstrating the operation | movement of a 2nd Example. The block diagram which shows the 3rd Example of the self-position measuring system which concerns on this invention. The figure which shows an example of a structure of the message in a 3rd Example. The flowchart for demonstrating operation | movement of a 3rd Example. The block diagram which shows the 4th Example of the self-position measuring system which concerns on this invention. The flowchart for demonstrating the operation | movement of a 4th Example. The block diagram which shows the 5th Example of the self-position measuring system which concerns on this invention. The flowchart for demonstrating operation | movement of a 5th Example. The block diagram which shows the 6th Example of the self-position measuring system which concerns on this invention. The figure which shows an example of a structure of the message in a 6th Example. The flowchart for demonstrating the operation | movement of a 6th Example. The block diagram which shows the 7th Example of the self-position measuring system which concerns on this invention. The flowchart for demonstrating operation | movement of a 7th Example. The block diagram which shows the 8th Example of the self-position measuring system which concerns on this invention. The figure which shows an example of a structure of the message in an 8th Example. The flowchart for demonstrating the operation | movement of an 8th Example. The block diagram which shows the 9th Example of the self-position measuring system which concerns on this invention. The figure which shows an example of a structure of the message in a 9th Example. The flowchart for demonstrating the operation | movement of a 9th Example. The block diagram which shows the 10th Example of the self-position measuring system which concerns on this invention. The figure which shows an example of a structure of the message in a 10th Example. The flowchart for demonstrating operation | movement of a 10th Example. The block diagram which shows the 11th Example of the self-position measuring system which concerns on this invention. The flowchart for demonstrating the operation | movement of an 11th Example. The block diagram which shows the 12th Example of the self-position measuring system which concerns on this invention. The flowchart for demonstrating the operation | movement of a 12th Example. The block diagram which shows the 13th Example of the self-position measuring system which concerns on this invention. The figure which shows an example of a structure of the message in a 13th Example. The flowchart for demonstrating operation | movement of a 13th Example. The block diagram which shows the 14th Example of the self-position measuring system which concerns on this invention. The flowchart for demonstrating operation | movement of 14th Example.

Explanation of symbols

1a, 1b, 1c Ground station device 2 Mobile device 10 Time generation unit 15 Distance information observation unit 20, 21, 22, 23, 25, 26, 27, 28 Message editing unit 30, 31 Encoding unit 40 Transmission unit 50 Time generation unit 60 Reception unit 70, 71, 72 Decoding unit 80 Distance information acquisition unit 90, 91, 95, 96 Self-position measurement unit 100 Altitude information acquisition unit 110 Speed information acquisition unit 311 Dark culture unit 312 Code conversion unit 711 Identification Information detecting unit 712, 721 Decoding unit 722 Heiwa culture unit 911, 961 Position information table

Claims (20)

A self-position measuring system that transmits a message with pulsed radio waves encoded from a plurality of ground stations, and a mobile body that receives the radio waves measures its position based on the message,
Each ground station is
Transmission time acquisition means for acquiring transmission time information of the message;
Message editing means for editing the transmission time information in the message;
Encoding means for encoding the edited message and converting it into a pulse train;
Transmission means for transmitting the pulse train to the mobile body by radio waves,
The moving body is
A reception time acquisition means for receiving the pulsed radio wave transmitted from each ground station and acquiring the reception time information;
Decoding means for decoding the pulse train and reproducing the edited message;
Distance information acquisition means for acquiring distance information from each ground station from the transmission time information and the reception time information in the reproduced message;
A self-position measuring system comprising self-position measuring means for measuring a self-position from distance information from each ground station and position information of each ground station paired with the distance information.   The message editing means of the ground station edits the message including the position information of the own station in the message, and the self-position measuring means of the mobile body uses the position information in the message as the position information of each ground station. The self-position measuring system according to claim 1, wherein the self-position measuring system is measured.   The message editing means of the ground station edits the message including its own identification information in the message, and the self-position measuring means of the mobile object is set in advance for each of the ground stations set based on the identification information in the message. 2. The self-position measurement system according to claim 1, wherein the self-position is measured by using the position information obtained by referring to the position information table as the position information of each ground station.   Three or more ground stations are installed, and the self-position measuring means of the mobile body is based on the distance information from the ground stations of three or more stations and the position information of each ground station paired with the distance information. The self-position measuring system according to any one of claims 1 to 3, wherein the self-position is measured.   Two or more ground stations are installed, and the mobile unit further includes altitude information acquisition means for acquiring its own altitude information, and the self-position measuring means includes distance information from the two ground stations and these distance information. The three-dimensional self-position is measured using the self-altitude information from the altitude information acquisition means in addition to the position information of each ground station that makes a pair with each other. The self-position measuring system according to claim 1.   The mobile body further has speed information acquisition means for acquiring own moving speed vector information, and the self-position measurement means obtains distance information from the plurality of ground stations acquired at different times, respectively. The distance information from each ground station is corrected to the distance information at a predetermined reference time based on the own moving speed vector information from the distance information from each ground station and the position information of each ground station paired with the distance information. The self-position measuring system according to any one of claims 1 to 5, wherein self-position is measured.   The message editing means of the ground station edits the message including the identification information of the mobile object, and the decoding means of the mobile object only reads the message when the identification information matching the identification information of the mobile station is detected. The self-position measuring system according to any one of claims 1 to 6, wherein the self-position measuring system is reproduced.   The encoding means of the ground station includes encryption means for encrypting the message, and the decryption means of the mobile unit includes encryption / decryption means for decrypting the encrypted message. The self-position measurement system according to any one of claims 1 to 7. A self-position measuring system that transmits a message with pulsed radio waves encoded from a plurality of ground stations, and a mobile body that receives the radio waves measures its position based on the message,
Each ground station
Distance observing means for observing distance information to the moving body;
Message editing means for editing the observation distance information and the observation time information in the message;
Encoding means for encoding the edited message and converting it into a pulse train;
Transmission means for transmitting the pulse train to the mobile body by radio waves,
The moving body is
Receiving means for receiving pulsed radio waves transmitted from the ground stations;
Decoding means for decoding the pulse train and reproducing the edited message;
Self-position measuring means for measuring self-position from observation distance information in the message from the plurality of ground stations and position information of each ground station paired with the observation distance information Position measurement system.   The message editing means of the ground station edits the message including its own position information in the message, and the self-position measuring means of the mobile unit measures its own position using the position information in the message as the position information of the ground station. The self-position measuring system according to claim 9.   The message editing means of the ground station edits the message including its own identification information in the message, and the self-position measuring means of the mobile object is set in advance for each of the ground stations set based on the identification information in the message. 10. The self-position measuring system according to claim 9, wherein the self-position is measured by using position information obtained by referring to a position information table as position information of the ground station.   Three or more ground stations are installed, and the self-position measuring means of the mobile body is 3 based on observation distance information from three or more ground stations and position information of each ground station paired with the observation distance information. The self-position measuring system according to any one of claims 9 to 11, wherein a self-position of a dimension is measured.   Two or more ground stations are installed, the mobile unit further has altitude information acquisition means for acquiring its own altitude information, and the self-position measuring means includes observation distance information from these two ground stations and these observations. 12. The three-dimensional self-position is measured using the self-altitude information from the altitude information acquisition means in addition to the position information of each ground station paired with distance information. The self-position measuring system according to any one of the above.   The mobile body further has speed information acquisition means for acquiring its own movement speed vector information, and the self-position measurement means acquires the observation distance information acquired at a plurality of different observation times from the plurality of ground stations. The observation distance information at a predetermined reference time is corrected based on its own moving speed vector information from the means, and the corrected distance information from the plurality of ground stations is paired with the observation distance information. The self-position measuring system according to any one of claims 9 to 13, wherein the self-position is measured from the position information of the station.   The message editing means of the ground station edits the message including the identification information of the mobile object, and the decoding means of the mobile object only reads the message when the identification information matching the identification information of the mobile station is detected. The self-position measuring system according to any one of claims 9 to 14, wherein the self-position measuring system is reproduced.   The encoding means of the ground station includes encryption means for encrypting the message, and the decryption means of the mobile unit includes encryption / decryption means for decrypting the encrypted message. The self-position measuring system according to any one of claims 9 to 15. It is used in a self-position measurement system that transmits a message containing transmission time information with pulsed radio waves encoded from a plurality of ground stations, and a mobile object that has received the radio waves measures its position based on the messages. A ground station device,
Transmission time acquisition means for acquiring transmission time information of the message;
Message editing means for editing the transmission time information in the message;
Encoding means for encoding the edited message and converting it into a pulse train;
A ground station apparatus comprising: a transmission unit that transmits the pulse train to the mobile body by radio waves. A message including distance information to a moving body and observation time information obtained by observing the distance information is transmitted with pulsed radio waves encoded from a plurality of ground stations, and the mobile body that has received the radio waves is based on the message. A ground station device used in a self-positioning system that measures its own position,
Distance observing means for observing the distance information to the moving body;
Message editing means for editing the observation distance information and the observation time information in the message;
Encoding means for encoding the edited message and converting it into a pulse train;
A ground station apparatus comprising: a transmission unit that transmits the pulse train to the mobile body by radio waves. It is used in a self-position measurement system that transmits a message containing transmission time information with pulsed radio waves encoded from a plurality of ground stations, and a mobile object that has received the radio waves measures its position based on the messages. A mobile unit mounting device,
Receiving time acquisition means for receiving the pulsed radio wave transmitted from the ground station and acquiring the reception time information;
Decoding means for reproducing the message from the pulsed radio wave;
Distance information acquisition means for acquiring distance information from each ground station from the transmission time information and the reception time information in the reproduced message;
A mobile unit mounting device comprising: self-position measuring means for measuring a self-position from distance information from each ground station and position information of each ground station paired with the distance information. A message including distance information to a moving body and observation time information obtained by observing the distance information is transmitted with pulsed radio waves encoded from a plurality of ground stations, and the mobile body that has received the radio waves is based on the message. A mobile body-mounted device used in a self-position measuring system that measures its own position,
Receiving means for receiving pulsed radio waves transmitted from the ground stations;
Decoding means for reproducing the message from the pulsed radio wave;
Self-position measuring means for measuring self-position from observation distance information in the message from the plurality of ground stations and position information of each ground station paired with the observation distance information; Body-mounted device.

Images