JP2005337790A - Terminal device, positioning method, control method and program of terminal device, and recording medium with control program of terminal device recorded thereon - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a terminal device and the like capable of accurately calculating Doppler effect of a signal from satellite used in a satellite navigation system, and acquiring a result of positioning in a short time. <P>SOLUTION: This terminal device comprises a supplementary information requiring means for requiring the supplementary information created on the basis of the base station positional information indicating a position of a base station 20, and the communication range information indicating a range communicatable by the base station, a base station distance information creating means for creating the base station distance information indicating a distance between the position of the base station and a position of the last positioning on the basis of the base station positional information included in the supplementary information and the positional information of the last positioning, an estimated error distance information creating means for creating the estimated error distance information indicating the estimated error distance as a range where the terminal device can exist, on the basis of the base station distance information and the communication range information included in the supplementary information, and an estimated error distance allowable range determining means or the like for determining whether the estimated error distance is within an allowable range or not. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a terminal device, a positioning method, a terminal device control method, a terminal device control program, and a recording medium recording the terminal device control program.

Conventionally, a positioning system that measures the current position of a GPS receiver by using, for example, a GPS (Global Positioning System) that is a satellite navigation system has been put into practical use.
However, when the error range of the position of the GPS receiver used at the start of positioning is large, there is a problem that it takes a long time to acquire the positioning result. Here, the error range means a range in which the current position of the GPS receiver can exist.
On the other hand, for a GPS receiver having a communication function, the error range is limited by using the position of the base station that mediates communication as the initial position and using the communicable range of the base station as the error range. Technology has been proposed.
JP 2001-133535 A (FIG. 5 etc.)

  However, in the above-described prior art, the position of the base station must be the initial position. In this case, for example, even if the position of the GPS receiver is actually close to the previously measured position and far from the base station, the initial position is the position of the base station. If positioning is started in this state, the calculation of the Doppler effect of signals from GPS satellites cannot be performed accurately, and there is a problem that positioning may take a long time.

  Therefore, the present invention provides a terminal device, a positioning method, a terminal device control method, a terminal capable of accurately calculating the Doppler effect of a signal from a satellite used in a satellite navigation system and obtaining a positioning result in a short time. It is an object of the present invention to provide a recording medium in which an apparatus control program and a terminal apparatus control program are recorded.

  According to the first aspect of the present invention, there is provided a terminal device having positioning means for measuring a current position by receiving a position-related signal from a position information satellite, wherein the terminal device determines a positioning position at the previous positioning. The previous positioning position information storage means for storing the previous positioning position information, the time lapse information storage means for storing the time lapse information indicating the lapse of time since the previous positioning, the previous positioning position information and the time lapse information. Based on estimated moving distance information generating means for generating estimated moving distance information indicating an estimated moving distance, and a positioning basic distance that is a length of a positioning basic code serving as a basic unit of the positioning carried on the position related signal An allowable range information storage means for storing allowable range information indicating an allowable range defined based on: and an estimated moving distance allowable range for determining whether or not the estimated moving distance is within the allowable range Auxiliary information generated based on base station position information indicating the position of the base station and communication range information indicating a range in which the base station can communicate with the outside determination means and a base station that mediates communication Base station distance information indicating a distance between the base station position and the previous positioning position based on the base station position information included in the auxiliary information and the previous positioning position information. Based on the communication range information included in the base station distance information generating means, the base station distance information, and the auxiliary information, estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist An estimated error distance information generating means for generating the estimated error distance and an estimated error distance allowable range inside / outside determining means for determining whether or not the estimated error distance is within the allowable range. If the position-related signal is received from the position information satellite based on the previous positioning position information and the estimated movement distance information, the estimated movement distance is outside the allowable range. When the estimated error distance is determined to be within the allowable range, the position-related signal is received from the position information satellite based on the previous positioning position information and the estimated error distance information. Achieved by the terminal device.

According to the configuration of the first invention, when the terminal device determines that the estimated moving distance is within the allowable range, the terminal device determines the position based on the previous positioning position information and the estimated moving distance information. The position related signal is received from an information satellite.
Further, when it is determined that the estimated moving distance is outside the allowable range and the estimated error distance is within the allowable range, the position is determined based on the previous positioning position information and the estimated error distance information. The position related signal is received from an information satellite.

That is, for the purpose of positioning, the terminal device is approximate position information (hereinafter referred to as initial position information) indicating a rough position of the terminal device. For example, even if the terminal device is a mobile phone, Rather than using position information of a communicable base station, the previous positioning position information is used.
Therefore, even if the true position of the terminal device is close to the previous positioning position and far from the base station position, the Doppler effect of the position related signal can be accurately calculated.

  Further, the terminal device, if any of the estimated moving distance and the estimated error distance is within the allowable range, based on the estimated moving distance or the estimated error distance, the position related signal from the position information satellite. Therefore, the positioning time is short as shown below.

That is, the allowable range is defined based on a positioning basic distance that is a length of a positioning basic code that is a basic unit of the positioning.
A plurality of positioning basic codes are carried on the position related signal received by the terminal device from the position information satellite. Here, the distance between the position information satellite and the terminal device is called a pseudorange.
If the positioning basic distance is, for example, 300 kilometers (km), the pseudo distance can be determined with an accuracy of 300 kilometers (km) by calculating the number of positioning basic codes.
In the positioning, for example, the pseudo distance (hereinafter referred to as the first pseudo distance) in units of 300 kilometers (km) described above is acquired, and further, the pseudo distance (hereinafter referred to as the second pseudo distance) with an accuracy of less than 300 kilometers (km). The position related signal is processed in order to obtain a pseudo distance). The first pseudo distance is, for example, a distance specified by an integer part of a positioning basic code, for example, a C / A (Clear and Acquisition or Coarse and Access) code, as indicated by a first pseudo distance d1 in FIG. As shown in the second pseudo distance d2 of FIG. 7, the second pseudo distance is a distance specified by, for example, a fractional part of a C / A code that is a positioning basic code.

Here, if the above-described first pseudo distance can be estimated on the terminal device side, the terminal device processes the position-related signal in order to obtain only the second pseudo distance. Can be completed. As described above, if the positioning basic distance is, for example, 300 km (km), the range where the true position of the terminal device can exist (hereinafter referred to as an error range) is 300 km (km). If the accuracy is known, the first pseudo distance described above can be estimated on the terminal device side. In this case, it is not necessary to process the position related signal in order to obtain the first pseudo distance.
That is, if the above error range is the positioning basic distance, for example, 300 km (km) or less, the processing of the position related signal is not necessary to obtain the above first pseudo distance, Since the position-related signal only needs to be processed to obtain the second pseudorange, the positioning time of the current position of the terminal device is sufficient.

The allowable range is a range that limits the estimated movement distance and the estimated error distance so that the error range described above is equal to or less than the positioning basic distance.
According to the configuration of the first invention, the determination as to whether or not the above error range is equal to or less than the positioning basic distance is first made depending on whether or not the estimated movement distance is within the allowable range. If the estimated moving distance is within the allowable range, the first pseudo distance can be estimated, and therefore the processing of the position-related signal for obtaining the first pseudo distance is not performed.
Further, according to the configuration of the first invention, when the estimated moving distance is outside the allowable range, it is determined whether the estimated error distance is within the allowable range. If the estimated error distance is within the allowable range, the first pseudo distance can be estimated. Therefore, the position related signal processing for obtaining the first pseudo distance is not performed.

  For this reason, the processing of the position related signal in order to obtain the first pseudo distance is limited to the case where both the estimated moving distance and the estimated error distance are outside the allowable range.

  Thereby, the calculation of the Doppler effect of the signal from the satellite used in the satellite navigation system is performed accurately, and the position related signal is processed to acquire the first pseudo distance only when necessary. Positioning can be completed quickly and positioning results can be acquired in a short time.

  According to a second invention, in the configuration of the first invention, when the estimation error distance allowable range inside / outside determination means determines that the estimated error distance is outside the allowable range, the positioning of the position related signal is performed. Positioning basic code number calculation information for calculating the number of basic codes is acquired.

That is, the terminal device does not immediately process the position-related signal and acquire the positioning basic code number calculation information even if the estimated moving distance is outside the allowable range.
According to the configuration of the second invention, the positioning basic code number calculation information is acquired only when it is determined that the estimated error distance is outside the allowable range.

  According to a third aspect of the present invention, there is provided a terminal device having positioning means for positioning a current position by receiving a position-related signal from a position information satellite, the previous positioning position information indicating the positioning position at the time of the previous positioning, and the An estimated movement distance information generating step for generating estimated movement distance information indicating an estimated movement distance based on time lapse information indicating a time lapse from the previous positioning, and the terminal device is placed on the position related signal. Permissible range information indicating a permissible range defined based on a positioning basic distance that is a length of a positioning basic code serving as a basic unit of the positioning, and based on the estimated travel distance information, the estimated travel distance is the permissible range. An estimated moving distance allowable range inside / outside determining step for determining whether or not the estimated moving distance is within the allowable range, and when the terminal apparatus determines that the estimated moving distance is within the allowable range, A position-related signal receiving step for receiving the position-related signal from the position information satellite based on the information and the previous positioning position information, and the terminal device in the estimated movement distance allowable range inside / outside determination step, If it is determined that the estimated moving distance is outside the allowable range, the terminal device further requests auxiliary information for positioning the current position from the base station that mediates communication. Base station side auxiliary information for generating the auxiliary information based on an information requesting step and the base station based on base station position information indicating the position of the base station and communication range information indicating a range in which the base station can communicate A generating step; a base station side auxiliary information transmitting step in which the base station transmits the auxiliary information to the terminal device; and the terminal device receiving the auxiliary information from the base station. Auxiliary information receiving step, and the base station distance indicating the distance between the base station position and the previous positioning position based on the previous term base station position information included in the auxiliary information and the previous positioning position information. A base station distance information generating step for generating information, and an estimation error in which the terminal device can exist based on the base station distance information and the communication range information included in the auxiliary information An estimated error distance information generating step for generating estimated error distance information indicating a distance; and an estimated error distance allowable range inside / outside determining step in which the terminal apparatus determines whether the estimated error distance is within the allowable range; When the terminal apparatus determines that the estimated error distance is within the allowable range, the position information satellite is based on the estimated error distance information and the previous positioning position information. And a terminal-side positioning step of receiving the position-related signal from the terminal.

  According to the configuration of the third invention, similarly to the configuration of the first invention, it is possible to accurately calculate the Doppler effect of the signal from the satellite used in the satellite navigation system and to obtain the positioning result in a short time. it can.

  According to a fourth aspect of the present invention, there is provided a terminal device having positioning means for positioning a current position by receiving a position-related signal from a position information satellite, the previous positioning position information indicating the positioning position at the time of the previous positioning, and the Based on the time lapse information indicating the time lapse from the previous positioning, an estimated travel distance information generating step for generating estimated travel distance information indicating the estimated travel distance, and the terminal device for the base station that mediates communication Auxiliary information requesting step for requesting auxiliary information for positioning of the current position, and a range in which the base station can communicate with the base station position information indicating the position of the base station from the base station. An auxiliary information receiving step for receiving the auxiliary information generated based on the communication range information indicating, the previous term base station position information included in the auxiliary information, and the previous positioning position information A base station distance information generating step for generating base station distance information indicating a distance between the base station position and the previous positioning position, and the terminal device is included in the base station distance information and the auxiliary information Based on the communication range information, an estimated error distance information generating step for generating estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist; and the terminal device is placed on the position related signal. The estimated moving distance is based on the estimated moving distance information based on the allowable moving range information indicating the allowable range defined based on the positioning basic distance that is the length of the positioning basic code serving as the basic unit of the positioning. An estimated moving distance allowable range inside / outside determining step for determining whether the estimated moving distance is within the allowable range; and when the terminal device determines that the estimated moving distance is within the allowable range A position-related signal receiving step of receiving the position-related signal from the position information satellite based on the estimated movement distance information and the previous positioning position information, wherein the terminal device determines whether or not the estimated movement distance is within an allowable range When the estimated movement distance is determined to be outside the allowable range, the terminal device further determines whether or not the estimated error distance is within the allowable range. When the determination step and the terminal device determine that the estimated error value is within the allowable range in the estimated error distance allowable range inside / outside determination step, the estimated error distance information and the previous positioning position information are And a terminal-side positioning step for receiving the position-related signal from the position information satellite. Achieved.

  According to the fifth aspect of the present invention, the terminal device having positioning means for measuring a current position by receiving a position-related signal from a position information satellite according to the fifth invention is a previous positioning position indicating a positioning position at the previous positioning. An estimated movement distance information generating step for generating estimated movement distance information indicating an estimated movement distance based on information and time lapse information indicating a time lapse from the previous positioning, and a base on which the terminal device mediates communication Auxiliary information requesting step for requesting auxiliary information for positioning of the current position to the station, and the terminal device communicates from the base station, the base station position information indicating the position of the base station, and the base station Auxiliary information receiving step of receiving the auxiliary information generated based on communication range information indicating a possible range, the terminal device, the previous-stage base station location information included in the auxiliary information, Base station distance information generating step for generating base station distance information indicating a distance between the base station position and the previous positioning position based on the round-trip position information, and the terminal device, the base station distance information, Based on the communication range information included in the auxiliary information, an estimated error distance information generating step for generating estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist; and the terminal device includes the position Based on the permissible range information indicating the permissible range defined based on the positioning basic distance that is the length of the positioning basic code serving as the basic unit of the positioning placed on the related signal, and based on the estimated moving distance information, An estimated moving distance allowable range inside / outside determining step for determining whether or not the estimated moving distance is within the allowable range; and the terminal device, wherein the estimated moving distance is within the allowable range A position-related signal receiving step of receiving the position-related signal from the position information satellite based on the estimated movement distance information and the previous positioning position information, and the terminal device includes the estimated movement In the distance allowable range inside / outside determining step, when it is determined that the estimated moving distance is outside the allowable range, the terminal apparatus further determines whether the estimated error distance is within the allowable range. When the estimated error distance allowable range inside / outside determining step and the terminal device determine in the estimated error distance allowable range inside / outside determining step that the estimated error value is within the allowable range, the estimated error distance information and A terminal-side positioning step of receiving the position-related signal from the position information satellite based on the previous positioning position information. Achieved by the device control program.

  According to the sixth aspect of the present invention, the terminal device having positioning means for positioning the current position by receiving a position-related signal from the position information satellite according to the sixth invention is the previous positioning position indicating the positioning position at the previous positioning. An estimated movement distance information generating step for generating estimated movement distance information indicating an estimated movement distance based on information and time lapse information indicating a time lapse from the previous positioning, and a base on which the terminal device mediates communication Auxiliary information requesting step for requesting auxiliary information for positioning of the current position to the station, and the terminal device communicates from the base station, the base station position information indicating the position of the base station, and the base station Auxiliary information receiving step of receiving the auxiliary information generated based on communication range information indicating a possible range, the terminal device, the previous-stage base station location information included in the auxiliary information, Base station distance information generating step for generating base station distance information indicating a distance between the base station position and the previous positioning position based on the round-trip position information, and the terminal device, the base station distance information, Based on the communication range information included in the auxiliary information, an estimated error distance information generating step for generating estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist; and the terminal device includes the position Based on the permissible range information indicating the permissible range defined based on the positioning basic distance that is the length of the positioning basic code serving as the basic unit of the positioning placed on the related signal, and based on the estimated moving distance information, An estimated moving distance allowable range inside / outside determining step for determining whether or not the estimated moving distance is within the allowable range; and the terminal device, wherein the estimated moving distance is within the allowable range A position-related signal receiving step of receiving the position-related signal from the position information satellite based on the estimated movement distance information and the previous positioning position information, and the terminal device includes the estimated movement In the distance allowable range inside / outside determining step, when it is determined that the estimated moving distance is outside the allowable range, the terminal apparatus further determines whether the estimated error distance is within the allowable range. When the estimated error distance allowable range inside / outside determining step and the terminal device determine in the estimated error distance allowable range inside / outside determining step that the estimated error value is within the allowable range, the estimated error distance information and A terminal-side positioning step of receiving the position-related signal from the position information satellite based on the previous positioning position information. This is achieved by a computer-readable recording medium on which a control program for the apparatus is recorded.

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
The embodiments described below are preferred specific examples of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. Unless otherwise stated, the present invention is not limited to these embodiments.

(Embodiment)
FIG. 1 is a schematic diagram showing a terminal and the like according to an embodiment of the present invention.
As shown in FIG. 1, for example, the terminal 40, which is a terminal device, receives, for example, signals S 1, S 2, S 3, S 4 that are position-related signals from GPS satellites 12 a, 12 b, 12 c, 12 d that are position information satellites. For example, the GPS device 50 is provided as positioning means for receiving and positioning the current position. The terminal 40 held by the user is, for example, a mobile phone, a PHS (Personal Handy-phone System), a PDA (Personal Digital Assistance _), or the like, but is not limited thereto.

The terminal 40 can communicate with the base station 20 and can communicate with other terminals via a communication network such as the Internet network (not shown).
Unlike the present embodiment, the number of GPS satellites 12a and the like may be five or more.

(Main hardware configuration of base station 20)
FIG. 2 is a schematic diagram showing the main hardware configuration of the base station 20.
As shown in FIG. 2, the base station 20 has a computer, and the computer has a bus 22.
A CPU (Central Processing Unit) 24 and a storage device 26 are connected to the bus 22. The storage device 26 is, for example, a RAM (Random Access Memory) or a ROM (Read Only Memory).

In addition, a base station communication device 30 for communicating with the terminal 30 in FIG. 1 is connected to the bus 22.
The bus 22 is connected to a base station GPS device 32 for receiving the position-related signal S1 and the like from the GPS satellite 12a and the like in FIG.
Furthermore, an external storage device 34 that is, for example, an HD (Hard Disk), and a base station display device 36 for displaying various information are connected to the bus 22.

(Main software configuration of base station 20)
FIG. 3 is a schematic diagram showing a main software configuration and the like of the base station 20.
As shown in FIG. 3, the base station 20 corresponds to a base station control unit 100 that controls each unit, a base station communication unit 102 corresponding to the base station communication device 30 in FIG. 2, and a base station GPS device 32 in FIG. A base station positioning unit 104 is included.

  The base station 20 also includes a base station first storage unit 106 that stores various programs, a base station second storage unit 120 that stores various types of information in advance, and a base station third unit that stores information acquired by the base station 20. A storage unit 130 is included.

The base station position information 122 stored in the base station second storage unit 120 is an example of base station position information indicating the position of the base station 20. For example, “140 degrees east longitude, 36 degrees north latitude, 200 meters above sea level ( m) ".
The base station cover range information 124 is an example of communication range information indicating a range in which the base station 20 can communicate, and is, for example, information “20,000 meters (m)”.
The satellite orbit information 132 stored in the base station third storage unit 130 is the orbit information of the GPS satellites 12 a and the like in FIG. 1 acquired by the base station positioning unit 104.

  As shown in FIG. 3, an auxiliary information providing program 108 is stored in the base station first storage unit. The auxiliary information providing program 108 is information for the base station control unit 100 to generate auxiliary information for positioning of the terminal 30 based on the base station position information 122 and the base station cover range information 124 described above. That is, the auxiliary information providing program 108 and the base station control unit 100 are an example of base station side auxiliary information generating means for generating auxiliary information.

  As described above, the base station 20 is configured to provide auxiliary information to the terminal 30.

(Main hardware configuration of terminal 40)
FIG. 4 is a schematic diagram showing the main hardware configuration and the like of the terminal 40.
As illustrated in FIG. 4, the terminal 40 includes a computer, and the computer includes a bus 42.

A CPU 44, a storage device 46, and an input device 48 are connected to the bus 42.
The bus 42 has the terminal GPS device 50, a terminal communication device 52 for communicating with the base station 20 in FIG. 1, a terminal display device 54 for displaying various information, and a terminal for measuring time. A clock 56 is connected.

(Main software configuration of terminal 40)
FIG. 5 is a schematic diagram showing a main software configuration and the like of the terminal 40.
As shown in FIG. 5, the terminal 40 includes a terminal control unit 200 that controls each unit, a terminal communication unit 202 corresponding to the terminal communication device 52 in FIG. 4, a terminal positioning unit 204 corresponding to the terminal GPS device 50 in FIG. 4 has a terminal timing unit 206 corresponding to the terminal clock of 4.

  As shown in FIG. 5, the terminal 40 also stores a terminal first storage unit 208 that stores various programs, a terminal second storage unit 230 that stores various types of information in advance, and information that the terminal 40 acquires or generates. A terminal third storage unit 240 is included.

As illustrated in FIG. 5, the terminal third storage unit 240 stores initial position information 242. The initial position information 242 is information used by the terminal positioning unit 204 for positioning, and when the accuracy of the initial position information 242 is low, calculation of the Doppler effect such as the signal S1 from the GPS satellite 12a of FIG. Positioning takes a long time due to problems such as inaccuracy.
The terminal 40 stores information indicating a positioning position at the previous positioning as the initial position information 242. That is, the terminal third storage unit 240 is an example of the previous positioning position information storage unit.

  The terminal third storage unit 240 also stores initial position error information 244. The initial value error information 244 is information indicating a positioning error at the time of the previous positioning, for example, information indicating an error of 10 meters (m).

  The terminal third storage unit 240 also stores time lapse information 246. The time elapsed information 246 is information acquired by the terminal timing unit 206 and is an example of time elapsed information indicating the elapsed time from the previous positioning. That is, the terminal 3rd memory | storage part 240 is also an example of a time passage information storage means.

As illustrated in FIG. 5, the terminal first storage unit 208 stores a first estimated error value information generation program 210. The first estimation error value information generation program 210 uses the terminal controller 200 to estimate the distance that the terminal 40 has moved from the previous positioning position based on the initial position information 242 and the time lapse information 244 described above. This is information for generating error value information 248. The first estimated error value information 248 is an example of estimated movement distance information.
That is, the first estimated error value information generation program 210 and the terminal control unit 200 are an example of estimated movement distance information generation means for generating estimated movement distance information indicating the estimated movement distance.

FIG. 6 is a diagram illustrating the first estimation error value and the like.
For example, if the elapsed time indicated by the elapsed time information 246 is 10 hours (h), the terminal control unit 200 determines that the terminal 40 is, for example, 40 meters per second based on the first estimated error value information generation program 210. The first estimated error value information 248 indicating the first estimated error value Ru is generated on the premise that the first estimated error value Ru is moved (40 m / s).

The terminal 40 generates the first estimated error value information 250 including, for example, 10 meters (m), which is a positioning error at the previous positioning, in addition to the above-described elapsed time. That is, the first estimated error value information 250 indicates 1,440,010 meters (m).
In the present specification, the estimation error value is used as a value that defines a range in which the true position of the terminal 40 can exist. That is, the inside of a circle whose radius is the distance indicated by the estimated error value is a range where the true position of the terminal 40 can exist, and the diameter of the circle is an example of the estimated error distance.

As illustrated in FIG. 5, the terminal second storage unit 230 stores estimated error value threshold information 232. The estimated error value threshold information 232 is generated based on a code (symbol) placed on the signal S1 from the GPS satellite 12a or the like in FIG. Hereinafter, using FIG. 7, a description about the code (code), etc. contained in the signal S1.

FIG. 7 is a schematic diagram showing the signal S1 and the like of FIG.
As shown in FIG. 7, for example, the signal S1 received by the terminal 40 from the GPS satellite 12a is
There is one or more codes that serve as the basic unit for positioning. A code serving as a basic unit of positioning is called a positioning basic code.

As the positioning basic code, various codes can be used. For example, a so-called C / A code can be used.
For example, the positioning basic code has a bit rate of 1.023 Mbps (Mega bit per second), and the positioning basic code cycle, that is, the repetition of the positioning basic code is 1 millisecond (ms) every 1023 bits in bits. ).
Therefore, as shown in FIG. 7, on the line connecting the terminal 40 and the GPS satellite 12a, a positioning basic code having the same pattern is provided every 300 kilometers (km), which is the distance traveled by radio waves in 1 millisecond (ms). It is thought that they are lined up. The distance that radio waves travel in one period of the positioning basic code is called the length of the positioning basic code or the positioning basic distance.
Here, the distance between the terminal 40 and the GPS satellite 12a (hereinafter referred to as the pseudo distance d0) is not necessarily exactly 300 kilometers (km), but has a fractional part of less than 300 kilometers (km). Therefore, the pseudo distance d0 is composed of the first pseudo distance d1 composed of the integer part of the positioning basic code and the second pseudo distance d2 composed of the fractional part (code phase part) of the positioning basic code.

Here, if the first pseudo distance d1 can be estimated from the information held by the terminal 40, the terminal 40 does not need to process the signal S1 in order to obtain the first pseudo distance d1. That is, it is not necessary to perform processing for acquiring an additional code for determining the first pseudo distance d1 of FIG. 7 from the signal S1.
Specifically, if the current position of the terminal 40 is known with an accuracy equal to or less than the above-described positioning basic distance, the above-described first pseudo distance d1 can be estimated on the terminal 40 side. For example, if the positioning basic distance is 300 kilometers (km), the first pseudo distance is obtained if the current position of the terminal 40 is known with an accuracy of 300 kilometers (km) (that is, a radius of 150 kilometers (km)). d1 can be estimated on the terminal 40 side. In this case, it is not necessary to process the position related signal in order to obtain the first pseudo distance. The terminal 40 can acquire only the second pseudo distance d2 and can quickly complete the positioning.

As described above, whether or not the first pseudo distance d1 can be estimated on the terminal 40 side is determined depending on whether or not the current position of the terminal 40 is known with an accuracy equal to or less than the positioning basic distance. That is, the control method for positioning of the terminal 40 can be determined depending on whether or not the accuracy of the current position of the terminal 40 is equal to or less than the above-described positioning basic distance.
For this reason, the estimated error value threshold value indicated in the estimated error value threshold value information 232 stored in the terminal second storage unit 230 of FIG. 5 is determined based on the above-described positioning basic distance (for example, 300 km (km)). It has been. That is, for example, by setting the estimation error value threshold value to 150 kilometers (km), a distance equal to the positioning basic distance having a radius of 150 kilometers (km), that is, a diameter of 300 kilometers (km) is defined as the threshold value.
This estimated error value threshold is an example of an allowable range defined based on the positioning basic distance. The estimated error value threshold information 232 is an example of allowable range information, and the second storage unit 230 is an example of allowable range information storage means.
Note that the estimated error value threshold value is not limited to the defining method of the present embodiment because it may be defined so that the number (integer) of positioning basic codes constituting the first pseudo distance in FIG. 7 can be specified.

As illustrated in FIG. 5, the terminal first storage unit 208 stores a first estimated error value threshold value determination program 212. The first estimated error value threshold value determination program 212 causes the terminal control unit 200 to determine that the first estimated error value indicated in the first estimated error value information 250 is equal to or less than the estimated error value threshold value indicated in the estimated error value threshold information 232. It is information for determining whether or not. That is, the terminal control unit 200 determines whether or not the second estimated error value is within an allowable range, and whether or not the first estimated error value is equal to or less than the estimated error value threshold indicated in the estimated error value threshold information 232. Judgment by.
That is, the first estimated error value threshold determination program 216 and the terminal control unit 200 are an example of an estimated movement distance allowable range inside / outside determination unit that determines whether or not the estimated movement distance is within the allowable range.

  If the terminal positioning unit 204 determines that the first estimated error value is equal to or less than the estimated error value threshold, the terminal control unit 200 determines that the GPS is based on the initial position information 242 and the first estimated error value information 248. A position-related signal S1 or the like is received from the satellite 12a or the like. That is, the terminal positioning unit 204 is also an example of a position related signal receiving unit.

  As described above, when the terminal 40 determines that the first estimated error value is equal to or less than the estimated error value threshold, the terminal 40 is based on the initial position information 242 and the first estimated error value information 250. The position-related signal S1 etc. is received from the etc., and positioning is performed.

When the first estimated error value is equal to or less than the estimated error value threshold, the first pseudo distance d1 in FIG. 7 can be estimated, and thus the terminal 40 uses the signal S1 and the like to calculate the first pseudo distance d1. There is no need to process. Therefore, the terminal 40 can obtain the pseudo distance d0 by processing the signal S1 only for calculating the second pseudo distance d2 in FIG.
Further, as described above, the previous positioning position information is used as approximate position information (hereinafter referred to as initial position information) used in positioning. For example, since the previous positioning position of the terminal 40 is used instead of the position information of the base station 20 in FIG. 1 as the initial position information, the Doppler effect such as the signal S1 can be accurately calculated, and positioning is performed. Can be completed quickly.
Thereby, the calculation of the Doppler effect of the signal from the satellite used for the satellite navigation system can be accurately performed, and the positioning result can be acquired in a short time.

As shown in FIG. 5, the terminal 40 also stores an auxiliary information request program 214 in the terminal first storage unit 208. When the terminal control unit 200 determines that the first estimated error value is larger than the estimated error value threshold, the auxiliary information request program 214 determines the current position for the base station 20 in FIG. This is information for requesting auxiliary information. That is, the auxiliary information request program 214 and the terminal control unit 200 are an example of auxiliary information requesting means.
Thereby, the auxiliary information generated based on the base station position information 122 and the base station cover range information 124 of FIG. 3 can be acquired from the base station 20.

  The terminal control unit 200 uses the base station position information 122 included in the auxiliary information acquired from the base station 20 as the base station position information 250, the base station cover range information 124 as the base station cover range information 252, and the terminal third storage unit Stored in 240.

As shown in FIG. 5, a base station distance information generation program 216 is stored in the terminal first storage unit 208 of the terminal 40. In the base station distance information generation program 216, the terminal control unit 200 is indicated in the position and initial value information 242 of the base station 20 indicated in the base station position information 250 based on the base station position information 250 and the initial position information 242. This is information for generating base station distance information indicating the distance from the previous positioning position. That is, the base station distance information generation program 216 and the terminal control unit 200 are an example of base station distance information generation means.
For example, based on the base station distance information generation program 216, the terminal control unit 200 generates base station distance information 254 indicating the distance dPos between the previous positioning position P1 and the position P2 of the base station 20 in FIG. 3 is stored in the storage unit 240.

As illustrated in FIG. 5, the terminal first storage unit 208 of the terminal 40 stores a second estimated error value information generation program 218. In the second estimated error value information generation program 218, the terminal control unit 200 generates second estimated error value information 256 indicating a range in which the terminal 40 can exist based on the base station distance information 254 and the base station cover range information 252. It is information for generating. That is, the second estimated error value information generation program 218 and the terminal control unit 200 are an example of estimated error distance information generation means.
For example, the terminal control unit 200 is indicated in the base station distance dPos indicated in the base station distance information 254 and the base station cover range information 252 based on the second estimated error value information generation program 218, as shown in FIG. The distance Rb is added together to generate second estimated error value information 256 indicating the second estimated error value Rc.

  Even when the above-described first error value is larger than the estimated error value threshold, for example, the terminal 40 is located near the positioning position at the previous positioning although a long time has elapsed since the previous positioning. There is a case. In this case, since the true position of the terminal 40 may be located within the range of the estimated error value threshold from the positioning position at the previous positioning, the position-related signal S1 or the like is used to obtain the first pseudo distance described above. It may not be necessary to perform this process.

  In this regard, for example, the terminal 40 generates second estimated error value information 256 indicating the second estimated error value Rc. If the second estimated error value Rc is equal to or smaller than the estimated error value threshold, the position related signal S1 and the like are received from the GPS satellite 12a and the like based on the previous positioning position information and the second estimated error value Rc.

  Here, that the terminal 40 can communicate with the base station 20 means that the terminal 40 is located within the communication range of the base station 20. However, when the position of the base station 20 is set as the initial position and the above-described communication range is used as the estimated error range, the Doppler effect such as the signal S1 is generated when the true position of the terminal 40 is shifted from the position of the base station 20 Cannot be accurately calculated, and it takes a long time to complete positioning.

In this regard, the terminal 40 uses the initial position as the positioning position at the time of the previous positioning. However, as long as the terminal 40 can communicate with the base station 20, it is certain that the terminal 40 is located within the communication range of the base station 20.
Therefore, the communication range of the base station 20 is not directly used as the first estimation error value, and the above communication range is set to the distance dPos (see FIG. 6) between the position of the base station 20 and the positioning position at the previous positioning. By adding the indicated distance Rb, second error value information 256 indicating the second estimated error value Rc is generated. Then, a circle range having a radius of the second estimated error value Rc with the positioning position at the previous positioning as the center is set as the estimated error range.
Then, the terminal 40 performs a process of comparing the second estimated error value and the estimated error value threshold information as described below.

That is, as shown in FIG. 5, the terminal 40 stores the second estimated error value threshold value judgment program 220 in the first storage unit 208. The second estimated error value threshold determination program 220 is information for the terminal control unit 200 to determine whether or not the second estimated error value described above is equal to or less than the estimated error value threshold indicated in the estimated error value threshold information 232. It is. That is, the terminal control unit 200 determines whether or not the second estimated error value is within an allowable range based on whether or not the second estimated error value is equal to or less than an estimated error value threshold.
That is, the second estimated error value threshold determination program 220 and the terminal control unit 200 are an example of an estimated error distance allowable range inside / outside determination means for determining whether the estimated error distance is within the allowable range.

When the terminal control unit 200 determines that the second estimated error value is equal to or less than the estimated error value threshold based on the second estimated error value threshold determination program 220, the terminal control unit 200 determines that the terminal positioning unit 204, the position-related signal S1 or the like is received from the GPS satellite 12a or the like based on the previous positioning position information and the second estimated error value information 256 indicated in the initial position information 242.
As described above, if the second estimated error value is within the range of the estimated error value threshold, it is not necessary to process the signal S1 or the like in order to obtain the first pseudo distance, and the above-described first It is possible to complete the positioning by executing the processing such as the signal S1 for obtaining the two pseudoranges.

  For this reason, for example, even if a long time has passed since the previous positioning and the first estimated error value is larger than the estimated error value threshold, if the second estimated error value is less than or equal to the estimated error value threshold, the satellite The calculation of the Doppler effect of the signal from the satellite used for the star navigation system can be accurately performed, and the positioning result can be obtained in a short time.

As shown in FIG. 5, the terminal 40 has an additional code acquisition program 222. When the terminal control unit 200 determines that the second estimation error value is larger than the estimation error value threshold, the additional code acquisition program 222 acquires information for calculating the number of positioning basic codes in FIG. Information. Hereinafter, information for calculating the number of positioning basic codes is referred to as an additional code. The additional code is an example of positioning basic code number calculation information. For example, the additional code is a code indicating the time of the satellite.
Thereby, when both of the first estimated error value and the second estimated error value described above are larger than the estimated error value threshold value shown in the estimated error value information threshold value information 232 of FIG. 5, by acquiring an additional code, The first pseudo distance d1 in FIG. 7 can be generated. In other words, since the additional code is acquired only when both the first estimated error value and the second estimated error value are larger than the estimated error value threshold, the case where time and power are consumed by acquiring the additional code is limited. It can be done.
Even when the additional code cannot be acquired in the weak electric field, the terminal 40 processes the position-related signal S1 if either the first estimated error value or the second estimated error value is equal to or less than the estimated error value threshold. The first pseudo distance can be acquired without any problem.

(About operation example of terminal 40)
The above is the configuration of the positioning system 10 according to the present embodiment. Hereinafter, an example of the operation will be described mainly using FIGS. 8 and 9.
8 and 9 are schematic flowcharts showing an operation example of the terminal 40 and the like according to the present embodiment.

  The terminal 40 held by the user A (see FIG. 1) first sets the previous positioning position indicated by the initial position information 242 in FIG. 5 as the initial position for positioning by the terminal positioning unit 204 (FIG. 8). Step ST1). For this reason, when the current position is close to the previous positioning position, the terminal 40 can accurately calculate the Doppler effect, and as a result, can quickly perform the positioning.

Subsequently, the terminal 40 generates, for example, first estimated error value information 248 indicating the estimated moving distance Ru in FIG. 6 based on the passage of time since the previous positioning (step ST2). Step ST2 is an example of an estimated movement distance information generation step.
Specifically, the terminal control unit 200 in FIG. 5 assumes that the terminal 40 moves at 40 meters (m) per second based on the first estimated error value generation program 210, for example, 10 hours (36,000 seconds). If it has elapsed, first estimated error value information 248 indicating 1,440,000 meters (m) is generated as the estimated moving distance Ru.
At this time, if the positioning error at the time of the previous positioning is 10 meters (m), the first estimated error value generation program 210 adds this positioning error to obtain the estimated moving distance Ru as 1,440,010 meters (m First estimation error value information 248 indicating) is generated.
The terminal control unit 200 stores the generated first estimated error value information 248 in the terminal third storage unit 240 of FIG.

Subsequently, the terminal 40 requests auxiliary information for positioning the current position from the base station 20 of FIG. 1 (step ST3). That is, step ST3 is an example of the auxiliary information requesting step.
Receiving the request for auxiliary information from the terminal, base station 20 generates auxiliary information including base station position information 122 and base station cover range information 124 of FIG. 3 (step ST4). That is, step ST4 is an example of a base station side auxiliary information transmission step.

Subsequently, the base station 20 transmits auxiliary information to the terminal 40 (step ST5), and the terminal 40 receives the auxiliary information from the base station 20 (step ST6). Step ST5 is an example of a base station side auxiliary information transmission step, and step ST6 is an example of an auxiliary information reception step.
The terminal 40 stores the base station position information 250 and the base station cover range information 252 included in the auxiliary information in the terminal third storage unit 240 of FIG.

Subsequently, the terminal 40 calculates the distance between the previous positioning position P1 and the base station position P2 in FIG. 6, and generates base station distance information 254 indicating the distance dPos in FIG. 6 (step ST7). That is, step ST7 is an example of a base station distance information generation step.
The terminal 40 stores the generated base station distance information 254 in the terminal third storage unit 240 of FIG.

Subsequently, terminal 40 generates second estimated error value information 256 indicating distance Rc in FIG. 6 based on base station distance information 254 and base station cover range information 252 (step ST8). That is, step ST8 is an example of an estimated error distance information generation step.
For example, if the base station distance dPos in FIG. 6 is 15,000 meters (m) and the base station cover range Rb is 20,000 meters (m), the terminal 40 has an Rc of 35,000 meters (m ) To generate second estimated error value information 256 indicating that
The terminal 40 stores the generated second estimated error value information 256 in the terminal third storage unit 240.

Subsequently, the terminal 40 determines whether or not the first estimated error value is, for example, 150 km (km) or less, which is the estimated error value threshold indicated in the estimated error value threshold information 232 of FIG. 5 (step ST9). ). That is, step ST9 is an example of an estimated movement distance allowable range inside / outside determination step.
The estimation error value threshold value of 150 kilometers (km) is the length (distance) that the radio wave travels in one period of the positioning basic code such as the location-related signal S1 in FIG. 1 as described above with reference to FIG. For example, it is defined based on 300 kilometers (km).
For example, if the true position of the terminal 40 exists within a circle having a radius of 150 kilometers (km) centered on the previous positioning position, the first pseudo distance in FIG. 7 can be estimated on the terminal 40 side. This is because the range of radius 150 km (km) is, in other words, the range within a circle with a diameter of 300 km (km), and therefore an integer part of 300 km (km) which is the period of the positioning basic code can be specified. It is.
Therefore, the estimation error value threshold only needs to be defined so that the integer value portion of the positioning basic code can be specified, and is not limited to the defining method of the present embodiment.
Since the first estimated error value indicated in the first estimated error value information 248 (see FIG. 5) generated in step ST2 is 1,440,010 meters (m), it is larger than 150 kilometers (km). Therefore, the terminal 40 determines that the first estimated error value is not less than the estimated error value threshold, for example, 150 kilometers (km) or less.

In step ST9, if the terminal 40 determines that the first estimated error value is not less than or equal to the estimated error value threshold, the terminal 40 indicates the first estimated error value information 256 (see FIG. 5) generated in step ST8. 2. It is determined whether or not the estimated error value is equal to or less than the estimated error value threshold (step ST10). That is, step ST10 is an example of an estimated error distance allowable range inside / outside determination step.
Even if the first estimated error value is larger than the estimated error value threshold, the terminal 40 may actually be located in the vicinity of the previous positioning position P1 in FIG. 6, and in such a case, the terminal 40 in FIG. Since the first pseudo distance d1 can be estimated on the terminal 40 side, it is not necessary to process the position related signal S1 in order to obtain the first pseudo distance d1.
In this regard, the terminal 40 is unnecessary even if the first estimated error value is not less than or equal to the estimated error value by determining whether or not the second estimated error value is not less than or equal to the estimated error value. Therefore, it is possible to prevent the position related signal S1 from being processed.
The second estimated error value shown in the second estimated error value information generated in step ST8 is less than 150 km (km) which is the estimated error value threshold because Rc in FIG. 6 is 35,000 meters (m). is there.
Therefore, the terminal 40 determines that the second estimated error value is equal to or less than the estimated error value threshold.

  When the terminal 40 determines that the second estimated error value is equal to or smaller than the estimated error value threshold, the terminal 40 sets the second estimated error value as an estimated error range for positioning by the positioning unit 204 in FIG. 4 (step ST11). Then, positioning is started (step ST12). That is, step ST11 and step ST12 are an example of a terminal side positioning step.

When terminal 40 determines in step ST9 that the first estimated error value is 150 kilometers (km) or less, terminal 40 sets the first estimated error value as an estimated error range (step ST91). Then, positioning is started (step ST12). That is, step ST91 and step ST12 are an example of a position related signal receiving step.
If the terminal 40 determines that the second estimation error value is not less than 150 kilometers in step ST10, the terminal 40 acquires an additional code and performs positioning (step ST101). The additional code is information for determining the number of positioning basic codes (integer) in order to obtain the first pseudo distance d1 of FIG.

(About programs and computer-readable recording media)
An estimated movement distance information generation step, an auxiliary information request step, an auxiliary information reception step, a base station distance information generation step, an estimated error distance information generation step, and an estimated movement distance allowable range inside / outside determination in the above-described operation example It is possible to provide a terminal device control program for executing a step, a position related signal reception step, an estimated error distance allowable range inside / outside determination step, a terminal side positioning step, and the like.
Moreover, it can also be set as the computer-readable recording medium etc. which recorded the control program etc. of such a terminal device.

  A program storage medium used for installing a control program of these terminal devices in a computer and making it executable by the computer is, for example, a flexible disk such as a floppy (registered trademark), a CD-ROM (Compact Disc Read). Semiconductors in which programs are stored temporarily or permanently as well as package media such as only memory (CD), compact disc-recordable (CD-R), compact disc-rewritable (CD-RW), and DVD (digital versatile disc). It can be realized by a memory, a magnetic disk, a magneto-optical disk, or the like.

  The present invention is not limited to the embodiments described above. Furthermore, the above-described embodiments may be combined with each other.

It is the schematic which shows the terminal etc. which concern on embodiment of this invention. It is the schematic which shows the main hardware constitutions of a base station. It is the schematic which shows the main software structures etc. of a base station. It is the schematic which shows the main hardware constitutions etc. of a terminal. It is the schematic which shows the main software structures etc. of a terminal. It is a figure which shows a 1st estimation error value etc. It is the schematic which shows a position related signal etc. It is a schematic flowchart which shows the operation example of the terminal etc. which concern on this Embodiment. It is a schematic flowchart which shows the operation example of the terminal etc. which concern on this Embodiment.

Explanation of symbols

  12a, 12b, 12c, 12d ... GPS satellite, 20 ... base station, 40 ... terminal, 50 ... GPS device, 100 ... base station control unit, 102 ... base station communication unit 104 ... base station positioning unit 108 ... auxiliary information providing program 200 ... terminal control unit 202 ... terminal communication unit 204 ... terminal positioning unit 206 ... terminal timing unit 210 ... 1st estimation error value information generation program, 212 ... 1st estimation error value threshold judgment program, 214 ... Auxiliary information request program, 216 ... Base station distance information generation program, 218 ... Second estimated error value information generation program, 220 ... second estimated error value threshold value judgment program, 222 ... additional code acquisition program, 232 ... estimated error value threshold value information, 242 ... initial position Broadcast, 250 ... base station location information, 252 ... base station coverage information

Claims (6)

A terminal device having positioning means for receiving a position-related signal from a position information satellite and positioning a current position,
The terminal device
Previous positioning position information storage means for storing previous positioning position information indicating a positioning position at the time of the previous positioning;
Time passage information storage means for storing time passage information indicating the passage of time since the previous positioning;
Based on the previous positioning position information and the time lapse information, estimated moving distance information generating means for generating estimated moving distance information indicating an estimated moving distance;
An allowable range information storage means for storing allowable range information indicating an allowable range defined based on a positioning basic distance that is a length of a positioning basic code serving as a basic unit of the positioning placed on the position-related signal;
An estimated moving distance allowable range inside / outside determining means for determining whether or not the estimated moving distance is within the allowable range;
Auxiliary information for requesting auxiliary information generated based on base station position information indicating the position of the base station and communication range information indicating a range in which the base station can communicate with a base station that mediates communication Request means;
Base station distance information generating means for generating base station distance information indicating a distance between the base station position and the previous positioning position based on the base station position information included in the auxiliary information and the previous positioning position information; ,
Estimated error distance information generating means for generating estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist based on the base station distance information and the communication range information included in the auxiliary information; ,
An estimation error distance allowable range inside / outside determination means for determining whether or not the estimated error distance is within the allowable range;
Have
When it is determined that the estimated moving distance is within the allowable range, the position-related signal is received from the position information satellite based on the previous positioning position information and the estimated moving distance information, and the estimated moving distance Is outside the allowable range and the estimated error distance is determined to be within the allowable range, the position-related satellite determines the position-related information based on the previous positioning position information and the estimated error distance information. A terminal device that receives a signal.   When the estimated error distance allowable range inside / outside determining means determines that the estimated error distance is outside the allowable range, a positioning basic code number calculation for calculating the number of positioning basic codes of the position related signal is performed. Information is acquired, The terminal device of Claim 1 characterized by the above-mentioned. A terminal device having positioning means for receiving a position-related signal from a position information satellite and positioning the current position is the previous positioning position information indicating the positioning position at the previous positioning, and the time lapse information indicating the time elapsed since the previous positioning. An estimated travel distance information generating step for generating estimated travel distance information indicating the estimated travel distance,
The terminal device is permissible range information indicating a permissible range defined based on a positioning basic distance that is a length of a positioning basic code serving as a basic unit of the positioning carried on the position related signal, and the estimated movement An estimated moving distance allowable range inside / outside determining step for determining whether the estimated moving distance is within the allowable range based on distance information;
When the terminal apparatus determines that the estimated movement distance is within the allowable range, the terminal apparatus receives the position-related signal from the position information satellite based on the estimated movement distance information and the previous positioning position information. A position-related signal receiving step;
Have
When the terminal apparatus determines that the estimated movement distance is outside the allowable range in the estimated movement distance allowable range inside / outside determination step,
Auxiliary information requesting step for requesting auxiliary information for positioning of the current position to the base station that mediates communication of the terminal device,
The base station side auxiliary information generating step for generating the auxiliary information based on base station position information indicating the position of the base station and communication range information indicating a range in which the base station can communicate,
A base station side auxiliary information transmission step in which the base station transmits the auxiliary information to the terminal device;
An auxiliary information receiving step in which the terminal device receives the auxiliary information from the base station;
The base station generates base station distance information indicating a distance between the base station position and the previous positioning position based on the previous-stage base station position information included in the auxiliary information and the previous positioning position information. A distance information generation step;
Based on the base station distance information and the communication range information included in the auxiliary information, the terminal device generates estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist. A distance information generation step;
The terminal device determines whether the estimated error distance is within the allowable range;
When the terminal apparatus determines that the estimated error distance is within the allowable range, the terminal apparatus receives the position related signal from the position information satellite based on the estimated error distance information and the previous positioning position information. Terminal-side positioning step;
A positioning method characterized by comprising: A terminal device having positioning means for receiving a position-related signal from a position information satellite and positioning the current position is the previous positioning position information indicating the positioning position at the previous positioning, and the time lapse information indicating the time elapsed since the previous positioning. An estimated travel distance information generating step for generating estimated travel distance information indicating the estimated travel distance,
An auxiliary information requesting step for requesting auxiliary information for positioning of the current position to the base station that mediates communication of the terminal device;
Auxiliary information reception in which the terminal device receives, from the base station, the auxiliary information generated based on base station position information indicating the position of the base station and communication range information indicating a range in which the base station can communicate Steps,
The base station generates base station distance information indicating a distance between the base station position and the previous positioning position based on the previous-stage base station position information included in the auxiliary information and the previous positioning position information. A distance information generation step;
Based on the base station distance information and the communication range information included in the auxiliary information, the terminal device generates estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist. A distance information generation step;
The terminal device is permissible range information indicating a permissible range defined based on a positioning basic distance that is a length of a positioning basic code serving as a basic unit of the positioning carried on the position related signal, and the estimated movement An estimated moving distance allowable range inside / outside determining step for determining whether the estimated moving distance is within the allowable range based on distance information;
When the terminal apparatus determines that the estimated movement distance is within the allowable range, the terminal apparatus receives the position-related signal from the position information satellite based on the estimated movement distance information and the previous positioning position information. A position-related signal receiving step;
When the terminal apparatus determines that the estimated movement distance is outside the allowable range in the estimated movement distance allowable range inside / outside determination step,
The terminal device determines whether the estimated error distance is within the allowable range;
When the terminal device determines that the estimated error value is within the allowable range in the estimated error distance allowable range inside / outside determination step, based on the estimated error distance information and the previous positioning position information, A terminal-side positioning step for receiving the position-related signal from a position information satellite;
A control method for a terminal device, comprising: On the computer,
A terminal device having positioning means for receiving a position-related signal from a position information satellite and positioning the current position is the previous positioning position information indicating the positioning position at the previous positioning, and the time lapse information indicating the time elapsed since the previous positioning. An estimated travel distance information generating step for generating estimated travel distance information indicating the estimated travel distance,
An auxiliary information requesting step for requesting auxiliary information for positioning of the current position to the base station that mediates communication of the terminal device;
Auxiliary information reception in which the terminal device receives, from the base station, the auxiliary information generated based on base station position information indicating the position of the base station and communication range information indicating a range in which the base station can communicate Steps,
The base station generates base station distance information indicating a distance between the base station position and the previous positioning position based on the previous-stage base station position information included in the auxiliary information and the previous positioning position information. A distance information generation step;
Based on the base station distance information and the communication range information included in the auxiliary information, the terminal device generates estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist. A distance information generation step;
The terminal device is permissible range information indicating a permissible range defined based on a positioning basic distance that is a length of a positioning basic code serving as a basic unit of the positioning carried on the position related signal, and the estimated movement An estimated moving distance allowable range inside / outside determining step for determining whether the estimated moving distance is within the allowable range based on distance information;
When the terminal apparatus determines that the estimated movement distance is within the allowable range, the terminal apparatus receives the position-related signal from the position information satellite based on the estimated movement distance information and the previous positioning position information. A position-related signal receiving step;
When the terminal device determines that the estimated moving distance is outside the allowable range in the estimated moving distance allowable range inside / outside step,
The terminal device determines whether the estimated error distance is within the allowable range;
When the terminal device determines that the estimated error value is within the allowable range in the estimated error distance allowable range inside / outside determination step, based on the estimated error distance information and the previous positioning position information, A terminal-side positioning step for receiving the position-related signal from a position information satellite;
A control program for a terminal device, characterized in that On the computer,
A terminal device having positioning means for receiving a position-related signal from a position information satellite and positioning the current position is the previous positioning position information indicating the positioning position at the previous positioning, and the time lapse information indicating the time elapsed since the previous positioning. An estimated travel distance information generating step for generating estimated travel distance information indicating the estimated travel distance,
An auxiliary information requesting step for requesting auxiliary information for positioning of the current position to the base station that mediates communication of the terminal device;
Auxiliary information reception in which the terminal device receives, from the base station, the auxiliary information generated based on base station position information indicating the position of the base station and communication range information indicating a range in which the base station can communicate Steps,
The base station generates base station distance information indicating a distance between the base station position and the previous positioning position based on the previous-stage base station position information included in the auxiliary information and the previous positioning position information. A distance information generation step;
Based on the base station distance information and the communication range information included in the auxiliary information, the terminal device generates estimated error distance information indicating an estimated error distance that is a range in which the terminal device can exist. A distance information generation step;
The terminal device is permissible range information indicating a permissible range defined based on a positioning basic distance that is a length of a positioning basic code serving as a basic unit of the positioning carried on the position related signal, and the estimated movement An estimated moving distance allowable range inside / outside determining step for determining whether the estimated moving distance is within the allowable range based on distance information;
When the terminal apparatus determines that the estimated movement distance is within the allowable range, the terminal apparatus receives the position-related signal from the position information satellite based on the estimated movement distance information and the previous positioning position information. A position-related signal receiving step;
When the terminal apparatus determines that the estimated movement distance is outside the allowable range in the estimated movement distance allowable range inside / outside determination step,
The terminal device determines whether the estimated error distance is within the allowable range;
When the terminal device determines that the estimated error value is within the allowable range in the estimated error distance allowable range inside / outside determination step, based on the estimated error distance information and the previous positioning position information, A terminal-side positioning step for receiving the position-related signal from a position information satellite;
A computer-readable recording medium on which a control program for a terminal device is recorded.

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