JP2006090912A - Positioning device, information distributing device, positioning method, and information distributing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning device and method correcting effects from multipath and/or diffraction and allowing positioning with a high degree of accuracy, while maintaining possibility rate of positioning. <P>SOLUTION: On the basis of three-dimensional geometry information on structures around roads and terrains and information on the possible direct view time of positioning satellites in the road section, positioning satellites with possible direct views from the position of the positioning device are specified from information on the current position of the positioning device and the positions of each positioning satellite, and, by determining the positioning positions from the calculation of correction values for the pseudoranges of the direct viewable positioning satellites alone and the pseudoranges by multipath, the effects from multipath and/or diffraction is suppressed without reducing the possibility rate of positioning. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a positioning system, a positioning device, and a positioning method for measuring a position based on a signal transmitted from an artificial satellite.

  In the positioning device, in order to remove the influence of multipath due to buildings, etc., the position and height information of the building is used to check whether there is a building between the positioning device and the positioning satellite. It has been devised to select a positioning satellite having no building between the two and calculate the positioning position using radio waves from the positioning satellite (see, for example, Patent Document 1 and Patent Document 2).

  Moreover, in the positioning device, using the position and height information of the building, create a projected view of the building as viewed from the positioning position (relationship between elevation angle and azimuth) and not on the building as viewed from the positioning position. It has also been devised to remove the influence of multipath by selecting a positioning satellite and calculating a positioning position using radio waves from the positioning satellite (see, for example, Patent Document 2).

  Furthermore, a positioning system in which a server transmits multipath failure information to a terminal via a network has also been devised (see, for example, Patent Document 3). The information is sent to each terminal that performs positioning. If the terminal determines from the information on the multipath failure obtained from the server that the current location is a location where the multipath failure is likely to occur, the terminal increases the error estimation value of the GPS positioning solution and increases the reliability. Select high location information.

JP-A-10-253371 JP 2001-289647 A JP 2002-214321 A

  In the conventional techniques of Patent Document 1 and Patent Document 2, when a direct wave and a reflected wave from a positioning satellite are simultaneously received by a positioning device, the positioning satellite cannot be removed. For this reason, the pseudo distance including the error is used for the positioning calculation, and an error occurs in the positioning position.

  In the prior arts of Patent Document 1 and Patent Document 2, radio waves from a positioning satellite that can receive only reflected waves are removed from the object of the removal positioning calculation, so that the number of pseudo distances used for positioning calculation is reduced, and The number of positioning satellites for determining the distance does not reach four, and there is a high possibility that positioning will not be possible. This is called a reduction in positioning availability.

  And in the prior art of these patent documents 1 and patent documents 2, in order to check whether there is multipath about all the buildings around a positioning position, a big processing load is applied to a positioning device, and a building changes. In this case, the accuracy of the multipath check decreases until the information is updated, and the multipath check is performed using the stored building information without considering the effects of trees that change every season. As a result, the accuracy of the check decreases depending on the season.

  The prior art of Patent Document 3 uses information on the possibility of multipath generation that does not depend on time even though the error due to multipath depends on time, so the accuracy of the estimation error is poor, and this information is also included. However, the accuracy of the selected position becomes worse.

  A first object of the present invention is to reduce the load of calculation processing for removing the influence of multipath in a positioning device. In addition, the second object of the present invention is to improve the accuracy of removing the influence of the multipath and reduce the positioning error due to the multipath without reducing the positioning possibility rate even if the influence of the multipath is removed. .

The first object is to receive a positioning satellite signal that transmits positioning information, detect orbit information of the positioning satellite, and measure a pseudo-range;
Map storage means having road information and information on the time at which a positioning satellite can be directly viewed in each road section;
Based on information on the position of the positioning device and the time when the positioning satellite can be viewed directly on the road section, the positioning satellite that can be viewed directly is identified from the position of the positioning device, and the positioning position is determined using the pseudorange of only the positioning satellite that can be viewed directly. This is achieved by a positioning device comprising a calculation means for calculating.

  Further, the present invention is achieved by an information distribution method characterized by identifying and distributing a positioning satellite that can be directly viewed from each area or positioning device based on the position and shape information of structures and topography, and the position of a positioning satellite. The

The second object is to receive a positioning satellite signal that transmits positioning information from space or the ground, detect orbit information of the positioning satellite, and measure a pseudorange;
Map storage means having information on the position and shape of structures and terrain and information on the direct viewing time of positioning satellites in each road section;
Identify positioning satellites that can be viewed directly from the position of the positioning device based on the position of the positioning device, the position of the positioning satellite, the position and shape information of structures and terrain, or the information on the time when the positioning satellite can be viewed directly on the road section. This is achieved by a positioning device comprising an arithmetic means for calculating a correction position of a pseudorange of only a positioning satellite that can be directly viewed and a pseudorange by a multipath and calculating a positioning position.

  According to the positioning device of the present invention, information on the receivable time of the positioning satellite is held for each section of the road for a period, and the signal from the positioning satellite that cannot be received is determined to be multipath. The path can be determined. Moreover, the calculation load of the positioning device can be reduced by calculating the positioning satellite that can be directly viewed by the information distribution device.

  Then, the reception delay time due to multipath and diffraction is estimated based on the three-dimensional map information, the position of the positioning satellite, and the position of the positioning device, and the error of the pseudorange is estimated based on the correlation value considering the reception delay. By correcting this, errors due to multipath and diffraction can be corrected without lowering the positioning possibility rate. Further, even if the influence of multipath is removed, the positioning possibility rate is not reduced, the accuracy of removing the influence of multipath can be improved, and the positioning error due to multipath can be reduced.

  In the following, an embodiment of a positioning system that uses the present invention to predict multipath and diffraction situation predictions, or to remove multipath obstacles using information of positioning satellites that can be viewed directly will be described.

  FIG. 1 shows a configuration of an embodiment of a positioning apparatus using three-dimensional map information according to the present invention. One embodiment of the present invention includes positioning receiving means 101, computing means 102, and 3D map storage means 103. The positioning receiving means 101 has processing functions for down-conversion, analog / digital conversion, quadrature detection, C / A (Coarse / Acquisition) code generation, correlation detection, and decoding for radio waves received by an antenna. The positioning receiving means 101 receives a signal (positioning signal) transmitted from a positioning satellite 302 by an antenna, detects a navigation message including orbit information, positioning satellite state information, and the like, and detects a pseudorange (from the positioning satellite 302). ). A positioning satellite 302 such as a GPS satellite or a pseudo satellite is a device that transmits a signal for positioning from space or the ground.

  The calculation means 102 realized by a CPU (Central Processing Unit) or the like is a pseudo-range prediction error at the current position based on the structure or terrain shape stored in the three-dimensional map storage means 103. , And the pseudo-range is corrected using the negative prediction error as a correction amount to calculate the positioning position (antenna position).

  The three-dimensional map storage means 103 such as a hard disk or a memory stores map information including information on the position and shape of structures and terrain, and the reflection coefficient of radio waves. The shape of structures and terrain is represented by a set of surfaces.

  The operation procedure of one embodiment of the positioning apparatus of the present invention shown in FIG. 1 will be described with reference to FIG.

  Step 201: The positioning receiving means 101 receives a signal from the positioning satellite 302 with an antenna and performs orbits by performing down-conversion, analog-digital conversion, quadrature detection, C / A code generation, correlation detection, and decoding. The navigation message such as information, the reception time and the pseudo distance are detected, and these pieces of information are sent to the calculation means 102. If the number of positioning signals received is less than four, the process proceeds to step 201. If the number of positioning signals is four or more, the process proceeds to step 202.

  Step 202: The computing means 102 calculates the position of the positioning satellite 302 based on the orbit information and the reception time. When there is no information on the positioning position calculated last time, the process proceeds to step 203. If there is information on the positioning position calculated last time, the process proceeds to step 204.

  Step 203: The computing means 102 selects four positioning satellites 302 that are closer to the zenith, and calculates a positioning position based on these pseudoranges.

  Step 204: The computing means 102 checks the influence of multipath by the following two procedures. First, information on structures and topography within 100 m from the positioning position is read from the three-dimensional map storage means 103, and a shield 303 such as a structure or topography is placed between the positioning satellite 302 and the positioning device 301 as shown in FIG. If there is a shield between them, it is determined that the positioning satellite 302 has received only the reflected wave. Next, with respect to positioning satellites other than the positioning satellite 302 determined to have received only the reflected wave, as shown in FIG. 4, from the positioning position (positioning device 302) with respect to each surface of the surrounding structure and terrain. A line perpendicular to the surface 401 is drawn horizontally, and a point 402 is located at the same distance from the positioning position as the surface. If there is a point 403 that connects the point 402 and the positioning satellite 302 and intersects the surface 401, it is determined that there is a multipath effect (received reflected wave and direct wave), and the point 403 that intersects the surface 401. If no exists, it is determined that there is no multipath effect (only a direct wave is received). If there are four or more positioning satellites that can receive the direct wave, the positioning satellites used for the positioning calculation are set to only those that have received the direct wave, and the process proceeds to step 206. Otherwise, go to step 205.

Step 205: The computing means 102 first calculates a pseudo-range prediction error when a direct wave and a reflected wave are received as follows. FIG. 5 shows a correlation value 503 obtained by superimposing the correlation value 501 of the direct wave and the correlation value 502 of the reflected wave with respect to the delay time. Strictly speaking, the correlation value 501 of the direct wave is a correlation value between the C / A code of the direct wave and the C / A code generated by the positioning receiving means 101, and the correlation value 502 of the reflected wave is the C / A code of the reflected wave. This is a correlation value between the A code and the C / A code generated by the positioning receiving means 101. The unit of the delay time is expressed in chips, and one chip is 0.977 μsec. The time delay of the reflected wave from the direct wave is obtained by dividing the path difference between the direct wave and the reflected wave shown in FIG. 4 by the speed of light, and the intensity ratio of the correlation value of the reflected wave is reflected in the correlation value of the direct wave. Multiply by the reflection coefficient. When the correlation values of the direct wave and the reflected wave calculated in this way are added and the direct wave and the reflected wave overlap, as shown in FIG.
The arrival time from the direct wave is calculated as Tl in the late method (two times when the correlation value becomes a certain value is obtained, and the intermediate time is taken as the arrival time). For this reason, it is predicted that the arrival time is delayed by Tl, and an error of c · Tl · 0.977 / 1,000,000 is generated in the pseudo distance, and the negative error is set as the correction amount of the pseudo distance. Here, c is the speed of light. If the number of positioning satellites is four or more when only the direct wave is received and when both the direct wave and the reflected wave are received, the process proceeds to step 206 assuming that these positioning satellites are used for the positioning calculation. When the direct wave is not included in the received radio wave, only the reflected wave is received. FIG. 6 shows a case where correlation values 601 and 602 of two reflected waves are superimposed. When two reflected waves overlap, the arrival time is calculated as Tl, and the correction amount of the pseudo distance is set to −c · Tl · 0.977 / 1000000 with the prediction error made negative. At this time, four positioning satellites to be used for calculation are selected in order from the positioning satellite having the smallest prediction error.

  Step 206: The computing means 102 corrects the correction amount calculated in step 205 for the positioning satellite having multipath influence by adding it to the pseudorange. The positioning position is calculated based on the corrected pseudorange and the position of the positioning satellite.

  According to one embodiment of the positioning device of the present invention shown in FIG. 1, since the multipath error can be corrected, it is checked whether there is an obstacle between the positioning satellite 302 and the multipath is detected. Compared with the removal method, the positioning accuracy is good and the positioning availability is high. This is because, in multipath removal, simply checking whether there is an obstacle between the positioning satellite 302, the pseudo-range error due to multipath when direct waves and reflected waves are received simultaneously as shown in FIG. Since it cannot be removed, the positioning accuracy is inferior to that of the embodiment of the positioning device of the present invention. In addition, since the positioning satellites that receive only reflected waves are excluded from the positioning position calculation in multipath elimination, the number of positioning satellites that can be used for positioning calculation decreases, and the positioning possibility rate decreases. .

In the embodiment of the positioning apparatus of the present invention shown in FIG. 1, the positioning position calculated last time is maintained even when three positioning satellites 302 are received in Step 201, Step 202 and Step 204 of FIG. In this case, step 201 proceeds to step 202, step 202 proceeds to step 204, step 204 proceeds to step 206 (only direct wave) or step 205 (others). In step 206, the previously calculated positioning position and current positioning position are determined. By assuming that the height of the position is equal, it is possible to calculate the positioning position by reducing one variable required for the positioning calculation.

  In step 205 of FIG. 2, when the influence of the diffracted wave is calculated using the Nile-edge diffraction theory as described below, the accuracy of the correction amount of the pseudo distance is improved and the positioning accuracy is also improved. This calculation will be described with reference to FIG. First, the diffraction parameter ν is calculated using the following equations 1 to 5. Where θ is an angle 304, h1 is a distance between points 309 and 310, da is a distance between points 307 and 310, β is an angle 305, ha is a distance between points 306 and 310, d2 is a distance between points 306 and 307, h is the distance between the points 306 and 308, and λ is the wavelength of the carrier wave (19 cm). Point 308 is a point obtained by dropping a perpendicular from point 306 to a straight line connecting the positioning position and positioning satellite 302.

ｈ＝ｄ２・sinβ …（式４）

h = d2 · sinβ (Formula 4)

Next, the delay time ΔT is calculated using Equation 6 and Equation 7. Here, d1 is the distance between the points 309 and 307.

    d1 = d2 · cosβ (Formula 6)

    ΔT = (d2−d1) / c (Expression 7)

  Then, the attenuation J (dB) is calculated using Equation 8 and Equation 9 (approximate equation of Nile edge diffraction theory).

    J = 0 (λ <−0.75) (Expression 8)

    J = 6 + 8ν (λ ≧ −0.75) (Equation 9)

  In FIGS. 5 and 6, the correlation value of the direct wave is lowered by the attenuation J to obtain the correlation value of the diffracted wave, and after adding together, the arrival time Tl is calculated.

  In step 204 of the operation procedure shown in FIG. 2, the processing can be efficiently executed by changing the range of the structure and terrain information read from the 3D map storage unit 103 according to the capability of the calculation unit 102. In step 203, by selecting the positioning satellite 302 close to the zenith, the initial positioning position becomes less susceptible to multipath. Further, in step 205, assuming that the structure is composed of concrete and obtaining the correlation value using the reflection coefficient of concrete as the reflection coefficient, the reflection coefficient of each structure is stored in the three-dimensional map storage means 103. You do n’t have to. In step 206, if the position of the positioning device is calculated using the Kalman filter, a more accurate position can be obtained. In this calculation, it is necessary to give a speed, but by calculating the speed of the positioning device from the Doppler frequency of each positioning satellite 302, it is possible to calculate a position with high accuracy without an inertial navigation device. When there is an inertial navigation device, the speed information output from the inertial navigation device is used for the calculation.

In the embodiment of the positioning apparatus of the present invention shown in FIG. 1, inertial navigation means 104, input means 105, and display means 106 are added, and the operation procedure shown in FIG. Even if the position becomes less than 4 and positioning calculation cannot be performed by the positioning receiving means 101 and the calculating means 102, the position can be calculated by the inertial navigation means 104.

  Here, the inertial navigation means 104 such as a gyroscope or a vehicle speed pulse outputs a three-dimensional angular velocity and a one-dimensional movement distance. The input means 105 such as a button or a remote control device sends the destination information input by the operator to the calculation means 102. A display means 106 such as a display displays a route to the current location or destination. The route to the destination is searched by the following procedure. The input unit 105 sends the input destination to the calculation unit 102. The calculation means 102 reads the map information from the map storage means, searches for the route from the current position to the destination, and sends the route to the display means 106 together with the map information. The display means 106 displays the route on the map.

  Next, the operation procedure when the inertial navigation means 104 is used together will be described with reference to FIG.

  Step 701: The positioning receiving means 101 receives a signal from the positioning satellite 302, and detects a navigation message such as orbit information and accuracy of pseudorange, reception time and pseudorange.

  Step 702: The calculating means 102 calculates the position by positioning by the operation from step 202 to step 206 shown in FIG.

Step 703: The computing means 102 calculates a positioning position estimation error in the following procedure. However, if the positioning position cannot be calculated, the positioning accuracy is assumed to be none. It is not possible to remove all the errors by correcting the pseudorange using the 3D map information. Therefore, a large error remains compared to the pseudorange obtained for a positioning satellite that receives only direct waves. The error and the direct wave error are added together and squared to calculate the pseudorange variance. A covariance matrix R is obtained based on the variance of these pseudoranges. Here, the error after correction when the direct wave and the reflected wave overlap and when diffraction occurs is 0.5 m, and the error after correction is 3 m when only the reflected wave is present. The data in the navigation message is used for the accuracy of the pseudorange of the direct wave. The position accuracy Eg by positioning is calculated using the following formulas 10 to 13. ajk is an element of j rows and k columns of the matrix A, ei is a pseudo-range error with the positioning satellite 302 with the number i, Ri is the position of the positioning satellite 302 with the number i [Xi Yi
Zi] and Ru are the position [Xu Yu Zu] of the positioning device 301.

  Step 704: The inertial navigation means 104 measures the three-dimensional angular velocity and the one-dimensional movement distance, and sends them to the calculation means 102.

  Step 705: The computing means 102 adds the three-dimensional angular velocity to the previously calculated three-dimensional angle to obtain the current three-dimensional angle, and based on the three-dimensional angular velocity, the previously calculated angle and the one-dimensional movement distance. Then, the three-dimensional movement distance is obtained, the movement distance is added to the previously calculated position of the positioning device 301, and the position of the positioning device 301 is calculated.

  Step 706: The calculation means 102 obtains a three-dimensional movement distance error based on the three-dimensional angular velocity and the one-dimensional movement distance detection error of the inertial navigation means 104, and adds it to the previously obtained position error Eip. Thus, the position accuracy Ei of the inertial navigation is calculated. Specific calculation uses Formula 14 to Formula 15. ξe is a three-dimensional angular velocity detection error, θep is a previously determined three-dimensional angle error, θe is a three-dimensional angular error, D is a one-dimensional movement distance, De is a one-dimensional movement distance detection error is there.

    θe = θep + ξe (Expression 14)

    Ei = Eip + D · sin θe + De (Expression 15)

  Step 707: The calculation means 102 compares the position accuracy by inertial navigation and positioning, selects the position information with better accuracy as the output position, and sends the selected position information to the display means 106. If position information by positioning is selected, the process proceeds to step 708, and if position information for inertial navigation is selected, the process proceeds to step 709.

  Step 708: The calculation means 102 sets the position and position accuracy values obtained by positioning to the position and position accuracy obtained by inertial navigation, and updates each value.

  Step 709: The display means 106 outputs the position of the positioning device 301 sent from the computing means 102.

  By using the inertial navigation means 104 together, an error due to positioning can be calculated with high accuracy, and the better one can be selected by comparing the positional accuracy due to inertial navigation and positioning, and the accuracy of the positioning position is improved. Further, in step 703 shown in FIG. 7, when the direct wave and the reflected wave overlap each other and the error after correction when diffraction occurs, the error after correction when only the reflected wave is set according to the accuracy of the correction information. , The output position selection accuracy is increased.

  FIG. 8 shows a configuration of an embodiment of a positioning apparatus using the present invention, in which positioning satellite reception information is held in the map storage means. In this embodiment, a positioning receiving means 801, a calculating means 802, and a map storage means 803 are provided. The positioning receiving means 801 receives a signal from a positioning satellite with an antenna, and detects a navigation message such as orbit information, a reception time, and a pseudorange. A computing means 802 such as a CPU identifies a positioning satellite that can be directly viewed based on map information including road information and signal reception time information of the positioning satellite stored in the map storage means 803, and calculates a positioning position. .

A map storage means 803 such as a hard disk or memory stores map information including road information and signal reception time information of positioning satellites. The road information is composed of nodes and links, and FIG. 9 shows an example of road information. Nodes 901 (nodes of ID23) to 903 (nodes of ID25) represent intersections and the like, links 904 (links of ID36) to 905 (links of ID37) represent roads by connection between nodes, and shape points 906 (ID1) Shape point) to 908
(Shape point of ID3) and 909 (shape point of ID1) to 911 (shape point of ID3) represent the shape of the road. As shown in FIG. 10, the road information has node information and link information, and the node information is represented by the number of nodes, the node ID (identification), the latitude, longitude, and altitude of each node. The link information includes the number of links (the total number of links in the whole country or on the map), link ID, two node IDs at the link end, the number of shape points representing the link shape, each shape point ID, and its latitude, longitude, Expressed by elevation. As shown in FIG. 11, the positioning satellite signal reception time information includes the number of links, the number of positioning satellites, the positioning satellite, the period of the positioning satellite, the start date, the link ID, the number of sections in each link, section information, and reception. The number of possible times (the number of receivable times, which is one or two depending on the orbit of the satellite) and the receivable time. In these information, the positioning satellite “GPS01” is the number 1 GPS (Global Positioning
System) satellite. The section information represents the section of the described shape point ID or node ID, “N1” represents node 1 and “S5” represents shape point 5. Since the positioning satellite positioning changes periodically, the receivable time is only information for each positioning satellite cycle, and the positioning satellite receivable time from the start date is described in minutes. .

  The operation procedure of one embodiment of the positioning apparatus of the present invention shown in FIG. 8 will be described with reference to FIG.

  Step 1201: The positioning receiving means 801 receives signals from positioning satellites with an antenna and performs orbit information by performing down-conversion, analog-digital conversion, quadrature detection, C / A code generation, correlation detection, and decoding. The navigation message such as the above, the reception time and the pseudo distance are detected, and these pieces of information are sent to the calculation means 802. The satellite number is recognized at the reception stage by receiving the orbit information for each satellite signal. If the number of positioning signals received is less than four, the process proceeds to step 1201. If the number of positioning signals is four or more, the process proceeds to step 1202.

  Step 1202: The computing means 802 calculates the position of the positioning satellite based on the orbit information and the reception time. When there is no information on the positioning position calculated last time, the process proceeds to step 1203. If there is a previously calculated positioning position, the process proceeds to step 1204.

  Step 1203: The computing means 802 selects four positioning satellites closer to the zenith, and calculates initial information of the positioning position based on these pseudoranges.

  Step 1204: The calculation means 802 reads the road information near the positioning position calculated last time from the map storage means 803, and specifies the section of the link ID and shape point ID of the road where the positioning device is located. The receivable time of the positioning satellite in the section of the identified road link ID and shape point ID is read, and the positioning satellite that can be received at the current time is specified. The calculation method is as follows. First, the time T (minute) within the period of the positioning satellite is calculated using Equation 16 based on the time Tt seconds from the start date to the present and the period Tc seconds of the positioning satellites. If this time is included in the receivable time, it is determined that a direct wave has been received, and if it is not included, it is determined to be multipath. Here, the function INT represents the integer part of the value.

    T = (Tt−INT (Tt / Tc) × Tc) / 60 (Expression 16)

For example, if the current date is October 27, 2004 12:10:39,
Tt is 2600239 seconds, Tc is 86016 seconds, and the calculation result is 1222.35 seconds. For example, it is determined that GPS01 receives a direct wave and GPS31 receives a multipath. If there are four or more positioning satellites that have received direct waves, the process proceeds to step 1206, and otherwise, the process returns to step 1201.

  Step 1205: The computing means 802 calculates the positioning position based on the pseudorange of the positioning satellite with only the direct wave and the position of the positioning satellite.

  According to this embodiment, the information on the receivable time of the positioning satellite is held for each section of the road for a period, and the signal from the positioning satellite that cannot be received is determined to be multipath, thereby using the three-dimensional map. The influence of multipath can be removed with a smaller amount of calculation than the multipath removal that has been performed.

  Note that even when the number of positioning satellites received in step 1201, step 1202 and step 1204 in FIG. 12 is the same as the above-described embodiment, the previously calculated positioning position is recorded. Proceed to step 1202, step 1202 to step 1204, step 1204 to step 1205 (only direct wave) or step 201 (others), and step 1205 considers that the previously calculated positioning position and the current positioning position height are equal. Therefore, it is possible to calculate the positioning position by reducing one variable required in the positioning calculation.

  Also in the embodiment of the positioning apparatus of the present invention shown in FIG. 8, the inertial navigation means 104, the input means 105, and the display means 106 are added in the same manner as in the previous embodiment, and step 704 in FIG. The position by inertial navigation can be calculated by the operation procedure of step 705, and the positioning position can be calculated by using the inertial navigation means 104 together.

  In one embodiment of the positioning apparatus of the present invention shown in FIG. 8, the three-dimensional map storage means 103 shown in FIG. 1 is used instead of the map storage means 803, and the road width Wr, direction Dr, and structure where the positioning apparatus exists. The maximum value Hb of the height of the object (the right and left sides of the road) is searched, and it is determined from the map information whether the positioning device is traveling at the intersection, before the T-junction or on the other road. When traveling on a road, it is determined that a positioning satellite whose azimuth angle As and elevation angle Es satisfy Expression 17 is a positioning satellite that can be directly viewed, and when it is not satisfied, it is determined that there is a multipath. This simplifies the calculation of multipath determination and reduces the amount of processing calculation related to multipath checking. Here, as the height Hb of the structure of Expression 17, the maximum value of the structure on the right side of the road is adopted when the inequality Dr <As <Dr + 180 is satisfied, and the information on the left side is adopted when it is not satisfied. FIG. 13 shows an example of the relationship between the azimuth angle and the elevation angle. An area above this relationship 1301 represents an area that can be directly viewed by the positioning satellite when traveling on a road, and satisfies Expression 17.

  When the positioning device is present before the T-junction, it is determined that the positioning satellite is a direct-viewing satellite when the condition of Expression 18 is satisfied simultaneously with the condition of Expression 17. In Formula 18, Wr2 is the width of the road intersecting at the T-junction, Dr2 is the direction of the road, Hb2 is the maximum height of the structure beside the road, and Sr is the distance from the positioning device to the T-junction. . FIG. 14 shows an example of the relationship between the azimuth angle and the elevation angle before the T-junction. 1401 is the condition of the azimuth and elevation angle by the roadside structure represented by Expression 17 and 1402 is the condition of the road structure that intersects at the T-shaped road represented by Expression 18. The region above 1401 and the region above 1402 is located in front of the T-junction and represents a region that can be directly viewed by the positioning satellite.

  When a positioning device is present at an intersection, it is determined that the satellite is a positioning satellite that can be directly viewed if any one of Equations 17 relating to the roads that intersect at the intersection is satisfied. FIG. 15 shows an example of the relationship between the azimuth angle and the elevation angle at the intersection of the crossroads. Reference numerals 1501 and 1502 denote azimuth and elevation conditions for two road structures. An area above 1501 or an area above 1502 represents an area that can be directly viewed by the positioning satellite when it exists at the intersection.

  In the embodiment of the positioning device of the present invention shown in FIG. 8, the information of the positioning satellite receivable time shown in FIG. 11 is replaced with the positioning satellite number, the number of receivable times, and the receivable time information for each section. By storing information on the maximum value of the road width, direction, and structure height (right and left of the road) for each road, and determining whether it is a positioning satellite that can be directly viewed using Equation 17 and Equation 18, It is possible to reduce the amount of processing calculation related to multipath checking.

  In the embodiment of the positioning device of the present invention shown in FIG. 8, the positioning satellite information shown in FIG. 11 is replaced with the positioning satellite number, the number of receivable times, and the receivable time information for each section. Information of road direction Dr and maximum elevation angle (right and left sides of the road) Emax for each section is stored, and the azimuth angle As and elevation angle Es of the positioning satellite satisfy the following equation 19, If it is determined that the positioning satellite can be directly viewed, it is possible to reduce the amount of processing calculation related to the multipath check. FIG. 13 shows an example of the relationship 1302 between the azimuth angle and the elevation angle represented by Expression 19. The region above the relationship 1302 represents a region where the positioning satellite can be directly viewed when traveling on the road, and the region above this satisfies Expression 19.

    Es> | Emax · sin (As−Dr) | (Formula 19)

In addition, in the positioning satellite receivable time information shown in FIG. 11, instead of the positioning satellite number, the number of receivable hours, and the receivable time information for each section, the road direction Dr and the left and right of the road for each section. Information on the maximum elevation angle Emax before and after is stored, and if the positioning satellite azimuth angle As and elevation angle Es satisfy the following equation 20, it is determined that the positioning satellite can be directly viewed, and calculation processing related to multipath check is performed. The amount can be reduced. In Formula 20, when Dr−45 <As <Dr + 45, the maximum elevation angle in front of the road, and when Dr + 45 <As <Dr + 135, the maximum elevation angle on the right side of the road,
The maximum elevation angle behind the road is used when Dr + 135 <As <Dr + 225, and the maximum elevation angle on the left side of the road is used when Dr + 225 <As <Dr + 315.

    Es> Emax (Equation 20)

  FIG. 16 shows a configuration of an embodiment of a positioning system using 3D map information in the server according to the present invention.

  One embodiment of the present invention includes an information distribution device 1610, a communication network 1620, and a positioning device 1630. An information distribution device 1610 such as a computer server includes a communication unit 1611, a calculation unit 1612, a three-dimensional map storage unit 1613, and a satellite orbit storage unit 1614. A communication network 1620 such as a telephone line or the Internet transmits information between the positioning device 1630 and the information distribution device 1610. The communication unit 1611 receives position information transmitted from the positioning device 1630 via the communication network 1620, and transmits information on positioning satellites that can be directly viewed at the position indicated by the position information to the positioning device 1630. Send via.

  The calculation means 1612 such as a CPU calculates a positioning satellite that can be directly viewed from the position of the positioning device 1630 using information on the position and shape of the structure or the terrain. The 3D map storage means 1613 such as a hard disk or memory stores map information including the position and shape of structures, terrain, and road information. The same information as the 3D map storage means 103 of FIG. I remember it. Satellite orbit storage means 1614 such as a hard disk or memory stores orbit information of positioning satellites.

  The positioning device 1630 includes positioning receiving means 1631, computing means 1632, and communication means 1633. The positioning receiving unit 1631 receives a signal transmitted from a positioning satellite, detects a navigation message such as orbit information and a reception time, and measures a pseudo distance. The computing unit 1632 sends the current position to the communication unit 1633. Further, based on the information of the positioning satellites that can be directly viewed sent from the communication means 1633, the positioning position is calculated using the pseudoranges of these positioning satellites. The communication unit 1633 sends the position of the positioning device 1630 sent from the computing unit 1632 to the information distribution device 1610 via the communication network 1620. Further, the information of the positioning satellite that can be directly viewed transmitted from the information distribution apparatus 1610 via the communication network 1620 is received and transmitted to the calculation means 1632.

  The operation procedure of the information distribution apparatus 1610 of one embodiment of the positioning system of the present invention shown in FIG. 16 will be described with reference to FIG.

  Step 1701: The communication means 1611 receives the position of the positioning device 1630 sent from the positioning device 1630 via the communication network 1620, and sends it to the computing means 1612.

  Step 1702: The calculation means 1612 has information on the position and shape of the structure or terrain near the position of the positioning device 1630 stored in the three-dimensional map storage means 1613 and the positioning stored in the satellite orbit storage means 1614. Based on the orbit information of the satellite, it is calculated for each positioning satellite whether there is a structure or terrain between the positioning device 1630 and the positioning satellite, and information on the positioning satellite that can be directly viewed from the positioning device 1630 is communication means. 1611. Whether a positioning satellite is directly viewable is calculated in the same manner as in the first and second embodiments.

  Step 1703: The communication means 1611 sends a positioning satellite that can be directly viewed by the positioning device 1630 to the positioning device 1630 via the communication network 1620.

  The operation procedure of the positioning device 1630 shown in FIG. 16 will be described with reference to FIG.

  Step 1801: The positioning receiving means 1631 receives a signal from a positioning satellite, detects a navigation message such as orbit information and a reception time, measures a pseudo distance, and sends it to the calculating means 1632. The calculating means 1632 calculates the position of the positioning satellite at the reception time based on the orbit information, and calculates the positioning position using the position of these positioning satellites and the pseudorange.

  Step 1802: The calculating means 1632 sends the position of the positioning device 1630 to the communication means 1633. The communication unit 1633 sends the position of the positioning device 1630 to the information distribution device 1610 via the communication network 1620.

  Step 1803: The communication means 1633 receives the information of the positioning satellite that can be directly viewed sent from the information distribution apparatus 1610 via the communication network 1620 and sends it to the calculation means 1632.

  Step 1804: The positioning receiving means 1631 receives a signal from the positioning satellite, calculates a pseudo distance from the positioning satellite, and sends it to the calculating means 1632.

  Step 1805: The computing means 1632 calculates the position of the positioning satellite based on the orbit information, and calculates the positioning position based on the pseudorange of only the positioning satellite that can be directly viewed. Next, the routine proceeds to step 1802.

  In this embodiment, the information distribution device 1610 calculates positioning satellites that can be directly viewed in each area based on the position and shape information of structures and terrain and the orbit information of positioning satellites, and directs those information to the ground. The positioning device 1630 receives positioning satellite information that can be directly viewed in each area, and calculates the position using only the positioning satellite signals that can be directly viewed based on the received information. The influence of the path and diffraction can be removed. As means for sending information from the information distribution device 1610 to the positioning device 1630, there are broadcasting, VICS (road traffic information communication system center), hot spot (information communication by wireless LAN) and the like.

  Also in this embodiment, the information distribution apparatus 1610 calculates the correction amount of the pseudo distance due to multipath and diffraction as shown in Step 204 to Step 205 in FIG. Then, the calculated correction amount is distributed to the positioning device 1630, and the positioning device 1630 corrects the pseudo distance using the correction amount and calculates the positioning position, thereby maintaining the positioning possibility rate and performing multipath and diffraction. The effect can be removed.

Further, in the information distribution device 1610, instead of the three-dimensional map storage unit 1613, a map storage unit 1634 having map information including road information and signal reception time information of the positioning satellites shown in FIGS. 10 and 11 is provided. In the same manner as in the previous embodiment, a positioning satellite that can be directly viewed is specified in step 1204 of FIG. Thereby, since the information of the receivable time of the positioning satellite stored in advance is used, the amount of calculation required for the specification can be reduced.

  Furthermore, even if the time information that can be directly viewed for each area and positioning satellite shown in FIGS. 10 and 11 is distributed from the information distribution apparatus 1610 to the positioning apparatus 1630, the influence of multipath and diffraction can be removed. The positioning satellite positioning changes periodically. For example, the arrangement of GPS satellites changes every 23 hours and 56 minutes. For this reason, the information distribution device 1610 only has to distribute information of a time that can be directly viewed for a period of time for each area and each positioning satellite.

  In the embodiment of the positioning system of the present invention shown in FIG. 16, when the positioning device 1630 obtains information on positioning satellites that can be viewed directly around the position from the information distribution device 1610, the positioning device 1630, the information distribution device 1610, Information on positioning satellites that can be viewed directly even if an information transmission delay occurs during this period, can be removed even if multipath or diffraction occurs.

Further, by adding inertial navigation means 104, input means 105, display means 106, and map storage means 1634 such as a hard disk or memory storing map information to the positioning device 1630, the operation procedure shown in FIG. 7 is performed. The position can be calculated by the inertial navigation means 104 even when the number of positioning satellites received is less than 4 and the positioning receiving means 1631 and the calculating means 1632 cannot perform the positioning calculation. Further, an error due to positioning can be calculated with high accuracy, and the accuracy of the obtained positioning position is improved by comparing the position accuracy by inertial navigation and positioning and selecting better position data. However, in this case, in step 702 of FIG. 7, the position by positioning is calculated by the operation procedure of FIG.

  Conventionally, information on the possibility of multipath occurrence that does not depend on time is sent from a server such as the information distribution device 1610, and if there is a multipath failure, an error estimated value by positioning is increased and highly reliable position information is selected. Was. However, in this method, since the information on the possibility of multipath occurrence does not depend on the position, the accuracy of the estimation error is poor, and the accuracy of the position selected based on this information may not be improved. According to one embodiment of the positioning system of the present invention shown in FIG. 1, since the positioning satellite position information depending on time is used, the influence of multipath and diffraction can be accurately determined.

  Also in this embodiment, when the route to the destination is searched, the predicted position at each time can be calculated in advance. Therefore, the predicted position at each time is sent to the information distribution device 1610, the positioning satellite that can be directly viewed at each time is calculated by the information distribution device 1610, and the information of the positioning satellite that can be directly viewed at each time is obtained from the information distribution device 1610. If received, information transmission between the moving positioning device 1630 and the information distribution device 1610 becomes unnecessary.

  According to the present embodiment, since the positioning satellite 1610 that can be directly viewed is calculated by the information distribution device 1610, the calculation load of the positioning device 1630 can be reduced, and even a computer having a small calculation capability can be handled.

  FIG. 19 shows the configuration of an embodiment of a positioning system using probe information according to the present invention.

In this embodiment, a positioning device 1910, a communication network 1920, and an information distribution device 1930 are provided. A positioning device 1910 such as a GPS receiver or navigation has the same function as the positioning device 1630 shown in FIG. 16, and performs the operation procedure shown in FIG. However, when the position information is transmitted to the information distribution device 1930, the information on the received positioning satellite, reception time and pseudorange is also transmitted to the information distribution device 1930. A communication network 1920 such as a telephone line or the Internet transmits information between the positioning device 1910 and the information distribution device 1930. The information distribution device 1930 includes a communication unit 1931, a calculation unit 1932, a prediction correction information storage unit 1933, a three-dimensional map storage unit 1934, and a satellite orbit storage unit 1935. The communication unit 1931 exchanges information with the positioning device 1910 via the communication network 1920.

  A computing means 1932 such as a CPU calculates a positioning satellite that can be directly viewed at the position of the positioning device 1910 and the reception time. Further, based on the position of the positioning device 1910 and the positioning satellite number at the reception time, the possibility of direct viewing by estimation using the three-dimensional map information, the actual reception information (information on whether or not received), and the pseudo distance information Information on the range of azimuth angle and elevation angle (prediction correction information) that can be directly viewed by estimation using the three-dimensional map information in the section but cannot actually be received is calculated. In addition, it is impossible to receive by estimation using 3D map information in each section, but in reality information on the range of azimuth and elevation that can be received without being affected by multipath or diffraction (prediction correction information) calculate.

  The prediction correction information storage unit 1933, the three-dimensional map storage unit 1934, and the satellite orbit storage unit 1935 are all realized by a hard disk, a memory, or the like. The prediction correction information storage unit 1933 has information on the position of the positioning device 1910, the reception time, the positioning satellite number, the possibility of direct viewing estimated using the three-dimensional map information, the actual reception information, and the pseudo distance. Although it is possible to view directly by estimation using 3D map information in each section, it actually stores information on the range of azimuth and elevation that cannot be received normally (is affected by multipath or diffraction) ing. The range of azimuth and elevation that cannot be received by estimation using 3D map information in each section, but can be normally received (received without being affected by multipath or diffraction). The information is memorized. The three-dimensional map storage means 1934 stores information on the position and shape of structures, topography, and roads. The satellite orbit storage means 1935 stores the orbit information of the positioning satellite.

  The operation procedure of the information distribution apparatus 1930 in the present embodiment will be described with reference to FIG.

  Step 2001: The communication means 1931 receives the information on the position of the positioning device 1910, the reception time, the received positioning satellite, and the pseudorange transmitted from the positioning device 1910 via the communication network 1920 and sends them to the computing means 1932.

  Step 2002: The calculation means 1932 stores the position of the positioning device 1910, the reception time, the received positioning satellite, and the pseudo distance information in the prediction correction information storage means 1933.

  Step 2003: The computing means 1932 has information on the position and shape of the structure or terrain near the position of the positioning device 1910 stored in the three-dimensional map storage means 1934, and positioning stored in the satellite orbit storage means 1935. Based on the orbit information of the satellite, it is calculated for each positioning satellite whether there is a structure or topography between the positioning device 1910 and the positioning satellite.

  Step 2004: The calculation means 1932 reads the prediction correction information at the position of the positioning device 1910 from the prediction correction information storage means 1933, corrects the information of the positioning satellite that can be directly viewed calculated in step 2003, and sends it to the communication means 1931. The correction procedure is as follows. If the azimuth / elevation angle of a positioning satellite that has been determined to be directly viewable can be directly viewed in the prediction, but is actually in a range where it cannot be received normally, it is corrected that the positioning satellite is not directly viewable. In addition, if the azimuth / elevation angle of a positioning satellite that has been determined to be invisible is not directly predictable, but is actually within the normal reception range, the positioning satellite is corrected to be directly viewable. To do.

  Step 2005: The communication means 1931 sends a positioning satellite that can be directly viewed by the positioning device 1910 to the positioning device 1910 via the communication network 1920.

  Next, an operation procedure for generating the prediction correction information of the information distribution apparatus 1930 will be described with reference to FIG.

  Step 2101: The calculation means 1932 includes the position of the positioning device 1910 stored in the prediction correction information storage means 1933, the reception time, the positioning satellite number, the possibility of direct viewing estimated using the three-dimensional map information, the actual reception information, Information is read during a specific period of pseudorange (for example, one day). Based on the position and shape information of the structure and terrain near the position of the positioning device 1910 stored in the three-dimensional map storage means 1934 and the orbit information of the positioning satellite stored in the satellite orbit storage means 1935. Whether there is a structure or terrain between the positioning device 1910 and the positioning satellite (possibility of predictive direct viewing of the positioning satellite) is calculated for each reception time and each positioning satellite.

  Step 2102: The calculation means 1932 calculates the prediction correction information as follows based on the predicted direct viewing possibility of the positioning satellite in a certain section and the actual reception information. FIG. 22 shows an example of the relationship between the predicted direct viewing possibility of the positioning satellite and the actual received information on the azimuth and elevation. A white circle 2201 is a positioning satellite that can be directly viewed by prediction and is actually received, and is a positioning satellite that has a pseudo-range error less than a threshold (for example, 4 m). A black circle 2202 is a positioning satellite that can be directly viewed by prediction and is not actually received, or a positioning satellite that has a pseudo-range error that is greater than or equal to a threshold (for example, 4 m). A white triangle 2203 is a positioning satellite that cannot be directly viewed by prediction and is not actually received, or a positioning satellite that has a pseudo-range error that is greater than or equal to a threshold value (for example, 4 m). A black triangle 2204 is a positioning satellite that is actually received and cannot be directly viewed by prediction, and has a pseudo-range error that is less than a threshold value (for example, 4 m).

Black circles 2202 and black triangles 2204 are information in which the possibility of direct viewing of prediction is different from actual reception information. Therefore, an arbitrary black circle 2202 is selected and surrounded by a rectangular area. When this square area is enlarged in the azimuth direction and a point other than the black circle 2202 is touched, the area up to the black circle 2202 that is farthest within the range is defined as the area. Similarly, when the area is enlarged in the elevation angle direction and a point other than the black circle 2202 is touched, the area up to the farthest black circle 2202 is defined as the area, and when there are a plurality of black circles 2202 in the area, the area obtained above is the black circle 2202. The area is These operations are performed for all black circles 2202. A similar operation is performed for the black triangle 2204. When this operation is performed with respect to FIG. The range 2205 (azimuth angle 60 ° to 90 °, elevation angle 30 ° to 40 °) where the information of the black circles 2202 is concentrated can be directly viewed by estimation using the three-dimensional map information, but cannot be normally received in practice. As a thing, the information of the range of the azimuth angle and the elevation angle is stored in the prediction correction information storage means 1933. Although it is impossible to receive the range 2206 in which the information of the black triangle 2204 is concentrated (azimuth angle 270 ° to 320 °, elevation angle 25 ° to 40 °) using the three-dimensional map information, it is normally normal. Information on the range of the azimuth and elevation is stored in the prediction correction information storage unit 1933 as information that can be received.

  According to the present embodiment, prediction correction information is generated using actual received information, and the information can be used to remove a determination error of a positioning satellite that can be directly viewed due to an error in three-dimensional map information. For this reason, it is possible to deal with the effects of trees that change according to the season, not the extension or reconstruction of structures or 3D map information.

  In the information distribution apparatus 1930, when a satellite that can be directly viewed cannot be received at all times, if the information on the position and shape of the structure is corrected assuming that a new structure is formed in that direction, the three-dimensional map storage means Information of 1934 can be changed to information closer to reality. In this information distribution apparatus 1930, it is determined in step 2102 in FIG. 21 whether the wave is a direct wave or a reflected wave (or diffracted wave) based on the error of the pseudorange. Instead of this processing, a positioning position calculated using the pseudoranges of all positioning satellites received by the positioning device 1910 is received from the positioning device 1910, and based on the error of the positioning position calculated by comparing with the position by inertial navigation. Predictive correction information can also be generated by determining whether a direct wave or a reflected wave (or diffracted wave).

  In the embodiment of the positioning system of the present invention shown in FIG. 19, the prediction correction information storage means 1933, the three-dimensional map storage means 1934, and the satellite orbit storage means 1935 of the information distribution apparatus 1930 are incorporated in the positioning apparatus 1910. When the operation procedure 21 is performed, the prediction correction information can be generated only by the positioning device 1910, and the determination error of the positioning satellite that can be directly viewed due to the error of the three-dimensional map information can be removed.

  In the three-dimensional map storage means 103, 1613 and 1934 of one embodiment of the present invention shown in FIGS. 1, 16 and 19, more accurate information is obtained by adding information on the position and shape of the tree as a shield. The effects of multipath and diffraction can be accurately removed. Tree position and shape information can be generated by extracting a near-infrared region from image information of an artificial satellite.

  By attaching the positioning device to a moving object such as a person, a car or a train, and a delivery item, multipath and diffraction can be removed, and highly accurate positioning can be performed. Also, location management can be performed by collecting each location information.

It is a figure which shows the structure of one Example of the positioning system of this invention. It is a figure which shows operation | movement of one Example of the positioning system of this invention. It is a figure which shows an example of a positional relationship when a positioning satellite cannot be directly seen with a structure from a positioning apparatus. It is a figure which shows an example of the path | route of the reflected wave of a positioning satellite and a positioning apparatus. It is a figure which shows an example of the correlation value of a direct wave, a reflected wave, or a diffracted wave. It is a figure which shows an example of the correlation value of a reflected wave or a diffracted wave. It is a figure which shows operation | movement of one Example of the positioning system of this invention. It is a figure which shows the structure of one Example of the positioning apparatus of this invention. It is a figure which shows an example of the road information which the map memory | storage means of one Example of the positioning apparatus of this invention has memorize | stored. It is a figure which shows an example of the road information which the map memory | storage means of one Example of the positioning apparatus of this invention has memorize | stored. It is a figure which shows an example of the information of the receivable time which the map memory | storage means of one Example of the positioning apparatus of this invention has memorize | stored. It is a figure which shows operation | movement of one Example of the positioning apparatus of this invention. It is a figure which shows an example of the relationship of the azimuth and elevation angle by the structure by the side of a road. It is a figure which shows an example of the relationship between the azimuth angle and elevation angle by the structure in an intersection. It is a figure which shows an example of the relationship between the azimuth angle and elevation angle by the structure in front of a T-shaped road. It is a figure which shows the structure of one Example of the positioning system of this invention. It is a figure which shows operation | movement of the information delivery apparatus of one Example of the positioning system of this invention. It is a figure which shows operation | movement of the positioning apparatus of one Example of the positioning system of this invention. It is a figure which shows the structure of one Example of the positioning system of this invention. It is a figure which shows operation | movement of the information delivery apparatus of one Example of the positioning system of this invention. It is a figure which shows the operation | movement of the production | generation of the prediction correction information of the information delivery apparatus of one Example of the positioning system of this invention. It is a figure which shows the difference of the positioning possibility of a positioning satellite in a certain area, and actual reception information.

Explanation of symbols

101, 801, 1631 ... positioning receiving means, 102, 802, 1612, 1632,
1932: Calculation means 103, 803, 1613, 1934 ... 3D map storage means, 104 ... Inertial navigation means, 105 ... Input means, 106 ... Display means, 301 ... Positioning device, 302 ... Positioning satellite, 303 ... Shield 1610, 1930 ... Information distribution apparatus, 1611, 1633,
1931: Communication means, 1614, 1935 ... Satellite orbit storage means, 1620, 1920 ... Communication network, 1630, 1910 ... Positioning device, 1634 ... Map storage means, 1933 ... Predictive correction information storage means.

Claims (7)

Positioning receiving means for receiving a positioning satellite signal for transmitting positioning information, detecting orbit information of the positioning satellite, and measuring a pseudorange;
Map storage means having road information and information on the time at which a positioning satellite can be directly viewed in each road section;
Based on information on the position of the positioning device and the time when the positioning satellite can be viewed directly on the road section, the positioning satellite that can be viewed directly is identified from the position of the positioning device, and the positioning position is calculated using the pseudorange of the positioning satellite that can be viewed directly And a positioning device. A communication means connected to a positioning device that calculates a position based on a signal for positioning via a communication network, and transmits information of a positioning satellite that can be directly viewed from the position of the positioning device;
3D map storage means having information on the position and shape of structures and terrain;
Satellite orbit storage means having information on positioning satellite orbits;
Although it is possible to view directly with estimation using 3D map information in each section, it is impossible to receive with estimation using azimuth and elevation range information that can not be received normally, estimation using 3D map information, Predictive correction information storage means for storing information on the range of azimuth angle and elevation angle that can actually be received normally;
Generate the information stored in the prediction correction information storage means based on the position, reception time, received positioning satellite, pseudo distance information sent from the positioning device,
Calculate the positioning satellites that can be viewed directly in each area based on the position sent from the positioning device, the reception time and the received positioning satellite information, the position and shape of structures and terrain, and the positioning satellite orbit information, An information distribution apparatus comprising: an arithmetic unit that corrects based on information stored in the prediction correction information storage unit. Receiving the current position of the positioning device, the received positioning signal from the positioning satellite and the information of the reception time from the positioning device via the communication network;
Information on the position and shape of structures and terrain around the current position in each area or section using 3D map information having information on the position and shape of structures and terrain and information on the orbits of positioning satellites, Based on the position of the positioning satellite, identify the positioning satellite that can be directly viewed from the positioning device,
An information distribution method comprising: distributing information relating to the directly-viewable positioning satellite to the positioning device via the communication network. Receiving the current position of the positioning device, the received positioning signal from the positioning satellite and the information of the reception time from the positioning device via the communication network;
Information on the position and shape of structures and terrain around the current position in each area or section using 3D map information having information on the position and shape of structures and terrain and information on the orbits of positioning satellites, Based on the position of the positioning satellite, calculate the correction amount of the pseudorange by multipath,
Distributing the correction amount to the positioning device via the communication network. Send the current position of the positioning device, the received signal for positioning from the positioning satellite and the information of the reception time to the information distribution device via the communication network,
In the information distribution apparatus, the structure and terrain around the current position in each area or each section using the three-dimensional map information having the position and shape information of the structure and terrain and the orbit information of the positioning satellite. Based on the position and shape information and the position of the positioning satellite, identify the positioning satellite that can be viewed directly from the positioning device,
Receiving information about the positioning satellite that can be directly viewed from the information distribution device via the communication network;
A positioning method characterized in that the positioning position is calculated using only the pseudorange of the positioning satellite that can be directly viewed using the information of the positioning satellite that can be directly viewed. Send the information on the current position of the positioning device, the received positioning satellite and the reception time to the information distribution device via the communication network,
In the information distribution apparatus, the structure and terrain around the current position in each area or each section using the three-dimensional map information having the position and shape information of the structure and terrain and the orbit information of the positioning satellite. Based on the position and shape information and the position of the positioning satellite, identify the positioning satellite that can be viewed directly from the positioning device,
Communication means for receiving information on a positioning satellite that can be directly viewed from the information distribution device via the communication network;
A positioning apparatus comprising: positioning receiving means for receiving a signal from a positioning satellite and calculating a position of the positioning apparatus using only the signal of the positioning satellite that can be directly viewed. Send the current position of the positioning device, the received signal for positioning from the positioning satellite and the information of the reception time to the information distribution device via the communication network,
In the information distribution apparatus, the structure and terrain around the current position in each area or each section using the three-dimensional map information having the position and shape information of the structure and terrain and the orbit information of the positioning satellite. Based on the position and shape information and the position of the positioning satellite, calculate the correction amount of the pseudorange by multipath,
Receiving the correction amount from the information distribution apparatus via the communication network;
A positioning method, wherein a positioning position is calculated by correcting a measured pseudo distance using a received correction amount.

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