JP2006208033A - Positioning system, terminal device, control method of terminal device, control program of terminal device and record medium which has recorded the control program of the terminal device computer-readable - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a positioning system and the like capable of measuring the present position if communication with a communication base station is possible and a satellite signal from a positioning satellite can be received. <P>SOLUTION: The communication base station 20 has a communication signal transmission means for transmitting communication signal containing base station position information indicating the position of the communication base station 20 and transmission direction information indicating the transmission direction from the base station 20. The terminal device 40 has a candidate position information producing means for producing candidate position information indicated by a circle which is an assembly of cross points of a sphere surface with a radius of a distance shown in the base station pseudo distance information having the center at the position of the communication base station and a sphere surface with a radius of distance shown in the satellite pseudo distance information having the center at the position of the semi-zenith satellite, and a measured position information producing means and the like specifying one position and producing the measured position information based on the transmission direction information from circumferential position indicated in the candidate position information. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a positioning system using a signal from a communication base station and a signal from a quasi-zenith satellite, a terminal device, a control method for the terminal device, a control program for the terminal device, and a computer-readable recording of the control program for the terminal device. The present invention relates to a recording medium.

Conventionally, a satellite navigation system such as a positioning system that uses GPS (Global Positioning System) to measure the current position of a GPS receiver and a positioning system that uses radio waves from a communication base station of a mobile phone have been put into practical use. ing.
For example, the GPS receiver and the mobile phone receive radio waves from a total of three or more GPS satellites and / or communication base stations, and the time when the radio waves are transmitted from each GPS satellite and the time when they reach the GPS receiver. The distance (hereinafter referred to as a pseudorange) between each GPS satellite or the like and the GPS receiver or the like is obtained by the difference between the two (hereinafter referred to as a delay time). Then, the position calculation of the current position is performed using the position of each GPS satellite and the above-described pseudo distance. By this positioning calculation, for example, a positioning position composed of latitude, longitude, and altitude can be acquired.
However, it is not always possible to receive signals from three or more GPS satellites and / or communication base stations.
On the other hand, a technique has been proposed in which a point closest to the inferred position of the mobile station is selected from the points on the circumference, which are the intersections of two spherical surfaces each having a pseudo distance as a radius centered on two communication base stations. (For example, Patent Document 1).
JP 2002-44711 A (FIG. 3 etc.)

  However, the conventional technology has a problem that positioning cannot be performed when signals cannot be received from two communication base stations.

  Therefore, the present invention provides a positioning system, a terminal device, and a terminal device that can measure the current position if it can communicate with one communication base station and can receive satellite signals from one quasi-zenith satellite. It is an object to provide a control method, a control program for a terminal device, and a computer-readable recording medium on which the control program for the terminal device is recorded.

  According to the first invention, the object is a positioning system having a terminal device that can receive a satellite signal that is a signal from a quasi-zenith satellite, and a communication base station that can communicate with the terminal device. The communication base station has communication signal transmission means for transmitting a communication signal including base station position information indicating a position of the communication base station and transmission direction information indicating a transmission direction from the communication base station, The terminal device includes a communication signal receiving unit that receives the communication signal from the communication base station, a base station information acquisition unit that acquires the base station position information and the transmission direction information from the communication signal, and the communication A base station pseudo distance information generator that generates base station pseudo distance information indicating a distance between the communication base station and the terminal device based on an arrival delay time until the signal reaches the terminal device from the communication base station. And satellite orbit position information generating means for generating satellite orbit position information indicating the position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite, and the satellite signal from the quasi-zenith satellite Satellite pseudo-range information generating means for generating satellite pseudo-range information indicating the distance between the quasi-zenith satellite and the terminal device based on the arrival delay time until reaching the terminal device, and indicated in the base station position information A spherical surface whose radius is the distance indicated in the base station pseudo-range information centered on the position of the communication base station, and the satellite pseudo-range information centered on the position of the quasi-zenith satellite indicated in the satellite orbit position information. Candidate position information generating means for generating candidate position information indicated as a circle that is a set of intersections with a spherical surface having a radius indicated by a distance, and a position on the circumference indicated by the candidate position information Et al, on the basis of the sending direction information to identify the one position, is achieved by a positioning system and having a positioning position information generating means for generating positioning position information.

According to the configuration of the first invention, since the communication base station has the base station information transmitting means, the base station position information and the transmission direction information can be transmitted.
On the other hand, since the terminal device includes the base station information acquisition unit, the base station position information and the transmission direction information can be acquired from the communication base station.
And since the said terminal device has the said base station pseudo distance information production | generation means, it can produce | generate the said base station pseudo distance information.
Since the terminal device has the satellite orbit position information generating means, the satellite orbit position information can be generated based on the satellite signal from the quasi-zenith satellite, and the satellite pseudo distance information generating means. Therefore, the satellite pseudorange information can be generated.
Further, since the terminal device includes the candidate position information generation unit, the terminal device can generate the candidate position information, and since the terminal device includes the positioning position information generation unit, the position on the circumference indicated by the candidate position information. From the transmission direction information, it is possible to identify one position and generate positioning position information.
Thereby, according to the positioning system, if the terminal device can communicate with one communication base station and can receive the satellite signal from one quasi-zenith satellite, the current position is determined. be able to.

In general, it is considered that the positioning accuracy using the signals from the satellites including the quasi-zenith satellite is higher than the positioning accuracy using the communication signals from the communication base station. This means that if the satellite signal is used, positioning with high accuracy can be performed.
In this regard, as described above, according to the positioning system, the terminal device performs positioning using the communication signal from one communication base station and the satellite signal from one quasi-zenith satellite. Therefore, it is possible to perform positioning with higher accuracy than positioning using only the plurality of communication signals.
Here, the quasi-zenith satellite is, for example, an artificial satellite in a system in which at least one of the quasi-zenith satellites is always operated in an orbit with an elevation angle of 70 degrees or more. For this reason, the said terminal device can perform a positioning also in the high-rise building town of an urban area which is a place where it is difficult to receive the electromagnetic wave from the GPS satellite which is a general positioning satellite.
In addition, since the orbit of the quasi-zenith satellite has a high elevation angle, multipath is less likely to occur compared to a GPS satellite or the like. For this reason, the accuracy of positioning by the terminal device using the quasi-zenith satellite is likely to be higher than the accuracy of positioning using the GPS satellite.

  Furthermore, when using the inferred position of the current position as in the conventional example, if the inferred position is incorrect, the positioning result will also be incorrect, but the terminal device does not use the information obtained by inference. Moreover, since the positioning position information is generated based on a reliable basis as described above, the positioning position information with high reliability can be generated.

  According to the second invention, the object is a terminal device capable of receiving a satellite signal which is a signal from a quasi-zenith satellite, and a communication signal receiving means for receiving a communication signal from a communication base station; Base station information acquisition means for acquiring the base station position information indicating the position of the communication base station, transmission direction information indicating the transmission direction of the communication signal, and the communication signal from the communication base station; Base station pseudorange information generating means for generating base station pseudorange information indicating a distance between the communication base station and the terminal device based on an arrival delay time from the terminal to the terminal device, and the quasi-zenith satellite Satellite orbit position information generating means for generating satellite orbit position information indicating the position of the quasi-zenith satellite in the orbit based on the satellite signal from the satellite signal, and the satellite signal reaches the terminal device from the quasi-zenith satellite Satellite pseudo-range information generating means for generating satellite pseudo-range information indicating the distance between the quasi-zenith satellite and the terminal device based on the arrival delay time until the base station, and the communication base station indicated by the base station position information A spherical surface whose radius is the distance indicated by the base station pseudo-range information with the center of the position and a distance indicated by the satellite pseudo-range information centered on the position of the quasi-zenith satellite indicated by the satellite orbit position information. Based on the transmission direction information, from candidate position information generating means for generating candidate position information shown as a circumference that is a set of intersections with the spherical surface, and from the position on the circumference shown in the candidate position information, This is achieved by a terminal device characterized by having positioning position information generating means for specifying one position and generating positioning position information.

According to the second invention, similarly to the configuration of the first invention, the terminal device can communicate with one communication base station and receive the satellite signal from one quasi-zenith satellite. If it is possible, the current position can be measured.
Furthermore, since the terminal device performs positioning using the communication signal from one communication base station and the satellite signal from one quasi-zenith satellite, the terminal device can perform positioning using only the plurality of communication signals. In comparison, positioning with higher accuracy can be performed.

  According to a third aspect of the present invention, in the configuration of the second aspect, the positioning position information generating means is an extension line of the transmission direction indicated by the transmission direction information from a position on the circumference indicated by the candidate position information. The terminal device is configured to generate the positioning position information by specifying one position closest to a certain straight line.

  According to a fourth invention, in the configuration of the second invention, there is provided altitude information storage means for storing altitude information indicating the altitude of the position of the terminal device, wherein the positioning position information generating means is indicated in the candidate position information. The terminal device is configured to identify one position from a position on the circumference based on the transmission direction information and the altitude information.

  According to the configuration of the fourth invention, the positioning position information generating means specifies one position from the position on the circumference indicated by the candidate position information based on the transmission direction information and the altitude information. It has a configuration. That is, not only the transmission direction information but also the altitude information is used to identify one position. For this reason, the reliability of the positioning position information is higher than when one position is specified based only on the transmission direction information.

  According to a fifth aspect of the present invention, in the configuration of the fourth aspect of the invention, the positioning position information generating means includes two intersections of a circumference indicated by the candidate position information and a plane defined by the height indicated by the height information. The terminal device is configured to generate the positioning position information by calculating one of the two intersections based on the transmission direction information and specifying one intersection point.

According to the configuration of the fifth invention, the positioning position information generating means calculates two intersections of the circumference indicated by the candidate position information and the plane defined by the altitude indicated by the altitude information, Based on the transmission direction information, one intersection is specified and the positioning position information is generated.
That is, since the transmission direction information is used to specify one intersection from two intersections, it is sufficient that the transmission direction information has an accuracy enough to identify one intersection from two intersections.
For this reason, even if the accuracy of the transmission direction information is low, it is possible to identify one intersection point from two intersection points and generate the positioning position information as long as the one intersection point is identified from two intersection points. .

  According to the sixth aspect of the present invention, the terminal device capable of receiving a satellite signal, which is a signal from a quasi-zenith satellite, receives base station position information indicating the position of the communication base station from a communication base station, and A communication signal receiving step of receiving a communication signal including transmission direction information indicating a transmission direction; and a base station information acquisition step of acquiring the base station position information and the transmission direction information from the communication signal by the terminal device. And base station pseudo distance information indicating a distance between the communication base station and the terminal device based on an arrival delay time until the communication signal reaches the terminal device from the communication base station. The base station pseudorange information generation step for generating, and the terminal device generates satellite orbit position information indicating the position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite. Star orbit position information generation step, and the terminal device indicates a distance between the quasi-zenith satellite and the terminal device based on an arrival delay time until the satellite signal reaches the terminal device from the quasi-zenith satellite A satellite pseudo-range information generating step for generating satellite pseudo-range information, and the terminal device has a radius indicated by the distance indicated by the base station pseudo-range information centered on the position of the communication base station indicated by the base station location information. Candidate position information indicated as a circle which is a set of intersections of a spherical surface having a radius with a distance indicated by the satellite pseudorange information centered on the position of the quasi-zenith satellite indicated by the satellite orbit position information A candidate position information generating step for generating a position, and the terminal device identifies one position from a position on a circumference indicated by the candidate position information based on the transmission direction information. And it is achieved by a control method of a terminal device, characterized in that it comprises a positioning position information generating step of generating positioning position information.

According to the configuration of the sixth invention, similarly to the configuration of the second invention, the terminal device can communicate with one communication base station, and receives the satellite signal from one quasi-zenith satellite. If it is possible, the current position can be measured.
Furthermore, since the terminal device performs positioning using the communication signal from one communication base station and the satellite signal from one quasi-zenith satellite, the terminal device can perform positioning using only the plurality of communication signals. In comparison, positioning with higher accuracy can be performed.

  According to a seventh aspect of the present invention, there is provided a terminal device capable of receiving a satellite signal, which is a signal from a quasi-zenith satellite, in a computer from the communication base station, indicating the position of the communication base station. A communication signal receiving step of receiving a communication signal including station position information and transmission direction information indicating a transmission direction of the communication signal; and the terminal device receives the base station position information and the transmission direction information from the communication signal. Base station information acquisition step for acquiring the distance between the communication base station and the terminal device based on an arrival delay time until the terminal device reaches the terminal device from the communication base station. Base station pseudorange information generating step for generating base station pseudorange information indicating the position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite A satellite orbit position information generating step for generating satellite orbit position information indicating the quasi-zenith satellite based on the arrival delay time until the satellite signal reaches the terminal apparatus from the quasi-zenith satellite Satellite pseudo-range information generating step for generating satellite pseudo-range information indicating the distance between the base station and the terminal device, and the terminal device is configured to simulate the base station pseudo centering on the position of the communication base station indicated in the base station position information. A set of intersections of a spherical surface having a radius indicated by the distance information and a spherical surface having a radius indicated by the distance indicated by the satellite pseudorange information centered on the position of the quasi-zenith satellite indicated by the satellite orbit position information. A candidate position information generating step for generating candidate position information indicated as a certain circumference, and the terminal device transmits the transmission from a position on the circumference indicated in the candidate position information. Based on the direction information to identify the one position, the positioning position information generating step of generating positioning position information, is accomplished by the control program of the terminal device, characterized in that for the execution.

  According to an eighth aspect of the present invention, there is provided a terminal device capable of receiving a satellite signal, which is a signal from a quasi-zenith satellite, from a communication base station to a computer, A communication signal receiving step of receiving a communication signal including station position information and transmission direction information indicating a transmission direction of the communication signal; and the terminal device receives the base station position information and the transmission direction information from the communication signal. Base station information acquisition step for acquiring the distance between the communication base station and the terminal device based on an arrival delay time until the terminal device reaches the terminal device from the communication base station. Base station pseudorange information generating step for generating base station pseudorange information indicating the position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite A satellite orbit position information generating step for generating satellite orbit position information indicating the quasi-zenith satellite based on the arrival delay time until the satellite signal reaches the terminal apparatus from the quasi-zenith satellite Satellite pseudo-range information generating step for generating satellite pseudo-range information indicating the distance between the base station and the terminal device, and the terminal device is configured to simulate the base station pseudo centering on the position of the communication base station indicated in the base station position information. A set of intersections of a spherical surface having a radius indicated by the distance information and a spherical surface having a radius indicated by the distance indicated by the satellite pseudorange information centered on the position of the quasi-zenith satellite indicated by the satellite orbit position information. A candidate position information generating step for generating candidate position information indicated as a certain circumference, and the terminal device transmits the transmission from a position on the circumference indicated in the candidate position information. A positioning position information generating step for identifying one position based on the direction information and generating positioning position information, and executing the positioning position information by a computer-readable recording medium storing a terminal device control program Is done.

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.

FIG. 1 is a schematic diagram showing a positioning system 10 and the like according to an embodiment of the present invention.
As shown in FIG. 1, the positioning system 10 includes a terminal 40. The terminal 40 includes a satellite signal receiving device 52 and can receive a signal S that is an example of a satellite signal that is a signal from the quasi-zenith satellite 12, for example, a quasi-zenith satellite. This terminal 40 is an example of a terminal device.

  The quasi-zenith satellite 12 has at least one of a plurality of quasi-zenith satellites 12 (only one quasi-zenith satellite 12 is shown in FIG. 1) having a high elevation angle in Japan. For example, the elevation angle is 70 degrees or more. It is an artificial satellite in a system operated in orbit. Specifically, the quasi-zenith satellite 12 is a satellite system that places, for example, a circular orbit at an altitude of 36,000 kilometers (km) in an orbit inclined about 45 degrees from the equator, and synchronizes at least three quasi-zenith satellites 12. Thus, one quasi-zenith satellite 12 always stays near the zenith in Japan.

The terminal 40 also has a communication device 54 and can communicate with the radio base station 20. The radio base station 20 (hereinafter referred to as the base station 20) can transmit a communication signal CS to the terminal 40. This base station 20 is an example of a communication base station.
The terminal 40 can communicate with other terminal devices and the like via the base station 20 and a communication network such as the Internet network (not shown).
As will be described later, in the positioning system 10, the terminal 40 can perform positioning based on the communication signal CS from the base station 20 and the signal S from the quasi-zenith satellite 12.

The terminal 40 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.
Although there are a plurality of base stations 20 and terminals 40, description and illustration are omitted in the present embodiment.

(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.
The bus 22 is connected to a CPU (Central Processing Unit) 24, a storage device 26, an external storage device 28, and the like. The storage device 26 is, for example, a RAM (Random Access Memory) or a ROM (Read Only Memory). The external storage device 28 is, for example, an HD (Hard Disk).
In addition, time synchronization is not taken between the plurality of base stations 20. That is, the positioning system 10 is applied in an asynchronous system between communication base stations.

  Also connected to the bus 22 are an input device 30 for inputting various information, a power supply device 32 as a power supply device, a base station side communication device 34, and a display device 36 for displaying various information. ing.

(Main hardware configuration of terminal 40)
FIG. 3 is a schematic diagram showing the main hardware configuration of the terminal 40.
As illustrated in FIG. 3, the terminal 40 includes a computer, and the computer includes a bus 42.
A CPU 44, a storage device 46, an input device 48, a battery 50, a satellite signal receiving device 52, a communication device 54 and a display device 56 are connected to the bus 42.

(Main software configuration of base station 20)
FIG. 4 is a schematic diagram showing a main software configuration of the base station 20.
As shown in FIG. 4, the base station 20 includes a base station control unit 100 that controls each unit, a base station communication unit 102 corresponding to the base station side communication device 34 in FIG. 2, and a base station first memory that stores various programs. Unit 110 and base station second storage unit 150 for storing various types of information.
As shown in FIG. 4, the base station 20 stores base station identification information 152 in the base station second storage unit 150. The base station identification information 152 is, for example, a 4-digit number that is information for identifying the base station 20 from other communication base stations.

  The base station 20 also stores base station position information 154 in the base station second storage unit 150. The base station position information 154 is coordinates indicating the position of the base station 20, for example, information indicating latitude, longitude, and altitude with three-dimensional coordinates P1. The base station position information 154 is an example of base station position information.

The base station 20 also stores signal transmission direction information 156 in the second storage unit 150. The signal transmission direction information 156 is information indicating the transmission direction of the communication signal CS, for example, information indicating a unit vector D (a, b, c). The signal transmission direction information 156 is an example of transmission direction information.
As shown in FIG. 4, the base station 20 stores a base station information transmission program 112 in the base station first storage unit 110. The base station information transmission program 112 is a program for the base station control unit 100 to transmit a communication signal CS including base station identification information 152, base station position information 154, and signal transmission direction information 156. That is, the base station information transmission program 112 and the base station control unit 100 are examples of communication signal transmission means.
Specifically, the base station control unit 100 transmits the communication signal CS including the base station identification information 152, the base station position information 154, and the signal transmission direction information 156 on the communication radio wave to the communicating terminal 40. To do.

(Main software configuration of terminal 40)
FIG. 5 is a schematic diagram showing a main software configuration of the terminal 40.
As shown in FIG. 5, the terminal 40 stores a control unit 200 for controlling each unit, a GPS unit 202 corresponding to the satellite signal receiving device 52 in FIG. 3, a communication unit 204 corresponding to the communication device 54 in FIG. 3, and various programs. A first storage unit 210 that stores information and a second storage unit 250 that stores various types of information.

  As illustrated in FIG. 5, the terminal 40 stores user identification information 252 in the second storage unit 250. The user identification information 252 is information for identifying the terminal 40 from other terminal devices.

  As shown in FIG. 5, the terminal 40 stores positioning calculation auxiliary information 254 in the second storage unit 250. The positioning calculation auxiliary information 254 includes an almanac 254a that is rough orbit information of all the quasi-zenith satellites 12, and an ephemeris 254b that is precise orbit information of each of the quasi-zenith satellites 12 and the like.

  As illustrated in FIG. 5, the terminal 40 stores a base station signal reception program 212 in the first storage unit 210. The base station signal reception program 212 is a program for the control unit 200 to receive the communication signal CS from the base station 20 by the communication unit 204. That is, the base station signal reception program 212 and the control unit 200 are examples of communication signal reception means.

As illustrated in FIG. 5, the terminal 40 stores a base station information acquisition program 214 in the first storage unit 210. In the base station information acquisition program 214, the control unit 200 extracts the base station position information 154 and the signal transmission direction information 156 from the communication signal CS, and acquires the terminal side base station position information 256 and the terminal side signal transmission direction information 258. It is a program to do. That is, the base station information acquisition program 214 and the control unit 200 are examples of base station information acquisition means.
Specifically, the control unit 200 extracts the base station position information 154 and the signal transmission direction information 156 from the communication signal CS, uses the base station position information 154 as the terminal-side base station position information 256, and the signal transmission direction information 156. Is stored in the second storage unit 250 as terminal-side signal transmission direction information 258.

As illustrated in FIG. 5, the terminal 40 stores a base station signal arrival delay time information generation program 216 in the first storage unit 210. The base station signal arrival delay time information generation program 216 is configured such that the communication signal CS is transmitted from the base station 20 based on the transmission time of the communication signal CS from the base station 20 and the time when the terminal 40 receives the communication signal CS. Is a program for generating base station signal arrival delay time information 260 indicating a time td1 (hereinafter referred to as a base station signal arrival delay time td1) from when the terminal reaches the terminal 40.
Information indicating the transmission time of the communication signal CS from the base station 20 is included in the communication signal CS. The time at which the terminal 40 receives the communication signal CS is measured by a clock (not shown) in the terminal 40.

As illustrated in FIG. 5, the terminal 40 stores a base station pseudo distance information generation program 218 in the first storage unit 210. The base station pseudo-range information generation program 218 has a base 200 in which the control unit 200 indicates a distance R1 between the base station 20 and the terminal 40 (hereinafter referred to as a base station pseudo-range R1) based on the base station signal arrival delay time td1. This is a program for generating station pseudorange information 262. The base station pseudo distance information 262 is an example of base station pseudo distance information, and the base station pseudo distance information generation program 218 and the control unit 200 are examples of base station pseudo distance information generation means.
Specifically, the control unit 200 calculates the base station pseudo distance R1 by multiplying the base station signal arrival delay time td1 by the speed of light V that is the speed of the communication radio wave on which the communication signal CS is carried.
The control unit 200 stores the generated base station pseudo distance information 262 in the second storage unit 250.

  As illustrated in FIG. 5, the terminal 40 stores a satellite signal reception program 220 in the first storage unit 210. The satellite signal reception program 220 is a program for the terminal 40 to receive the signal S from the quasi-zenith satellite 12.

As illustrated in FIG. 5, the terminal 40 stores a satellite orbit position information generation program 222 in the first storage unit 210. The satellite orbit position information generation program 222 is a program for the control unit 200 to generate satellite orbit position information 264 indicating the position of the quasi-zenith satellite 12 on the satellite orbit based on the signal S. That is, the satellite orbit position information generation program 222 and the control unit 200 are examples of satellite orbit position information generation means.
Specifically, the control unit 200 calculates the position P2 of the quasi-zenith satellite 12 on the satellite orbit based on the transmission time information of the signal S1 carried on the signal S1 and the ephemeris 254b of the positioning calculation auxiliary information 254. To do.
The control unit 200 stores the generated satellite orbit position information 264 in the second storage unit 250.

As illustrated in FIG. 5, the terminal 40 stores a satellite signal delay time information generation program 224 in the first storage unit 210. The satellite signal delay time information generation program 224 is configured such that the signal S1 is generated from the quasi-zenith satellite 12 based on the time when the control unit 200 transmits the signal S from the quasi-zenith satellite 12 and the time when the terminal 40 receives the signal S. Is a program for generating satellite signal arrival delay time information 264 indicating a time td2 (hereinafter referred to as satellite signal arrival delay time td2) from when the terminal reaches the terminal 40.
Information indicating the time when the quasi-zenith satellite 12 transmits the signal S is included in the signal S. The time when the terminal 40 receives the signal S is measured by a clock (not shown) in the terminal 40.
The control unit 200 stores the generated satellite signal arrival delay time information 264 in the second storage unit 250.

As illustrated in FIG. 5, the terminal 40 stores a satellite pseudorange information generation program 226 in the first storage unit 210. In the satellite pseudorange information generation program 226, the control unit 200 indicates a satellite pseudorange indicating a distance R2 between the quasi-zenith satellite 12 and the terminal 40 (hereinafter referred to as a satellite pseudorange R2) based on the satellite signal arrival delay time td2. This is a program for generating information 268. The satellite pseudorange information 268 is an example of satellite pseudorange information, and the satellite pseudorange information generation program 226 and the control unit 200 are examples of satellite pseudorange information generation means.
Specifically, the control unit 200 calculates the satellite pseudorange R2 by multiplying the satellite signal arrival delay time td2 by the speed of light V that is the speed of the radio wave on which the signal S is carried.
The control unit 200 stores the generated satellite pseudorange information 268 in the second storage unit 250.

As illustrated in FIG. 5, the terminal 40 stores a candidate position information generation program 228 in the first storage unit 210. In the candidate position information generation program 228, as shown in FIG. 1, the control unit 200 determines a spherical surface G1 having a base station pseudorange R1 as a radius around the position P1 of the base station 20 and a position P2 of the quasi-zenith satellite 12. This is a program for generating candidate position information 270 indicated as a circumference C which is a set of intersections with a spherical surface G2 having a radius of the satellite pseudorange R2 as a center. That is, the candidate position information generation program 228 and the control unit 200 are examples of candidate position information generation means.
The current position of the terminal 40 is any position on the circumference C.
The control unit 200 stores the generated candidate position information 270 in the second storage unit 250.

As illustrated in FIG. 5, the terminal 40 stores a positioning position information generation program 230 in the first storage unit 210. In the positioning position information generation program 230, the control unit 200 performs positioning based on the unit vector D indicated in the terminal-side transmission direction information 258 from the position on the circumference C indicated in the candidate position information 270 (see FIG. 1). This is a program for generating position information 272. That is, the positioning position information generation program 230 and the control unit 200 are examples of positioning position information generation means.
Specifically, the control unit 200 determines, from the position on the circumference C (see FIG. 1), the position Q (hereinafter, the shortest position) closest to the straight line L that is an extension line of the unit vector D, as shown in FIG. Q).
The control unit 200 stores the generated positioning position information 272 in the second storage unit 250.

  As illustrated in FIG. 5, the terminal 40 stores a positioning position information output program 232 in the first storage unit 210. The positioning position information output program 232 is a program for the control unit 200 to output the positioning position information 272 and display it on the display device 56 (see FIG. 3), for example.

The positioning system 10 is configured as described above.
As described above, the base station 20 can transmit the communication signal CS including the base station position information 154 and the signal transmission direction information 156 to the terminal 40.
On the other hand, the terminal 40 can receive the communication signal CS from the base station 20 and acquire the base station position information 154 and the signal transmission direction information 156.
Then, the terminal 40 can generate the base station pseudo distance information 262.
Further, the terminal 40 can generate the satellite orbit position information 264 and the satellite pseudorange information 268.
Furthermore, the terminal 40 can generate the candidate position information 270, and specifies one position from the position on the circumference C indicated by the candidate position information 270 based on the terminal-side signal transmission direction information 258. The positioning position information 272 can be generated.
Thereby, according to the positioning system 10, if the terminal 40 can communicate with one base station 20 and can receive the signal S from one quasi-zenith satellite 12, the current position can be measured. .

In general, the positioning accuracy using the signals from the satellites including the quasi-zenith satellite 12 is higher than the positioning accuracy using the communication signal CS from the base station 20 or the like. This means that if the signal S from the quasi-zenith satellite 12 or the like is used, highly accurate positioning can be performed.
In this regard, as described above, since the terminal 40 performs positioning using the communication signal CS from one base station 20 and the signal S from one quasi-zenith satellite 12, only a plurality of communication signals CS are used. Compared with positioning by, positioning with higher accuracy can be performed.
As described above, since the quasi-zenith satellite 12 is an artificial satellite in a system in which at least one quasi-zenith satellite 12 is always operated in an orbit in which the elevation angle is 70 degrees or more, the terminal 40 is a general positioning device. Positioning can also be performed in high-rise buildings in urban areas where it is difficult to receive radio waves from GPS satellites.
In addition, since the orbit of the quasi-zenith satellite 12 has a high elevation angle, multipath is less likely to occur compared to a GPS satellite or the like. For this reason, there is a high possibility that the positioning accuracy of the terminal 40 using the quasi-zenith satellite is higher than the positioning accuracy using the GPS satellite.

  Furthermore, when the inferred position of the current position is used as in the conventional example, if the inferred position is incorrect, the positioning result is also incorrect, but the terminal 40 does not use the information obtained by the inference. As described above, since the positioning position information 272 is generated based on a reliable basis, the positioning position information 272 with high reliability can be generated.

The above is the configuration of the positioning system 10 according to the present embodiment. Hereinafter, an example of the operation will be mainly described with reference to FIG.
FIG. 6 is a schematic flowchart showing an operation example of the positioning system 10.

First, the terminal 40 receives the signal CS from the base station 20 (step ST1 in FIG. 6). This step ST1 is an example of a communication signal receiving step.
Subsequently, the terminal 40 acquires terminal-side base station position information 256 and terminal-side signal transmission direction information 258 (see FIG. 4) from the communication signal CS (step ST2). This step ST2 is an example of a base station information acquisition step.

Subsequently, the terminal 40 generates base station signal arrival delay time information 260 (see FIG. 5) (step ST3).
Subsequently, the terminal 40 generates base station pseudo distance information 262 (step ST4). This step ST4 is an example of a base station pseudo distance information generating step.

Subsequently, the terminal 40 receives the signal S (see FIG. 1) from the quasi-zenith satellite 12 (step ST5).
Subsequently, the terminal 40 generates satellite orbit position information 264 (see FIG. 5) (step ST6). This step ST6 is an example of a satellite orbit position information generation step.

Subsequently, the terminal 40 generates satellite signal arrival delay time information 266 (see FIG. 5) (step ST7).
Subsequently, the terminal 40 generates satellite pseudorange information 268 (see FIG. 5) (step ST8). This step ST8 is an example of a satellite pseudorange information generation step.

  Subsequently, the terminal 40 generates candidate position information 270 (see FIG. 5) based on the terminal-side base station position information 256, base station pseudorange information 262, satellite orbit position information 264, and satellite pseudorange information 268 (see FIG. 5). Step ST9). This step ST9 is an example of a candidate position information generation step.

Subsequently, the terminal 40 identifies one position from a plurality of positions indicated in the candidate position information 270 based on the terminal-side signal transmission direction information 258, and generates positioning position information 272 (see FIG. 5) ( Step ST10). This step ST10 is an example of a positioning position information generation step.
Subsequently, the terminal 40 outputs the positioning position information 272 and displays it on the display device 56 (see FIG. 3), for example (step ST11).

As described above, if the terminal 40 can communicate with one base station 20 and can receive the signal S from one quasi-zenith satellite 12, the current position can be determined.
Furthermore, since the terminal 40 performs positioning using the communication signal CS from one base station 20 and the signal S from one quasi-zenith satellite 12, compared to positioning using only a plurality of communication signals CS, Positioning with high accuracy can be performed.

(Second Embodiment)
Next, a positioning system 10A (see FIG. 1) according to the second embodiment will be described. Since the configuration of the positioning system 10A of the second embodiment has many configurations in common with the positioning system 10 of the first embodiment, common portions are denoted by the same reference numerals, and the description thereof is omitted. The difference will be mainly described.
The terminal 40A in the positioning system 10A of the second embodiment generates positioning position information 272 using information indicating the altitude of the position of the terminal 40A.

FIG. 7 is a schematic diagram showing a main software configuration of the terminal 40A.
FIG. 8 is a diagram illustrating an example of a method for generating the positioning position information 272.
As illustrated in FIG. 7, the terminal 40A stores a base station information acquisition program 214A in the first storage unit 210. In the base station information acquisition program 214A, the control unit 200 acquires the terminal-side base station position information 256 and the terminal-side signal transmission direction information 258 from the base station signal CS, and the base station indicated by the terminal-side base station position information 256 This is a program for extracting the altitude component z1 at 20 positions P1 as terminal altitude information 274.
The control unit 200 stores the extracted terminal height information 274 in the second storage unit 250. Since the terminal 40A is communicating with the base station 20 and is located within the communication range of the base station 20, the terminal 40A uses the altitude of the base station 20 as terminal altitude information 274 indicating the altitude of its own position.
The terminal altitude information 274 is an example of altitude information, and the second storage unit 250 is an example of altitude information storage means.

As illustrated in FIG. 7, the terminal 40A stores a positioning position information generation program 230A in the first storage unit 210. As shown in FIG. 8, the positioning position information generation program 230 </ b> A is controlled based on the terminal altitude information 274 and the terminal-side signal transmission direction information 258 from the position on the circumference C indicated by the candidate position information 270. , A program for specifying one position.
Specifically, as shown in FIG. 8, the control unit 200 firstly has a position that is an intersection of the circumference C and an altitude plane H that is a set of positions at which the altitude indicated by the terminal altitude information 274 is z1. Q1 and Q2 are calculated. The circumference C is a set of intersections of the spherical surface G1 and the spherical surface G2 (see FIG. 1).

Since the terminal 40A is located on the circumference C and on the altitude plane H whose altitude is z1, the terminal 40A is located at one of the two intersections of the circumference C and the altitude plane H. That is, the position of the terminal 40A is either the position Q1 or Q2.
Next, the control unit 200 identifies one position Q2 as the position of the terminal 40 based on the terminal-side signal transmission direction information 258. Specifically, the position Q2 having a shorter distance from the straight line L that is an extension line in the direction indicated by the unit vector D indicated in the terminal-side signal transmission direction information 258 is specified as the position of the terminal 40A.
The control unit 200 stores the positioning position information 272A thus generated in the second storage unit 250 and displays it on the display device 56 (see FIG. 3).

As described above, the terminal 40A specifies not only the terminal side signal transmission direction information 258 but also the terminal altitude information 274, so as to specify one position from the position on the circumference C. For this reason, the reliability of the positioning position information 272A is higher than when only one position is specified based on the terminal-side signal transmission direction information 258 alone.
Further, since the terminal side signal transmission direction information 258 is used to specify one intersection from the two intersections Q1 and Q2, the terminal side signal transmission direction information 258 has an accuracy of specifying one intersection from the two intersections Q1 and Q2. It is enough.
Therefore, even if the accuracy of the terminal-side signal transmission direction information 258 is low, as long as one intersection point is specified from the two intersection points Q1 and Q2, one intersection point is specified from the two intersection points Q1 and Q2, and positioning is performed. The position information 272A can be generated.

(About programs and computer-readable recording media)
A communication signal receiving step of the above-described operation example in a computer; a base station information acquisition step;
A terminal apparatus control program for executing a base station pseudorange information generation step, a satellite orbit position information generation step, a satellite pseudorange information generation step, a candidate position information generation step, a positioning position information generation step, and the like be able to.
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 the control program of the terminal device in the 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 Only). Semiconductor memory in which programs are temporarily or permanently stored as well as package media such as Memory, CD-R (Compact Disc-Recordable), CD-RW (Compact Disc-Rewritable), DVD (Digital Versatile Disc), etc. It can be realized with a magnetic disk or a magneto-optical disk.

  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 positioning system which concerns on embodiment of this invention. It is the schematic which shows the main hardware constitutions of a radio base station. It is the schematic which shows the main hardware constitutions of a terminal. It is the schematic which shows the main software structures of a radio base station. It is the schematic which shows the main software structures of a terminal. It is a schematic flowchart which shows the operation example of a positioning system. It is the schematic which shows the main software structures of a terminal. It is a figure which shows an example of the production | generation method of positioning position information.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10,10A ... Positioning system, 12 ... Quasi-zenith satellite, 20 ... Radio base station, 40 ... Terminal, 112 ... Base station information transmission program, 212 ... Base station information reception program 214, 214A ... base station information acquisition program, 216 ... base station signal arrival delay time information generation program, 218 ... base station pseudorange information generation program, 220 ... satellite signal reception program, 222 .. Satellite orbit position information generation program, 224 ... Satellite signal delay time information generation program, 226 ... Satellite pseudorange information generation program, 228 ... Candidate position information generation program, 230, 230A ... Positioning position Information generation program

Claims (8)

A terminal device capable of receiving a satellite signal which is a signal from the quasi-zenith satellite;
A communication base station capable of communicating with the terminal device;
A positioning system having
The communication base station is
Communication signal transmitting means for transmitting a communication signal including base station position information indicating the position of the communication base station and transmission direction information indicating a transmission direction from the communication base station;
The terminal device
Communication signal receiving means for receiving the communication signal from the communication base station;
Base station information acquisition means for acquiring the base station position information and the transmission direction information from the communication signal;
Base station pseudo-range information for generating base station pseudo-range information indicating a distance between the communication base station and the terminal device based on an arrival delay time until the communication signal reaches the terminal device from the communication base station Generating means;
Satellite orbit position information generating means for generating satellite orbit position information indicating the position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite;
Satellite pseudo-range information generating means for generating satellite pseudo-range information indicating the distance between the quasi-zenith satellite and the terminal device based on the arrival delay time until the satellite signal reaches the terminal device from the quasi-zenith satellite When,
A spherical surface whose radius is the distance indicated by the base station pseudorange information centered on the position of the communication base station indicated by the base station position information, and the position of the quasi-zenith satellite indicated by the satellite orbit position information. Candidate position information generating means for generating candidate position information shown as a circle which is a set of intersections with a spherical surface whose radius is the distance shown in the satellite pseudorange information,
From a position on the circumference indicated by the candidate position information, based on the transmission direction information, one position is specified, and positioning position information generating means for generating positioning position information;
A positioning system characterized by comprising: A terminal device capable of receiving a satellite signal that is a signal from a quasi-zenith satellite,
A communication signal receiving means for receiving a communication signal from a communication base station;
Base station information acquisition means for acquiring, from the communication signal, the base station position information indicating the position of the communication base station, and transmission direction information indicating the transmission direction of the communication signal;
Base station pseudo-range information for generating base station pseudo-range information indicating a distance between the communication base station and the terminal device based on an arrival delay time until the communication signal reaches the terminal device from the communication base station Generating means;
Satellite orbit position information generating means for generating satellite orbit position information indicating the position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite;
Satellite pseudo-range information generating means for generating satellite pseudo-range information indicating the distance between the quasi-zenith satellite and the terminal device based on the arrival delay time until the satellite signal reaches the terminal device from the quasi-zenith satellite When,
A spherical surface whose radius is the distance indicated by the base station pseudorange information centered on the position of the communication base station indicated by the base station position information, and the position of the quasi-zenith satellite indicated by the satellite orbit position information. Candidate position information generating means for generating candidate position information indicated as a circle that is a set of intersections with a spherical surface having a radius indicated by the distance indicated in the satellite pseudorange information,
From a position on the circumference indicated by the candidate position information, based on the transmission direction information, one position is specified, and positioning position information generating means for generating positioning position information;
The terminal device characterized by having.   The positioning position information generating means specifies one position closest to a straight line that is an extension line of the transmission direction indicated by the transmission direction information from a position on the circumference indicated by the candidate position information, and The terminal device according to claim 2, wherein the terminal device is configured to generate positioning position information. Altitude information storage means for storing altitude information indicating the altitude of the position of the terminal device,
The positioning position information generating means is configured to identify one position based on the transmission direction information and the altitude information from a position on the circumference indicated by the candidate position information. The terminal device according to claim 2.   The positioning position information generating means calculates two intersections of a circumference indicated by the candidate position information and a plane defined by the height indicated by the height information, and based on the transmission direction information, the 2 The terminal device according to claim 4, wherein the position information is generated by specifying one intersection from two intersections. A terminal device capable of receiving a satellite signal, which is a signal from the quasi-zenith satellite, includes a communication signal including base station position information indicating the position of the communication base station and transmission direction information indicating a transmission direction from the communication base station. Receiving a communication signal;
The base station information acquisition step in which the terminal device acquires the base station position information and the transmission direction information from the communication signal;
The terminal apparatus generates base station pseudo distance information indicating a distance between the communication base station and the terminal apparatus based on an arrival delay time until the communication signal reaches the terminal apparatus from the communication base station. Base station pseudorange information generation step;
A satellite orbit position information generation step in which the terminal device generates satellite orbit position information indicating a position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite;
A satellite in which the terminal device generates satellite pseudo-range information indicating a distance between the quasi-zenith satellite and the terminal device based on an arrival delay time until the satellite signal reaches the terminal device from the quasi-zenith satellite A pseudo-range information generation step;
The terminal device has a spherical surface with a radius indicated by the base station pseudorange information centered on the position of the communication base station indicated by the base station position information, and the quasi-zenith indicated by the satellite orbit position information. A candidate position information generating step for generating candidate position information indicated as a circumference that is a set of intersections with a spherical surface having a radius indicated by the distance indicated in the satellite pseudorange information centered on the position of the satellite;
A positioning position information generating step for identifying one position based on the transmission direction information from the position on the circumference indicated by the candidate position information and generating the positioning position information.
A control method for a terminal device, comprising: On the computer,
A terminal device capable of receiving a satellite signal, which is a signal from the quasi-zenith satellite, includes a communication signal including base station position information indicating the position of the communication base station and transmission direction information indicating a transmission direction from the communication base station. Receiving a communication signal;
The base station information acquisition step in which the terminal device acquires the base station position information and the transmission direction information from the communication signal;
The terminal apparatus generates base station pseudo distance information indicating a distance between the communication base station and the terminal apparatus based on an arrival delay time until the communication signal reaches the terminal apparatus from the communication base station. Base station pseudorange information generation step;
A satellite orbit position information generation step in which the terminal device generates satellite orbit position information indicating a position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite;
A satellite in which the terminal device generates satellite pseudo-range information indicating a distance between the quasi-zenith satellite and the terminal device based on an arrival delay time until the satellite signal reaches the terminal device from the quasi-zenith satellite A pseudo-range information generation step;
The terminal device has a spherical surface with a radius indicated by the base station pseudorange information centered on the position of the communication base station indicated by the base station position information, and the quasi-zenith indicated by the satellite orbit position information. A candidate position information generating step for generating candidate position information indicated as a circumference that is a set of intersections with a spherical surface having a radius indicated by the distance indicated in the satellite pseudorange information centered on the position of the satellite;
A positioning position information generating step for identifying one position based on the transmission direction information from the position on the circumference indicated by the candidate position information and generating the positioning position information.
A control program for a terminal device, characterized in that On the computer,
A terminal device capable of receiving a satellite signal, which is a signal from the quasi-zenith satellite, includes a communication signal including base station position information indicating the position of the communication base station and transmission direction information indicating a transmission direction from the communication base station. Receiving a communication signal;
The base station information acquisition step in which the terminal device acquires the base station position information and the transmission direction information from the communication signal;
The terminal apparatus generates base station pseudo distance information indicating a distance between the communication base station and the terminal apparatus based on an arrival delay time until the communication signal reaches the terminal apparatus from the communication base station. Base station pseudorange information generation step;
A satellite orbit position information generation step in which the terminal device generates satellite orbit position information indicating a position of the quasi-zenith satellite in the orbit based on the satellite signal from the quasi-zenith satellite;
A satellite in which the terminal device generates satellite pseudo-range information indicating a distance between the quasi-zenith satellite and the terminal device based on an arrival delay time until the satellite signal reaches the terminal device from the quasi-zenith satellite A pseudo-range information generation step;
The terminal device has a spherical surface with a radius indicated by the base station pseudorange information centered on the position of the communication base station indicated by the base station position information, and the quasi-zenith indicated by the satellite orbit position information. A candidate position information generating step for generating candidate position information indicated as a circumference that is a set of intersections with a spherical surface having a radius indicated by the distance indicated in the satellite pseudorange information centered on the position of the satellite;
A positioning position information generating step for identifying one position based on the transmission direction information from the position on the circumference indicated by the candidate position information and generating the positioning position information.
A computer-readable recording medium storing a control program for a terminal device.

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