JP2006337262A - Positioning device and positioning method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent positioning accuracy deterioration due to a multi-path wave from a building and the like. <P>SOLUTION: This positioning device comprises: a receiver which receives positioning signals from a plurality of positioning satellites and outputs positioning related information including a pseudo range to each positioning satellite and position information of the positioning satellite to a positioning operation part and a data extract part; the data extracting part which is connected to the receiver, the positioning operation part and a geographic information database and selects the positioning satellite used for a positioning operation to calculate a self-location on the basis of a self-location and geographic information estimated by the positioning operation part using the positioning related information; and the positioning operation part which calculates the self-location with the positioning related information of the selected positioning satellite. The geographic information includes a correspondence table of a divided positioning areas and previously set elevation angle values corresponding to each positioning area. The data extracting part comprises a determination part which selects the positioning satellites in the range beyond the elevation angle value determined by the estimated self-location and the correspondence table. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a positioning device and a positioning method in a satellite positioning system. For example, the present invention relates to a positioning device and a positioning method provided in a moving body that travels in a limited area such as an airport.

The GPS (Global Positioning System) is a positioning system that uses 24 GPS satellites (hereinafter referred to as positioning satellites) flying in a circular orbit at an altitude of about 20000 km, and at least four positioning systems are provided by GPS positioning devices that are not located. A total of four unknowns (latitude, longitude, height, clock error), which are the three-dimensional coordinates (latitude, longitude, height) of the location and the clock error in the GPS positioning device, based on the four observation results. ) Is calculated. Specifically, the GPS positioning device obtains the propagation delay time by correlating with the C / A code assigned to each positioning satellite, and the GPS positioning device multiplies each propagation delay time by the speed of light. The pseudo distance to each positioning satellite is obtained for the four positioning satellites. Here, the pseudo distance is the sum of the true distance from the GPS positioning device to the satellite and the error distance. In addition, the GPS positioning device obtains satellite position information from the ephemeris (satellite orbit information) included in the navigation message from each positioning satellite, and based on this position information and the pseudorange described above, a four-way simultaneous equation (positioning) By solving the equation, the unknown coordinates and clock error are obtained.
There exists patent document 1 as a technique regarding a GPS receiver.

JP 2000-304843 A

Although GPS positioning can be performed with accuracy as specified in an ideal environment, the pseudorange data may have an error of several hundred meters or more with respect to the actual pseudorange due to the influence of multipath. As is well known, multipath effects are caused by simultaneously receiving reflected waves from the ground and buildings in addition to direct waves from positioning satellites. For this reason, the positioning accuracy greatly deteriorates in an environment where many multipaths occur or when the positioning signal is blocked by a building.
Various vehicles such as freight vehicles are running in the airport facility, but a GPS positioning device is installed in the servicer (vehicle) that leads the aircraft landing on the runway to the airport facilities such as the boarding bridge, and the GPS positioning device outputs By using the positioning result to be used, an example of using GPS that guides an aircraft to an airport facility according to an accurate route can be considered. However, when the servicer comes close to the building, there may be a large deterioration in accuracy due to the effects of multipath, which may lead the aircraft to the wrong position. When the visibility is good, the position and route can be corrected by visually checking the servicer's driving vehicle, but when the visibility is very bad due to fog or the like, there is a risk of contact with other aircraft or airport equipment. In addition, multipath may temporarily occur due to other aircraft moving in the airport facility, and in this case, there is a problem that the positioning accuracy deteriorates.

For this reason, some GPS receivers have been devised to implement a multipath reduction technique to suppress the positioning accuracy deterioration of the pseudorange within a certain range.
Conventionally, carrier smoothing processing and filtering processing have been performed as a technique for reducing the influence of multipath, but there have been problems that the size of the receiver is restricted due to the addition of hardware and that the cost is increased. In addition, even if the multipath that occurs instantaneously can be dealt with, the multipath that continues for a long time cannot be dealt with, and there is a problem that the positioning accuracy deteriorates.

  The present invention has been made in order to solve the above-mentioned problems, and positioning accuracy is calculated by selecting a satellite that is not affected by multipath from information such as surrounding buildings, and performing positioning calculation. The purpose is to secure.

  A positioning device in a satellite positioning system according to the present invention receives a positioning signal from a plurality of positioning satellites and outputs positioning related information including a pseudo distance to each positioning satellite and positioning satellite position information to a positioning calculation unit and a data extraction unit A GPS receiver that outputs to the GPS receiver, and the GPS receiver, the positioning calculation unit, and a geographic information database that stores geographic information, and the positioning calculation unit estimates using the positioning related information and the geolocation A positioning system including a data extraction unit that selects a positioning satellite to be used for a positioning calculation that calculates a self-position based on information, and a positioning calculation unit that calculates a self-position based on positioning-related information of the selected positioning satellite In the apparatus, the geographic information includes a correspondence table between divided positioning areas and elevation values (elevation angle mask angles) set in advance for each positioning area. In addition, the data extraction unit includes a determination unit that selects a positioning satellite in a range equal to or greater than an elevation angle value (elevation angle mask angle) at the estimated self-position obtained from the estimated self-position and the correspondence table. did.

According to this invention, by using the geographical information of the surrounding buildings, by selecting a satellite that is not affected by multipath from information such as surrounding buildings, the positioning calculation is performed,
The accuracy of positioning can be ensured by preventing the deterioration of accuracy.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a positioning device 100 according to the first embodiment.
The configuration of positioning apparatus 100 in the first embodiment will be described below based on FIG. However, a plurality of types of configurations of the positioning device 100 can be considered, and FIG. 1 shows a typical configuration of the positioning device 100. In the first embodiment, a positioning device installed in a mobile vehicle traveling in an airport is assumed as an example. However, the present invention is applied to a vehicle traveling in a predetermined area such as a factory site or a port area. May be.

  In FIG. 1, a positioning device 100 includes an antenna 210 that receives a positioning signal transmitted from a positioning satellite for performing GPS positioning, a GPS receiver 200, a positioning calculation unit 300 that performs a positioning calculation based on the positioning signal, and a positioning A data extraction unit 320 for extracting data used for calculation, a geographic information database 400 for storing three-dimensional geographic information such as buildings, an input means 420 for inputting data into the geographic information database, and an airport for managing airport facility information An airport information receiver 500 that receives airport information 505 transmitted from the management center 700 and an antenna 510 are provided.

The GPS receiver 200 receives a positioning signal including a navigation message from a plurality of positioning satellites via the antenna 210. Based on the propagation time of the received positioning signal, the pseudorange from the positioning satellite that received the positioning signal, the pseudorange change rate, positioning results, satellite orbit data (ephemeris data or almanac data in the navigation message), satellite orbit Positioning related information such as the position of each positioning satellite based on the data is output to the positioning calculation unit 300 and the data extraction unit 320.

  The positioning calculation unit 300 receives the positioning related information from the GPS receiver 200, estimates the self position based on the input positioning related information, and outputs the self position estimation result to the data extraction unit 320. Further, the positioning related information selected by the data extraction unit 320 is input, a positioning calculation is performed based on the input selected positioning related information, and a positioning result is output.

  The geographic information database 400 stores three-dimensional geographic information 405 of buildings such as control towers in the airport. Further, the geographic information database 400 stores an area-elevation mask angle correspondence table 410 that is created in advance based on the three-dimensional geographic information and associates each area in the airport with the angle range of the positioning satellite to be extracted. Has been. Data input to the area-elevation mask angle correspondence table 410 is performed by an input means 420 such as a keyboard. The area-elevation mask angle correspondence table 410 will be described later.

  The airport information receiver 500 periodically receives the airport information 505 via the antenna 510 and outputs it to the data extraction unit 320. The airport information 505 will be described later.

The data extraction unit 320 includes a geographic information determination unit 321 and an airport information determination unit (other determination unit) 322. The data extraction unit 320 receives positioning related information from the GPS receiver 200. In addition, the data extraction unit 320 receives the airport information 505 from the airport information receiver 500. Further, the data extraction unit 320 receives information on the self-position estimated from the positioning calculation unit 300. The data extraction unit 320 accesses the geographic information database 400 and extracts the elevation angle mask angle at the self position received from the positioning calculation unit 300. The elevation mask angle will be described later.
The geographic information determination unit 321 extracts the positioning satellites present in the range equal to or higher than the elevation mask angle from the positioning related information received from the GPS receiver 200 and the positioning related information from the positioning satellites. The angle at which the positioning satellite exists from the viewpoint of the self position can be calculated from the estimated self position and the satellite position information included in the positioning related information from the positioning satellite satellite. By comparing the angle calculated in this way with the elevation mask angle, it can be determined whether or not the positioning satellite is within the range defined by the elevation mask angle.
Based on the airport information 505, the airport information determination unit 322 may block radio waves from the positioning satellite from the satellites extracted by the geographic information determination unit 321 based on the airport information 505. A certain satellite is extracted, and a unique number representing the extracted satellite and its pseudorange are transmitted to the positioning calculation unit 300.

The operation of the positioning device in the first embodiment will be described with reference to FIGS.
FIG. 2 is a schematic diagram of the airport 50 in which the vehicle on which the positioning device is mounted travels in the first embodiment. In FIG. 2, there are buildings 31 and 32 such as a passenger terminal building and a maintenance building in the airport 50, and vehicles and aircraft move in areas other than the buildings 31 and 32. Areas B and C are provided around the building 31 as being easily affected by multipath, and areas D and E are provided around the building 32. Area A is set as an area in the airport 50 that is hardly affected by multipath. FIG. 3 is a flowchart for explaining the operation of the positioning device 100. FIG. 4 is a diagram for explaining an angle range for extracting a satellite. FIG. 5 is a diagram illustrating an area-elevation mask angle correspondence table 410 used when extracting satellites used for positioning calculation.

The operation of the positioning device 100 will be described with reference to the flowchart of FIG.
First, the GPS receiver 200 receives GPS related information from a plurality of positioning satellites (for example, the positioning satellites 11 to 15 shown in FIG. 4) (S101).

  Next, the GPS receiver 200 sends the received GPS related information to the positioning calculation unit 300 and the data extraction unit 320 (S102).

The positioning calculation unit 300 estimates the self-position by single positioning based on the GPS related information (S103). Here, the self-position is estimated by independent positioning using GPS-related data, but separately from this method, the current self-position is estimated using time-series self-position data calculated in the past. It may be.
Alternatively, the current self-position may be estimated using both the self-position estimated by independent positioning and the self-position estimated from past time-series self-position data. For example, if the position obtained by independent positioning is far away from the positioning position at the previous time, the result of this independent positioning is not adopted, but the self estimated from the past time series data You may make it employ | adopt a position.

  Next, the positioning calculation unit 300 outputs the self-position estimation result by the single positioning to the data extraction unit 320 (S104).

  Next, the data extraction unit 320 accesses the geographic information database 400 and searches the area-elevation mask angle correspondence table 410 stored in the geographic information database 400 to which area the position belongs.

Here, FIG. 5 shows an example of the area-elevation mask angle correspondence table 410.
In FIG. 5, the entire airport is classified into five areas, area A to area E, from the viewpoint of being easily affected by multipath, and an elevation mask angle θ is set for each area. Areas A to E in FIG. 5 correspond to areas A to E described in the airport schematic diagram shown in FIG. Area B and area C are set in the order of proximity to the building 31 around the building 31 such as a passenger terminal building and a maintenance building, and the building 32 is also in the order of proximity to the building 32 around the building 32. Area D and area E are set. The area away from the building 31 and the building 32 is set as area A.
Here, the elevation mask angle θ represents an angle from the horizontal plane as shown in FIG. 4, which means that a positioning satellite positioned at an angle larger than the elevation mask angle can receive a positioning signal directly from the positioning satellite. The positioning related information from the positioning satellites within the elevation mask angle θ is not used for the subsequent positioning calculation because it is easily affected by the multipath.

In this way, the airport is divided into a plurality of areas, and the elevation mask angle θ of the positioning satellite used for positioning is selected according to which area the vehicle is in. For example, if there is no building near the runway, set the elevation mask angle θ small because the effect of multipath is small, and set the elevation mask angle θ large because it is susceptible to multipath near the building. Thus, a positioning satellite used for positioning is selected for each area. The elevation mask angle θ may be one angle, or in order to widen the extraction range of the satellites used for positioning calculation, for example, four elevation mask angles θ are set for each of the east, west, south, and north directions. Further, the elevation mask angle θ may be set more finely.
The direction in which the positioning satellite is seen from the self-position can be calculated from the estimated self-position information and the satellite position information included in the positioning-related information.
Each area in the airport is defined by a node position 1000 indicated by a black circle in FIG.
The data extraction unit 320 extracts the elevation angle mask angle θ corresponding to the area from the area-elevation angle mask angle correspondence table 410 based on the area to which the self position belongs (S105).

  The geographic information determination unit deletes the positioning satellite within the elevation mask angle θ from the satellites used for positioning (S106).

Next, the airport information receiver 500 receives the airport information 505 from the airport management center 700 in the airport and outputs it to the data extraction unit 320 (S107).
The airport information 505 is incidental information such as position information and size (airframe dimensions, vehicle dimensions) of an aircraft moving in the airport 50, a vehicle such as a freight vehicle, a passenger transport bus, a fire engine, and a facility management vehicle. is there. By receiving the airport information 505, it is possible to grasp in real time where the aircraft or vehicle is currently located.

Next, the airport information determination unit 322 uses the information on the self-location estimated in S103 and the airport information 505 periodically received from the airport information receiver 500, so that there is a high possibility of causing a multipath near the self-location. It is determined in real time whether a vehicle with a large body such as a bus or a bus exists. When there is an aircraft or a vehicle with a large vehicle body in the vicinity, the cutoff angle α at which the signals from the positioning satellites are blocked by these aircraft or vehicles is calculated from the data of the self-position, the position of the aircraft, and the size thereof. Then, the positioning satellite within the calculated range of the cutoff angle α is deleted from the satellites used for positioning (S108).
This will be described with reference to the example shown in FIG. In FIG. 4, there is a building 31 that is a radio wave blocker in one direction (west side) of the vehicle 1, and nothing in the other direction (east side) is blocked. Therefore, in the area of the vehicle 1, the elevation mask angle (west) and the elevation mask angle (east) are set so as to avoid the building 31 in the example of FIG. 4. At this time, the geographic information determination unit 321 selects five positioning satellites 11, 12, 13, 14, and 15. Here, when the aircraft 2 has moved near the vehicle 1, the airport information determination unit 322 recognizes from the airport information 505 that there is an aircraft that is likely to cause multipath in the vicinity of its own position, and the airport information is included in the airport information. A cutoff angle α at which the signal from the positioning satellite is cut off at its own position is calculated from the position information of the included aircraft and the size information. Then, the positioning satellites in the calculated angle range of the cutoff angle α are deleted from the satellites used for positioning. In this case, the positioning satellite 11 is deleted from the satellites used for positioning.

  Next, the data extraction unit 320 outputs the positioning satellite number used for positioning extracted by the geographic information determination unit 321 and the airport information determination unit 322 and information on the pseudo distance to the positioning satellite to the positioning calculation unit 310. (S109).

  The positioning calculation unit 300 performs a positioning calculation based on the extracted pseudorange of the positioning satellite, outputs the positioning result, and transmits the positioning result to the airport management center 700 by radio (S110).

As described above, according to the present invention, the airport is divided into a plurality of areas, and the elevation mask angle θ is extracted depending on which block the vehicle is in by using the preset area-elevation mask angle correspondence table 410. However, by selecting a positioning satellite to be used for positioning, it is possible to easily perform positioning calculation by selecting a highly accurate pseudorange without reducing the speed of positioning processing.
In addition, the airport information 505 can determine in real time whether there is a vehicle with a large vehicle body such as an aircraft or a bus that is highly likely to generate a multipath in the vicinity of its own position. A high pseudorange can be selected from time to time for positioning calculation.

Embodiment 2. FIG.
In the second embodiment, the visible and invisible satellites are discriminated by using the three-dimensional geographic information 405 stored in the geographic information database 400, and the satellites used for positioning are selected. In addition, what is described with the same number is the same as or similar to the first embodiment.

  FIG. 6 is a flowchart for explaining the operation of positioning apparatus 100 according to Embodiment 2 of the present invention. Here, only steps different from the flowchart for explaining the operation of positioning apparatus 100 according to Embodiment 1 shown in FIG. 3 will be explained.

In step S <b> 205 of FIG. 6, the data extraction unit 320 determines the presence / absence of blockage for each satellite based on the satellite position information, the self-position estimation result by independent positioning, and the three-dimensional geographic information 405 stored in the geographic information database 400.
In the three-dimensional geographic information 405, as shown in FIG. 7, node information (the position information of B1 to B8 in the example of FIG. 7) representing the exterior of the building is stored. Based on the node information, the satellite position information, and the self-position estimation result, it can be determined whether or not the positioning satellite can be directly viewed from the self-position.

  In step S206, the geographic information determination unit 321 deletes the blocked positioning satellite from the satellites used for positioning. Thereafter, the positioning calculation is performed by executing the same steps as in the first embodiment.

As described above, according to the present invention, the visible positioning satellite and the invisible positioning satellite are discriminated by using the three-dimensional geographic information of the building in the airport. Can be calculated.
In addition, the airport information 505 can determine in real time whether there is a vehicle with a large vehicle body such as an aircraft or a bus that is highly likely to generate a multipath in the vicinity of its own position. A high pseudorange can be selected from time to time for positioning calculation.

In the above embodiment, the position is calculated by the single positioning method, but it goes without saying that the positioning may be performed by a relative positioning method such as DGPS (Differential GPS).

It is a block diagram of the positioning apparatus which concerns on Embodiment 1 of this invention. It is the schematic of the airport which the vehicle carrying the positioning apparatus which concerns on Embodiment 1 of this invention drive | works. It is a flowchart explaining operation | movement of the positioning apparatus 100 which concerns on Embodiment 1 of this invention. It is a figure explaining elevation angle mask angle theta concerning Embodiment 1 of this invention. It is a figure explaining the area-elevation angle mask angle correspondence table 410 concerning Embodiment 1 of this invention. It is a flowchart explaining operation | movement of the positioning apparatus 100 which concerns on Embodiment 2 of this invention. It is a figure explaining the determination of interruption | blocking which concerns on Embodiment 2 of this invention.

Explanation of symbols

  1 vehicle, 31, 32 building, 50 airport, 100 positioning device, 200 GPS receiver, 210 antenna, 300 positioning calculation unit, 320 data extraction unit, 321 geographic information determination unit, 322 airport information determination unit, 400 geographic information database, 405 3D geographic information, 410 area-elevation mask angle correspondence table, 420 input means, 500 airport information receiver, 505 airport information, 510 antenna, 700 airport control center.

Claims (5)

A GPS receiver that receives positioning signals from a plurality of positioning satellites and outputs positioning-related information including pseudoranges with the respective positioning satellites and positioning satellite position information to the positioning calculation unit and the data extraction unit;
Connected to the GPS receiver, the positioning calculation unit, and a geographic information database that stores geographic information, and calculates the self-location based on the self-location estimated by the positioning calculation unit using the positioning-related information and the geographic information A data extraction unit for selecting a positioning satellite to be used for positioning calculation,
A positioning device comprising a positioning calculation unit that calculates a self-position based on positioning-related information of the selected positioning satellite,
The geographic information includes a correspondence table of divided positioning areas and preset elevation angle values corresponding to each positioning area, and the data extraction unit is obtained from the estimated self-position and the correspondence table. A positioning device comprising: a determination unit that selects a positioning satellite in a range equal to or greater than the elevation angle value at the estimated self-position. The data extraction unit calculates a measured value of the elevation angle of the positioning satellite at the estimated self-position from the estimated self-position and the position information of the positioning satellite;
2. The positioning device according to claim 1, wherein the elevation value preset in the correspondence table is a value having a larger elevation angle value in a positioning area closer to the building than an elevation angle value in a positioning area far from the building. A GPS receiver that receives positioning signals from a plurality of positioning satellites and outputs positioning related information including a pseudo distance to each positioning satellite and position information of the positioning satellite to the positioning calculation unit and the data extraction unit;
Connected to the GPS receiver, the positioning calculation unit, and a geographic information database that stores geographic information, and calculates the self-location based on the self-location estimated by the positioning calculation unit using the positioning-related information and the geographic information A data extraction unit for selecting a positioning satellite to be used for positioning calculation,
A positioning device comprising a positioning calculation unit that calculates a self-position based on positioning-related information of the selected positioning satellite,
The geographic information includes three-dimensional information of a building, and the data extraction unit obtains positioning-related information received from the positioning satellite from the estimated self-position and the three-dimensional information of the building based on a direct wave. A determination unit that determines whether or not the information is information, wherein the determination unit selects a pseudorange with the positioning satellite in the positioning related information that is determined to be information obtained by direct waves. Positioning device. A receiver for receiving position information of another moving body and dimension information of the other moving body;
The data extraction unit includes another determination unit, and the other determination unit receives from the positioning satellite from the position information of the other moving body, the dimension information of the other moving body, and the estimated self-position. It is determined whether the positioning related information is information obtained based on direct waves, and the other determination is made from the pseudo distances with the positioning satellite in the positioning related information selected by the determination unit. The positioning device according to any one of claims 1 to 3, wherein a pseudorange with the positioning satellite in the positioning related information determined to be information obtained by a direct wave in a unit is selected. . In a positioning method of a positioning device that performs positioning by receiving positioning signals from a plurality of positioning satellites,
Receiving positioning signals from the plurality of positioning satellites and inputting positioning-related information including pseudoranges with the respective positioning satellites and position information of the positioning satellites;
Inputting geographical information and extracting a value of an elevation range in which a positioning satellite is to be selected from the geographical information and the estimated self-position;
Selecting a positioning satellite in the elevation angle range from position information of the positioning satellite and the self-position;
And a positioning calculation step based on a pseudorange with the selected positioning satellite.

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